depth_to_pointcloud.h
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00034 
00035 
00036 #ifndef DEPTH_TO_POINTCLOUD_H_
00037 #define DEPTH_TO_POINTCLOUD_H_
00038 
00039 #include <sensor_msgs/CameraInfo.h>
00040 #include <sensor_msgs/Image.h>
00041 
00042 #include <vector>
00043 #include <assert.h>
00044 
00045 class DepthToPointCloud
00046 {
00047 public:
00048   DepthToPointCloud();
00049   virtual ~DepthToPointCloud();
00050 
00051   void initialize(sensor_msgs::ImageConstPtr depth_msg,
00052                   sensor_msgs::CameraInfoConstPtr camera_info_msg);
00053 
00054   template<typename Point2D_T, typename Point3D_T>
00055     void depthTo3DPoint(Point2D_T& image_pos, float depth, Point3D_T& point)
00056   {
00057     assert(image_pos.x<projection_map_x_.size());
00058     assert(image_pos.y<projection_map_y_.size());
00059 
00060     point.x = projection_map_x_[(unsigned int)image_pos.x] * depth;
00061     point.y = projection_map_y_[(unsigned int)image_pos.y] * depth;
00062     point.z = depth;
00063   }
00064 
00065 
00066 protected:
00067   // projection matrix
00068   std::vector<float> projection_map_x_;
00069   std::vector<float> projection_map_y_;
00070 };
00071 
00072 #endif /* DEPTH_TO_POINTCLOUD_H_ */


image_cb_detector
Author(s): Vijay Pradeep, Eitan Marder-Eppstein
autogenerated on Sun Oct 5 2014 22:42:52