Point Cloud Library (PCL) 1.12.1
openni_shift_to_depth_conversion.h
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38
39#pragma once
40
41#include <pcl/pcl_config.h>
42#ifdef HAVE_OPENNI
43
44#include <cstdint>
45#include <vector>
46#include <limits>
47
48namespace openni_wrapper
49{
50 /** \brief This class provides conversion of the openni 11-bit shift data to depth;
51 */
53 {
54 public:
55 /** \brief Constructor. */
56 ShiftToDepthConverter () : init_(false) {}
57
58 /** \brief Destructor. */
60
61 /** \brief This method generates a look-up table to convert openni shift values to depth
62 */
63 void
65 {
66 // lookup of 11 bit shift values
67 constexpr std::size_t table_size = 1 << 10;
68
69 lookupTable_.clear();
70 lookupTable_.resize(table_size);
71
72 // constants taken from openni driver
73 constexpr std::int16_t nConstShift = 800;
74 constexpr double nParamCoeff = 4.000000;
75 constexpr double dPlanePixelSize = 0.104200;
76 constexpr double nShiftScale = 10.000000;
77 constexpr double dPlaneDsr = 120.000000;
78 constexpr double dPlaneDcl = 7.500000;
79
80 for (std::size_t i=0; i<table_size; ++i)
81 {
82 // shift to depth calculation from opnni
83 double dFixedRefX = (static_cast<double>(i - nConstShift) / nParamCoeff)-0.375;
84 double dMetric = dFixedRefX * dPlanePixelSize;
85 lookupTable_[i] = static_cast<float>((nShiftScale * ((dMetric * dPlaneDsr / (dPlaneDcl - dMetric)) + dPlaneDsr) ) / 1000.0f);
86 }
87
88 init_ = true;
89 }
90
91 /** \brief Generate a look-up table for converting openni shift values to depth
92 */
93 inline float
94 shiftToDepth (std::uint16_t shift_val)
95 {
96 assert (init_);
97
98 constexpr float bad_point = std::numeric_limits<float>::quiet_NaN ();
99
100 float ret = bad_point;
101
102 // lookup depth value in shift lookup table
103 if (shift_val<lookupTable_.size())
104 ret = lookupTable_[shift_val];
105
106 return ret;
107 }
108
109 inline bool isInitialized() const
110 {
111 return init_;
112 }
113
114 protected:
115 std::vector<float> lookupTable_;
116 bool init_;
117 } ;
118}
119
120#endif
This class provides conversion of the openni 11-bit shift data to depth;.
float shiftToDepth(std::uint16_t shift_val)
Generate a look-up table for converting openni shift values to depth.
void generateLookupTable()
This method generates a look-up table to convert openni shift values to depth.
#define PCL_EXPORTS
Definition: pcl_macros.h:323