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openni_shift_to_depth_conversion.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2011 Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, 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 copyright holder(s) 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
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*/
#pragma once
#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI2
#include <cassert> // for assert
#include <vector>
#include <limits>
namespace openni_wrapper
{
/** \brief This class provides conversion of the openni 11-bit shift data to depth;
*/
class PCL_EXPORTS ShiftToDepthConverter
{
public:
/** \brief Constructor. */
ShiftToDepthConverter () = default;
/** \brief This method generates a look-up table to convert openni shift values to depth
*/
void
generateLookupTable ()
{
// lookup of 11 bit shift values
constexpr std::size_t table_size = 1<<10;
lookupTable_.clear();
lookupTable_.resize(table_size);
// constants taken from openni driver
constexpr std::int16_t nConstShift = 800;
constexpr double nParamCoeff = 4.000000;
constexpr double dPlanePixelSize = 0.104200;
constexpr double nShiftScale = 10.000000;
constexpr double dPlaneDsr = 120.000000;
constexpr double dPlaneDcl = 7.500000;
for (std::size_t i=0; i<table_size; ++i)
{
// shift to depth calculation from opnni
double dFixedRefX = (static_cast<double>(i - nConstShift) / nParamCoeff)-0.375;
double dMetric = dFixedRefX * dPlanePixelSize;
lookupTable_[i] = static_cast<float>((nShiftScale * ((dMetric * dPlaneDsr / (dPlaneDcl - dMetric)) + dPlaneDsr) ) / 1000.0f);
}
init_ = true;
}
/** \brief Generate a look-up table for converting openni shift values to depth
*/
inline float
shiftToDepth (std::uint16_t shift_val)
{
assert (init_);
static const float bad_point = std::numeric_limits<float>::quiet_NaN ();
float ret = bad_point;
// lookup depth value in shift lookup table
if (shift_val<lookupTable_.size())
ret = lookupTable_[shift_val];
return ret;
}
inline bool isInitialized() const
{
return init_;
}
protected:
std::vector<float> lookupTable_;
bool init_{false};
} ;
}
#endif
openni_wrapper
Definition openni_depth_image.h:52