depth_traits.h
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34 #ifndef DEPTH_IMAGE_PROC_DEPTH_TRAITS
35 #define DEPTH_IMAGE_PROC_DEPTH_TRAITS
36 
37 #include <algorithm>
38 #include <limits>
39 #include <vector>
40 
41 namespace depth_image_proc {
42 
43 // Encapsulate differences between processing float and uint16_t depths
44 template<typename T> struct DepthTraits {};
45 
46 template<>
47 struct DepthTraits<uint16_t>
48 {
49  static inline bool valid(uint16_t depth) { return depth != 0; }
50  static inline float toMeters(uint16_t depth) { return depth * 0.001f; } // originally mm
51  static inline uint16_t fromMeters(float depth) { return (depth * 1000.0f) + 0.5f; }
52  static inline void initializeBuffer(std::vector<uint8_t>& buffer) {} // Do nothing - already zero-filled
53 };
54 
55 template<>
56 struct DepthTraits<float>
57 {
58  static inline bool valid(float depth) { return std::isfinite(depth); }
59  static inline float toMeters(float depth) { return depth; }
60  static inline float fromMeters(float depth) { return depth; }
61 
62  static inline void initializeBuffer(std::vector<uint8_t>& buffer)
63  {
64  float* start = reinterpret_cast<float*>(&buffer[0]);
65  float* end = reinterpret_cast<float*>(&buffer[0] + buffer.size());
66  std::fill(start, end, std::numeric_limits<float>::quiet_NaN());
67  }
68 };
69 
70 } // namespace depth_image_proc
71 
72 #endif
static float toMeters(uint16_t depth)
Definition: depth_traits.h:50
ROSCPP_DECL void start()
f
static float fromMeters(float depth)
Definition: depth_traits.h:60
static float toMeters(float depth)
Definition: depth_traits.h:59
static void initializeBuffer(std::vector< uint8_t > &buffer)
Definition: depth_traits.h:62
static void initializeBuffer(std::vector< uint8_t > &buffer)
Definition: depth_traits.h:52
static bool valid(float depth)
Definition: depth_traits.h:58
static uint16_t fromMeters(float depth)
Definition: depth_traits.h:51
static bool valid(uint16_t depth)
Definition: depth_traits.h:49


depth_image_proc
Author(s): Patrick Mihelich
autogenerated on Wed Dec 7 2022 03:25:21