Point Cloud Library (PCL)  1.14.1
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 <cassert> // for assert
45 #include <vector>
46 #include <limits>
47 
48 namespace 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