/*********************************************************************
* 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
* 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 Willow Garage 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 OWNER 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.
*********************************************************************/
#ifndef DEPTH_IMAGE_PROC_DEPTH_CONVERSIONS2
#define DEPTH_IMAGE_PROC_DEPTH_CONVERSIONS2
#include <sensor_msgs/Image.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <image_geometry/pinhole_camera_model.h>
#include <depth_traits2.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <limits>
namespace depth_image_proc2{
// Handles float or uint16 depths
template<typename T>
void convert(
const sensor_msgs::ImageConstPtr& depth_msg,
pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud,
double cx,
double cy,
double fx,
double fy,
double range_max = 0.0)
{
// Use correct principal point from calibration
float center_x = cx;
float center_y = 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 / fx;
float constant_y = unit_scaling / fy;
float bad_point = std::numeric_limits<float>::quiet_NaN();
pcl::PointCloud<pcl::PointXYZ>::iterator cloud_iterator = cloud->begin();
const T* depth_row = reinterpret_cast<const T*>(&depth_msg->data[0]);
int row_step = depth_msg->step / sizeof(T);
int cloud_height = cloud->height;
int cloud_width = cloud->width;
for (int v = 0; v < cloud_height; ++v, depth_row += row_step)
{
for (int u = 0; u < cloud_width; ++u, ++cloud_iterator)
{
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
{
cloud_iterator->x = cloud_iterator->y = cloud_iterator->z = bad_point;
continue;
}
}
// Fill in XYZ
cloud_iterator->x = (u - center_x) * depth * constant_x;
cloud_iterator->y = (v - center_y) * depth * constant_y;
cloud_iterator->z = DepthTraits<T>::toMeters(depth);
}
}
}
} // namespace depth_image_proc
#endif
/*********************************************************************
* 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
* 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 Willow Garage 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 OWNER 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.
*********************************************************************/
#ifndef DEPTH_IMAGE_PROC_DEPTH_TRAITS2
#define DEPTH_IMAGE_PROC_DEPTH_TRAITS2
#include <algorithm>
#include <limits>
namespace depth_image_proc2 {
// 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
