depth_traits.h
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00001 /*
00002  * Copyright (c) 2012, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* 
00031  * Author: Chad Rockey
00032  */
00033 
00034 #ifndef DEPTH_IMAGE_TO_LASERSCAN_DEPTH_TRAITS
00035 #define DEPTH_IMAGE_TO_LASERSCAN_DEPTH_TRAITS
00036 
00037 #include <algorithm>
00038 #include <limits>
00039 
00040 namespace depthimage_to_laserscan {
00041 
00042 // Encapsulate differences between processing float and uint16_t depths
00043 template<typename T> struct DepthTraits {};
00044 
00045 template<>
00046 struct DepthTraits<uint16_t>
00047 {
00048   static inline bool valid(uint16_t depth) { return depth != 0; }
00049   static inline float toMeters(uint16_t depth) { return depth * 0.001f; } // originally mm
00050   static inline uint16_t fromMeters(float depth) { return (depth * 1000.0f) + 0.5f; }
00051   static inline void initializeBuffer(std::vector<uint8_t>& buffer) {} // Do nothing - already zero-filled
00052 };
00053 
00054 template<>
00055 struct DepthTraits<float>
00056 {
00057   static inline bool valid(float depth) { return std::isfinite(depth); }
00058   static inline float toMeters(float depth) { return depth; }
00059   static inline float fromMeters(float depth) { return depth; }
00060 
00061   static inline void initializeBuffer(std::vector<uint8_t>& buffer)
00062   {
00063     float* start = reinterpret_cast<float*>(&buffer[0]);
00064     float* end = reinterpret_cast<float*>(&buffer[0] + buffer.size());
00065     std::fill(start, end, std::numeric_limits<float>::quiet_NaN());
00066   }
00067 };
00068 
00069 } // namespace depth_image_proc
00070 
00071 #endif


depthimage_to_laserscan
Author(s): Chad Rockey
autogenerated on Sun Oct 5 2014 23:25:32