depth_image_proc: depth_traits.h Source File

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00001 #ifndef DEPTH_IMAGE_PROC_DEPTH_TRAITS
00002 #define DEPTH_IMAGE_PROC_DEPTH_TRAITS
00003 
00004 #include <algorithm>
00005 #include <limits>
00006 
00007 namespace depth_image_proc {
00008 
00009 // Encapsulate differences between processing float and uint16_t depths
00010 template<typename T> struct DepthTraits {};
00011 
00012 template<>
00013 struct DepthTraits<uint16_t>
00014 {
00015   static inline bool valid(uint16_t depth) { return depth != 0; }
00016   static inline float toMeters(uint16_t depth) { return depth * 0.001f; } // originally mm
00017   static inline uint16_t fromMeters(float depth) { return (depth * 1000.0f) + 0.5f; }
00018   static inline void initializeBuffer(std::vector<uint8_t>& buffer) {} // Do nothing - already zero-filled
00019 };
00020 
00021 template<>
00022 struct DepthTraits<float>
00023 {
00024   static inline bool valid(float depth) { return std::isfinite(depth); }
00025   static inline float toMeters(float depth) { return depth; }
00026   static inline float fromMeters(float depth) { return depth; }
00027 
00028   static inline void initializeBuffer(std::vector<uint8_t>& buffer)
00029   {
00030     float* start = reinterpret_cast<float*>(&buffer[0]);
00031     float* end = reinterpret_cast<float*>(&buffer[0] + buffer.size());
00032     std::fill(start, end, std::numeric_limits<float>::quiet_NaN());
00033   }
00034 };
00035 
00036 } // namespace depth_image_proc
00037 
00038 #endif