depth_traits.h

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/*
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/* 
 * Author: Chad Rockey
 */

#ifndef DEPTH_IMAGE_TO_LASERSCAN_DEPTH_TRAITS
#define DEPTH_IMAGE_TO_LASERSCAN_DEPTH_TRAITS

#include <algorithm>
#include <limits>

namespace depthimage_to_laserscan {

// Encapsulate differences between processing float and uint16_t depths
template<typename T> struct DepthTraits {};

template<>
struct DepthTraits<uint16_t>
{
  static inline bool valid(uint16_t depth) { return depth != 0; }
  static inline float toMeters(uint16_t depth) { return depth * 0.001f; } // originally mm
  static inline uint16_t fromMeters(float depth) { return (depth * 1000.0f) + 0.5f; }
  static inline void initializeBuffer(std::vector<uint8_t>& buffer) {} // Do nothing - already zero-filled
};

template<>
struct DepthTraits<float>
{
  static inline bool valid(float depth) { return std::isfinite(depth); }
  static inline float toMeters(float depth) { return depth; }
  static inline float fromMeters(float depth) { return depth; }

  static inline void initializeBuffer(std::vector<uint8_t>& buffer)
  {
    float* start = reinterpret_cast<float*>(&buffer[0]);
    float* end = reinterpret_cast<float*>(&buffer[0] + buffer.size());
    std::fill(start, end, std::numeric_limits<float>::quiet_NaN());
  }
};

} // namespace depth_image_proc

#endif