75 lines
3.0 KiB
C++
75 lines
3.0 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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#ifndef DEPTH_IMAGE_PROC_DEPTH_TRAITS
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#define DEPTH_IMAGE_PROC_DEPTH_TRAITS
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#include <algorithm>
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#include <cmath>
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#include <cstdint>
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#include <limits>
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#include <vector>
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namespace depth_image_proc {
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// Encapsulate differences between processing float and uint16_t depths
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template<typename T> struct DepthTraits {};
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template<>
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struct DepthTraits<uint16_t>
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{
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static inline bool valid(uint16_t depth) { return depth != 0; }
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static inline float toMeters(uint16_t depth) { return depth * 0.001f; } // originally mm
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static inline uint16_t fromMeters(float depth) { return (depth * 1000.0f) + 0.5f; }
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static inline void initializeBuffer(std::vector<uint8_t>& buffer) {} // Do nothing - already zero-filled
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};
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template<>
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struct DepthTraits<float>
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{
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static inline bool valid(float depth) { return std::isfinite(depth); }
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static inline float toMeters(float depth) { return depth; }
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static inline float fromMeters(float depth) { return depth; }
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static inline void initializeBuffer(std::vector<uint8_t>& buffer)
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{
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float* start = reinterpret_cast<float*>(&buffer[0]);
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float* end = reinterpret_cast<float*>(&buffer[0] + buffer.size());
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std::fill(start, end, std::numeric_limits<float>::quiet_NaN());
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}
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};
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} // namespace depth_image_proc
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#endif
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