depth_traits.h
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00034 #ifndef DEPTH_IMAGE_PROC_DEPTH_TRAITS
00035 #define DEPTH_IMAGE_PROC_DEPTH_TRAITS
00036 
00037 #include <algorithm>
00038 #include <limits>
00039 
00040 namespace depth_image_proc {
00041 
00042 // Encapsulate differences between processing float and uint16_t depths
00043 template<typename T> struct DepthTraits {};
00044 
00045 template<>
00046 struct DepthTraits<uint16_t>
00047 {
00048   static inline bool valid(uint16_t depth) { return depth != 0; }
00049   static inline float toMeters(uint16_t depth) { return depth * 0.001f; } // originally mm
00050   static inline uint16_t fromMeters(float depth) { return (depth * 1000.0f) + 0.5f; }
00051   static inline void initializeBuffer(std::vector<uint8_t>& buffer) {} // Do nothing - already zero-filled
00052 };
00053 
00054 template<>
00055 struct DepthTraits<float>
00056 {
00057   static inline bool valid(float depth) { return std::isfinite(depth); }
00058   static inline float toMeters(float depth) { return depth; }
00059   static inline float fromMeters(float depth) { return depth; }
00060 
00061   static inline void initializeBuffer(std::vector<uint8_t>& buffer)
00062   {
00063     float* start = reinterpret_cast<float*>(&buffer[0]);
00064     float* end = reinterpret_cast<float*>(&buffer[0] + buffer.size());
00065     std::fill(start, end, std::numeric_limits<float>::quiet_NaN());
00066   }
00067 };
00068 
00069 } // namespace depth_image_proc
00070 
00071 #endif


depth_image_proc
Author(s): Patrick Mihelich
autogenerated on Wed May 1 2019 02:51:42