Method fillDepthImage

io/src/image_depth.cpp:209–254

}

void
pcl::io::DepthImage::fillDepthImage (unsigned width, unsigned height, float* depth_buffer, unsigned line_step) const
{
  if (width > wrapper_->getWidth () || height > wrapper_->getHeight ())
    THROW_IO_EXCEPTION ("upsampling not supported: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);

  if (wrapper_->getWidth () % width != 0 || wrapper_->getHeight () % height != 0)
    THROW_IO_EXCEPTION ("downsampling only supported for integer scale: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);

  if (line_step == 0)
    line_step = width * static_cast<unsigned> (sizeof (float));

  // padding skip for destination image
  unsigned bufferSkip = line_step - width * static_cast<unsigned> (sizeof (float));

  // step and padding skip for source image
  unsigned xStep = wrapper_->getWidth () / width;
  unsigned ySkip = (wrapper_->getHeight () / height - 1) * wrapper_->getWidth ();

  // Fill in the depth image data, converting mm to m
  float bad_point = std::numeric_limits<float>::quiet_NaN ();
  unsigned depthIdx = 0;

  const auto* inputBuffer = static_cast<const unsigned short*> (wrapper_->getData ());

  for (unsigned yIdx = 0; yIdx < height; ++yIdx, depthIdx += ySkip)
  {
    for (unsigned xIdx = 0; xIdx < width; ++xIdx, depthIdx += xStep, ++depth_buffer)
    {
      /// @todo Different values for these cases
      unsigned short pixel = inputBuffer[depthIdx];
      if (pixel == 0 || pixel == no_sample_value_ || pixel == shadow_value_)
        *depth_buffer = bad_point;
      else
      {
        *depth_buffer = static_cast<unsigned short>( pixel ) * 0.001f;  // millimeters to meters
      }
    }
    // if we have padding
    if (bufferSkip > 0)
    {
      char* cBuffer = reinterpret_cast<char*> (depth_buffer);
      depth_buffer = reinterpret_cast<float*> (cBuffer + bufferSkip);
    }
  }
}

void
pcl::io::DepthImage::fillDisparityImage (unsigned width, unsigned height, float* disparity_buffer, unsigned line_step) const