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include/robot_depth_image_proc/depth_conversions.h

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+/*********************************************************************
+* Software License Agreement (BSD License)
+* 
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+* 
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+* 
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+*     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
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+*     with the distribution.
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+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
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+*********************************************************************/
+#ifndef DEPTH_IMAGE_PROC_DEPTH_CONVERSIONS
+#define DEPTH_IMAGE_PROC_DEPTH_CONVERSIONS
+
+#include <robot_sensor_msgs/Image.h>
+#include <robot_sensor_msgs/CameraInfo.h>
+#include <robot_sensor_msgs/point_cloud2_iterator.h>
+#include <robot_image_geometry/pinhole_camera_model.h>
+#include <robot_depth_image_proc/depth_traits.h>
+
+#include <limits>
+
+namespace depth_image_proc {
+
+typedef robot_sensor_msgs::PointCloud2 PointCloud;
+
+// Handles float or uint16 depths
+template<typename T>
+void convert(
+    const robot_sensor_msgs::Image& depth_msg,
+    PointCloud& cloud_msg,
+    const image_geometry::PinholeCameraModel& model,
+    double range_max = 0.0)
+{
+  // Use correct principal point from calibration
+  float center_x = model.cx();
+  float center_y = model.cy();
+
+  // Combine unit conversion (if necessary) with scaling by focal length for computing (X,Y)
+  double unit_scaling = DepthTraits<T>::toMeters( T(1) );
+  float constant_x = unit_scaling / model.fx();
+  float constant_y = unit_scaling / model.fy();
+  float bad_point = std::numeric_limits<float>::quiet_NaN();
+
+  robot_sensor_msgs::PointCloud2Iterator<float> iter_x(cloud_msg, "x");
+  robot_sensor_msgs::PointCloud2Iterator<float> iter_y(cloud_msg, "y");
+  robot_sensor_msgs::PointCloud2Iterator<float> iter_z(cloud_msg, "z");
+  const T* depth_row = reinterpret_cast<const T*>(&depth_msg.data[0]);
+  int row_step = depth_msg.step / sizeof(T);
+  for (int v = 0; v < (int)cloud_msg.height; ++v, depth_row += row_step)
+  {
+    for (int u = 0; u < (int)cloud_msg.width; ++u, ++iter_x, ++iter_y, ++iter_z)
+    {
+      T depth = depth_row[u];
+
+      // Missing points denoted by NaNs
+      if (!DepthTraits<T>::valid(depth))
+      {
+        if (range_max != 0.0)
+        {
+          depth = DepthTraits<T>::fromMeters(range_max);
+        }
+        else
+        {
+          *iter_x = *iter_y = *iter_z = bad_point;
+          continue;
+        }
+      }
+
+      // Fill in XYZ
+      *iter_x = (u - center_x) * depth * constant_x;
+      *iter_y = (v - center_y) * depth * constant_y;
+      *iter_z = DepthTraits<T>::toMeters(depth);
+    }
+  }
+}
+
+} // namespace depth_image_proc
+
+#endif