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add ament_lint_auto test and adjust code style
Signed-off-by: Chris Ye <chris.ye@intel.com>
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6 changes: 2 additions & 4 deletions
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depth_image_proc/examples/launch/point_cloud_xyz_radial.launch.py
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depth_image_proc/examples/launch/point_cloud_xyzi_radial.launch.py
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depth_image_proc/include/depth_image_proc/depth_conversions.h
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depth_image_proc/include/depth_image_proc/depth_conversions.hpp
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| // Copyright (c) 2008, Willow Garage, Inc. | ||
| // All rights reserved. | ||
| // | ||
| // Software License Agreement (BSD License 2.0) | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions | ||
| // are met: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // * Redistributions in binary form must reproduce the above | ||
| // copyright notice, this list of conditions and the following | ||
| // disclaimer in the documentation and/or other materials provided | ||
| // with the distribution. | ||
| // * Neither the name of the Willow Garage nor the names of its | ||
| // contributors may be used to endorse or promote products derived | ||
| // from this software without specific prior written permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| // POSSIBILITY OF SUCH DAMAGE. | ||
| #ifndef DEPTH_IMAGE_PROC__DEPTH_CONVERSIONS_HPP_ | ||
| #define DEPTH_IMAGE_PROC__DEPTH_CONVERSIONS_HPP_ | ||
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| #include <sensor_msgs/msg/image.h> | ||
| #include <sensor_msgs/point_cloud2_iterator.hpp> | ||
| #include <image_geometry/pinhole_camera_model.h> | ||
| #include <depth_image_proc/depth_traits.hpp> | ||
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| #include <limits> | ||
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| namespace depth_image_proc | ||
| { | ||
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| using PointCloud = sensor_msgs::msg::PointCloud2; | ||
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| // Handles float or uint16 depths | ||
| template<typename T> | ||
| void convert( | ||
| const sensor_msgs::msg::Image::ConstSharedPtr & depth_msg, | ||
| PointCloud::SharedPtr & cloud_msg, | ||
| const image_geometry::PinholeCameraModel & model, | ||
| double range_max = 0.0) | ||
| { | ||
| // Use correct principal point from calibration | ||
| float center_x = model.cx(); | ||
| float center_y = model.cy(); | ||
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| // Combine unit conversion (if necessary) with scaling by focal length for computing (X,Y) | ||
| double unit_scaling = DepthTraits<T>::toMeters(T(1) ); | ||
| float constant_x = unit_scaling / model.fx(); | ||
| float constant_y = unit_scaling / model.fy(); | ||
| float bad_point = std::numeric_limits<float>::quiet_NaN(); | ||
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| sensor_msgs::PointCloud2Iterator<float> iter_x(*cloud_msg, "x"); | ||
| sensor_msgs::PointCloud2Iterator<float> iter_y(*cloud_msg, "y"); | ||
| sensor_msgs::PointCloud2Iterator<float> iter_z(*cloud_msg, "z"); | ||
| const T * depth_row = reinterpret_cast<const T *>(&depth_msg->data[0]); | ||
| int row_step = depth_msg->step / sizeof(T); | ||
| for (int v = 0; v < static_cast<int>(cloud_msg->height); ++v, depth_row += row_step) { | ||
| for (int u = 0; u < static_cast<int>(cloud_msg->width); ++u, ++iter_x, ++iter_y, ++iter_z) { | ||
| T depth = depth_row[u]; | ||
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| // Missing points denoted by NaNs | ||
| if (!DepthTraits<T>::valid(depth)) { | ||
| if (range_max != 0.0) { | ||
| depth = DepthTraits<T>::fromMeters(range_max); | ||
| } else { | ||
| *iter_x = *iter_y = *iter_z = bad_point; | ||
| continue; | ||
| } | ||
| } | ||
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| // Fill in XYZ | ||
| *iter_x = (u - center_x) * depth * constant_x; | ||
| *iter_y = (v - center_y) * depth * constant_y; | ||
| *iter_z = DepthTraits<T>::toMeters(depth); | ||
| } | ||
| } | ||
| } | ||
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| } // namespace depth_image_proc | ||
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| #endif // DEPTH_IMAGE_PROC__DEPTH_CONVERSIONS_HPP_ |
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