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_OPENNI2
43
44#include <vector>
45#include <limits>
46
47namespace openni_wrapper
48{
49 /** \brief This class provides conversion of the openni 11-bit shift data to depth;
50 */
51 class PCL_EXPORTS ShiftToDepthConverter
52 {
53 public:
54 /** \brief Constructor. */
55 ShiftToDepthConverter () : init_(false) {}
56
57 /** \brief Destructor. */
58 virtual ~ShiftToDepthConverter () {};
59
60 /** \brief This method generates a look-up table to convert openni shift values to depth
61 */
62 void
63 generateLookupTable ()
64 {
65 // lookup of 11 bit shift values
66 constexpr std::size_t table_size = 1<<10;
67
68 lookupTable_.clear();
69 lookupTable_.resize(table_size);
70
71 // constants taken from openni driver
72 constexpr std::int16_t nConstShift = 800;
73 constexpr double nParamCoeff = 4.000000;
74 constexpr double dPlanePixelSize = 0.104200;
75 constexpr double nShiftScale = 10.000000;
76 constexpr double dPlaneDsr = 120.000000;
77 constexpr double dPlaneDcl = 7.500000;
78
79 for (std::size_t i=0; i<table_size; ++i)
80 {
81 // shift to depth calculation from opnni
82 double dFixedRefX = (static_cast<double>(i - nConstShift) / nParamCoeff)-0.375;
83 double dMetric = dFixedRefX * dPlanePixelSize;
84 lookupTable_[i] = static_cast<float>((nShiftScale * ((dMetric * dPlaneDsr / (dPlaneDcl - dMetric)) + dPlaneDsr) ) / 1000.0f);
85 }
86
87 init_ = true;
88 }
89
90 /** \brief Generate a look-up table for converting openni shift values to depth
91 */
92 inline float
93 shiftToDepth (std::uint16_t shift_val)
94 {
95 assert (init_);
96
97 static const float bad_point = std::numeric_limits<float>::quiet_NaN ();
98
99 float ret = bad_point;
100
101 // lookup depth value in shift lookup table
102 if (shift_val<lookupTable_.size())
103 ret = lookupTable_[shift_val];
104
105 return ret;
106 }
107
108 inline bool isInitialized() const
109 {
110 return init_;
111 }
112
113 protected:
114 std::vector<float> lookupTable_;
115 bool init_;
116 } ;
117}
118#endif
#define PCL_EXPORTS
Definition: pcl_macros.h:323