Point Cloud Library (PCL) 1.14.0
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openni_shift_to_depth_conversion.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011 Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
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37 */
38
39#pragma once
40
41#include <pcl/pcl_config.h>
42#ifdef HAVE_OPENNI2
43
44#include <cassert> // for assert
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 */
52 class PCL_EXPORTS ShiftToDepthConverter
53 {
54 public:
55 /** \brief Constructor. */
56 ShiftToDepthConverter () = default;
57
58 /** \brief This method generates a look-up table to convert openni shift values to depth
59 */
60 void
61 generateLookupTable ()
62 {
63 // lookup of 11 bit shift values
64 constexpr std::size_t table_size = 1<<10;
65
66 lookupTable_.clear();
67 lookupTable_.resize(table_size);
68
69 // constants taken from openni driver
70 constexpr std::int16_t nConstShift = 800;
71 constexpr double nParamCoeff = 4.000000;
72 constexpr double dPlanePixelSize = 0.104200;
73 constexpr double nShiftScale = 10.000000;
74 constexpr double dPlaneDsr = 120.000000;
75 constexpr double dPlaneDcl = 7.500000;
76
77 for (std::size_t i=0; i<table_size; ++i)
78 {
79 // shift to depth calculation from opnni
80 double dFixedRefX = (static_cast<double>(i - nConstShift) / nParamCoeff)-0.375;
81 double dMetric = dFixedRefX * dPlanePixelSize;
82 lookupTable_[i] = static_cast<float>((nShiftScale * ((dMetric * dPlaneDsr / (dPlaneDcl - dMetric)) + dPlaneDsr) ) / 1000.0f);
83 }
84
85 init_ = true;
86 }
87
88 /** \brief Generate a look-up table for converting openni shift values to depth
89 */
90 inline float
91 shiftToDepth (std::uint16_t shift_val)
92 {
93 assert (init_);
94
95 static const float bad_point = std::numeric_limits<float>::quiet_NaN ();
96
97 float ret = bad_point;
98
99 // lookup depth value in shift lookup table
100 if (shift_val<lookupTable_.size())
101 ret = lookupTable_[shift_val];
102
103 return ret;
104 }
105
106 inline bool isInitialized() const
107 {
108 return init_;
109 }
110
111 protected:
112 std::vector<float> lookupTable_;
113 bool init_{false};
114 } ;
115}
116#endif