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