depth_to_pointcloud.h
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34 
35 
36 #ifndef DEPTH_TO_POINTCLOUD_H_
37 #define DEPTH_TO_POINTCLOUD_H_
38 
39 #include <sensor_msgs/CameraInfo.h>
40 #include <sensor_msgs/Image.h>
41 
42 #include <vector>
43 #include <assert.h>
44 
46 {
47 public:
49  virtual ~DepthToPointCloud();
50 
51  void initialize(sensor_msgs::ImageConstPtr depth_msg,
52  sensor_msgs::CameraInfoConstPtr camera_info_msg);
53 
54  template<typename Point2D_T, typename Point3D_T>
55  void depthTo3DPoint(Point2D_T& image_pos, float depth, Point3D_T& point)
56  {
57  assert(image_pos.x<projection_map_x_.size());
58  assert(image_pos.y<projection_map_y_.size());
59 
60  point.x = projection_map_x_[(unsigned int)image_pos.x] * depth;
61  point.y = projection_map_y_[(unsigned int)image_pos.y] * depth;
62  point.z = depth;
63  }
64 
65 
66 protected:
67  // projection matrix
68  std::vector<float> projection_map_x_;
69  std::vector<float> projection_map_y_;
70 };
71 
72 #endif /* DEPTH_TO_POINTCLOUD_H_ */
std::vector< float > projection_map_x_
void depthTo3DPoint(Point2D_T &image_pos, float depth, Point3D_T &point)
void initialize(sensor_msgs::ImageConstPtr depth_msg, sensor_msgs::CameraInfoConstPtr camera_info_msg)
std::vector< float > projection_map_y_


image_cb_detector
Author(s): Vijay Pradeep, Eitan Marder-Eppstein
autogenerated on Mon Jun 10 2019 12:57:16