depth_to_pointcloud.h
Go to the documentation of this file.
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2012, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Willow Garage nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
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 Thu Jun 6 2019 19:17:19