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parameterize max_depth_per_tile #8

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Jan 17, 2018
Merged

parameterize max_depth_per_tile #8

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fb6b99c
parameterize max_depth_per_tile
Jan 8, 2018
84af1b3
Merge branch 'develop' into parameterize-depth-range
jihoonl Jan 16, 2018
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1 change: 1 addition & 0 deletions include/depthcloud_encoder/depthcloud_encoder.h
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Original file line number Diff line number Diff line change
Expand Up @@ -118,6 +118,7 @@ class DepthCloudEncoder
tf::TransformListener tf_listener_;

double f_;
float max_depth_per_tile_;

bool connectivityExceptionFlag, lookupExceptionFlag;
};
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12 changes: 7 additions & 5 deletions src/depthcloud_encoder.cpp
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Expand Up @@ -57,7 +57,6 @@ using namespace message_filters::sync_policies;
namespace enc = sensor_msgs::image_encodings;

static int target_resolution_ = 512;
static float max_depth_per_tile = 1.0;

DepthCloudEncoder::DepthCloudEncoder(ros::NodeHandle& nh, ros::NodeHandle& pnh) :
nh_(nh),
Expand All @@ -84,6 +83,9 @@ DepthCloudEncoder::DepthCloudEncoder(ros::NodeHandle& nh, ros::NodeHandle& pnh)
// read focal length value from param server in case a cloud topic is used.
priv_nh_.param<double>("f", f_, 525.0);

// read max depth per tile from param server
priv_nh_.param<float>("max_depth_per_tile", max_depth_per_tile_, 1.0);

// read depth map topic from param server
priv_nh_.param<std::string>("depth", depthmap_topic_, "/camera/depth/image");

Expand Down Expand Up @@ -262,7 +264,7 @@ void DepthCloudEncoder::cloudToDepth(const sensor_msgs::PointCloud2& cloud_msg,
// ros::Time(0) can cause unexpected frames?
tf_listener_.waitForTransform( this->camera_frame_id_, cloud_msg.header.frame_id,
ros::Time(0), timeout);
tf_listener_.lookupTransform(this->camera_frame_id_, cloud_msg.header.frame_id,
tf_listener_.lookupTransform(this->camera_frame_id_, cloud_msg.header.frame_id,
ros::Time(0), transform);
}
catch (tf::ExtrapolationException& ex) {
Expand Down Expand Up @@ -467,8 +469,8 @@ void DepthCloudEncoder::process(const sensor_msgs::ImageConstPtr& depth_msg,

if (*depth_ptr == *depth_ptr) // valid point
{
depth_pix_low = std::min(std::max(0.0f, (*depth_ptr / max_depth_per_tile) * (float)(0xFF * 3)), (float)(0xFF * 3));
depth_pix_high = std::min(std::max(0.0f, ((*depth_ptr - max_depth_per_tile) / max_depth_per_tile) * (float)(0xFF) * 3), (float)(0xFF * 3));
depth_pix_low = std::min(std::max(0.0f, (*depth_ptr / max_depth_per_tile_) * (float)(0xFF * 3)), (float)(0xFF * 3));
depth_pix_high = std::min(std::max(0.0f, ((*depth_ptr - max_depth_per_tile_) / max_depth_per_tile_) * (float)(0xFF) * 3), (float)(0xFF * 3));
}
else
{
Expand All @@ -489,7 +491,7 @@ void DepthCloudEncoder::process(const sensor_msgs::ImageConstPtr& depth_msg,
memset(mask_pix_ptr, 0xFF, pix_size);
}

// divide into color channels + saturate for each channel:
// divide into color channels + saturate for each channel:
uint8_t depth_pix_low_r = std::min(std::max(0, depth_pix_low), (0xFF));
uint8_t depth_pix_low_g = std::min(std::max(0, depth_pix_low-(0xFF)), (0xFF));
uint8_t depth_pix_low_b = std::min(std::max(0, depth_pix_low-(0xFF*2)), (0xFF));
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