depth_traits.h
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34 #ifndef DEPTH_IMAGE_PROC_DEPTH_TRAITS
35 #define DEPTH_IMAGE_PROC_DEPTH_TRAITS
36 
37 #include <algorithm>
38 #include <limits>
39 
40 namespace depth_image_proc {
41 
42 // Encapsulate differences between processing float and uint16_t depths
43 template<typename T> struct DepthTraits {};
44 
45 template<>
46 struct DepthTraits<uint16_t>
47 {
48  static inline bool valid(uint16_t depth) { return depth != 0; }
49  static inline float toMeters(uint16_t depth) { return depth * 0.001f; } // originally mm
50  static inline uint16_t fromMeters(float depth) { return (depth * 1000.0f) + 0.5f; }
51  static inline void initializeBuffer(std::vector<uint8_t>& buffer) {} // Do nothing - already zero-filled
52 };
53 
54 template<>
55 struct DepthTraits<float>
56 {
57  static inline bool valid(float depth) { return std::isfinite(depth); }
58  static inline float toMeters(float depth) { return depth; }
59  static inline float fromMeters(float depth) { return depth; }
60 
61  static inline void initializeBuffer(std::vector<uint8_t>& buffer)
62  {
63  float* start = reinterpret_cast<float*>(&buffer[0]);
64  float* end = reinterpret_cast<float*>(&buffer[0] + buffer.size());
65  std::fill(start, end, std::numeric_limits<float>::quiet_NaN());
66  }
67 };
68 
69 } // namespace depth_image_proc
70 
71 #endif
static float toMeters(uint16_t depth)
Definition: depth_traits.h:49
f
static float fromMeters(float depth)
Definition: depth_traits.h:59
static float toMeters(float depth)
Definition: depth_traits.h:58
static void initializeBuffer(std::vector< uint8_t > &buffer)
Definition: depth_traits.h:61
static void initializeBuffer(std::vector< uint8_t > &buffer)
Definition: depth_traits.h:51
static bool valid(float depth)
Definition: depth_traits.h:57
static uint16_t fromMeters(float depth)
Definition: depth_traits.h:50
static bool valid(uint16_t depth)
Definition: depth_traits.h:48


depth_image_proc
Author(s): Patrick Mihelich
autogenerated on Thu Nov 7 2019 03:44:56