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include/robot_depth_image_proc/depth_traits.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:
+* 
+*   * 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
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+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
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+*     contributors may be used to endorse or promote products derived
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+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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+*********************************************************************/
+#ifndef DEPTH_IMAGE_PROC_DEPTH_TRAITS
+#define DEPTH_IMAGE_PROC_DEPTH_TRAITS
+
+#include <algorithm>
+#include <cmath>
+#include <cstdint>
+#include <limits>
+#include <vector>
+
+namespace depth_image_proc {
+
+// 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 (depth * 1000.0f) + 0.5f; }
+  static inline void initializeBuffer(std::vector<uint8_t>& buffer) {} // Do nothing - already zero-filled
+};
+
+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 depth_image_proc
+
+#endif