.. _program_listing_file__tmp_ws_src_depthimage_to_laserscan_include_depthimage_to_laserscan_depth_traits.hpp:

Program Listing for File depth_traits.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_depthimage_to_laserscan_include_depthimage_to_laserscan_depth_traits.hpp>` (``/tmp/ws/src/depthimage_to_laserscan/include/depthimage_to_laserscan/depth_traits.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2012, Willow Garage, Inc.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the copyright holder nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   /*
    * Author: Chad Rockey
    */
   
   #ifndef DEPTHIMAGE_TO_LASERSCAN__DEPTH_TRAITS_HPP_
   #define DEPTHIMAGE_TO_LASERSCAN__DEPTH_TRAITS_HPP_
   
   #include <algorithm>
   #include <cmath>
   #include <cstdint>
   #include <limits>
   #include <vector>
   
   namespace depthimage_to_laserscan
   {
   
   // Encapsulate differences between processing float and uint16_t depths
   template<typename T>
   struct DepthTraits {};
   
   template<>
   struct DepthTraits<uint16_t>
   {
     static inline bool valid(uint16_t depth) {return depth != 0;}
     static inline float toMeters(uint16_t depth) {return depth * 0.001f;}  // originally mm
     static inline uint16_t fromMeters(float depth) {return std::lround(depth * 1000.0f);}
     // Already zero-filled
     static inline void initializeBuffer(std::vector<uint8_t> & buffer) {(void)buffer;}
   };
   
   template<>
   struct DepthTraits<float>
   {
     static inline bool valid(float depth) {return std::isfinite(depth);}
     static inline float toMeters(float depth) {return depth;}
     static inline float fromMeters(float depth) {return depth;}
   
     static inline void initializeBuffer(std::vector<uint8_t> & buffer)
     {
       float * start = reinterpret_cast<float *>(&buffer[0]);
       float * end = reinterpret_cast<float *>(&buffer[0] + buffer.size());
       std::fill(start, end, std::numeric_limits<float>::quiet_NaN());
     }
   };
   }  // namespace depthimage_to_laserscan
   
   #endif  // DEPTHIMAGE_TO_LASERSCAN__DEPTH_TRAITS_HPP_