renamed parameter to invalid_depth from default_depth

.gitignore

@@ -1,3 +1,6 @@
 *pyc
 .vscode/
 */doc/generated
+/build/
+/log/
+/install/

depth_image_proc/include/depth_image_proc/conversions.hpp

@@ -51,9 +51,9 @@ namespace depth_image_proc
 template<typename T>
 void convertDepth(
  const sensor_msgs::msg::Image::ConstSharedPtr & depth_msg,
- sensor_msgs::msg::PointCloud2::SharedPtr & cloud_msg,
+ const sensor_msgs::msg::PointCloud2::SharedPtr & cloud_msg,
  const image_geometry::PinholeCameraModel & model,
- double default_depth = 0.0)
+ double invalid_depth = 0.0)
 {
  // Use correct principal point from calibration
  float center_x = model.cx();
@@ -64,18 +64,18 @@ void convertDepth(
  float constant_x = unit_scaling / model.fx();
  float constant_y = unit_scaling / model.fy();
  float bad_point = std::numeric_limits<float>::quiet_NaN();
- 
- // the following lines ensure that the computation only happens in case we have a default depth
- const T default_depth_cvt;
- bool use_default_depth = default_depth != 0.0;
- if (use_default_depth) {
- default_depth_cvt=DepthTraits<T>::fromMeters(default_depth);
+
+ // ensure that the computation only happens in case we have a default depth
+ T invalid_depth_cvt = T(0);
+ bool use_invalid_depth = invalid_depth != 0.0;
+ if (use_invalid_depth) {
+ invalid_depth_cvt = DepthTraits<T>::fromMeters(invalid_depth);
  }
  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");
 
- // TODO: i think this is undefined behaviour we should favor memcpy? https://stackoverflow.com/questions/55150001/vector-with-reinterpret-cast
+ // TODO(philipppolterauer): i think this is undefined behaviour we should favor memcpy? https://stackoverflow.com/questions/55150001/vector-with-reinterpret-cast
  const T * depth_row = reinterpret_cast<const T *>(&depth_msg->data[0]);
  uint32_t row_step = depth_msg->step / sizeof(T);
  for (uint32_t v = 0; v < cloud_msg->height; ++v, depth_row += row_step) {
@@ -84,8 +84,8 @@ void convertDepth(
 
  // Missing points denoted by NaNs
  if (!DepthTraits<T>::valid(depth)) {
- if (use_default_depth) {
- depth = default_depth_cvt;
+ if (use_invalid_depth) {
+ depth = invalid_depth_cvt;
  } else {
  *iter_x = *iter_y = *iter_z = bad_point;
  continue;
@@ -104,8 +104,8 @@ void convertDepth(
 template<typename T>
 void convertDepthRadial(
  const sensor_msgs::msg::Image::ConstSharedPtr & depth_msg,
- sensor_msgs::msg::PointCloud2::SharedPtr & cloud_msg,
- cv::Mat & transform)
+ const sensor_msgs::msg::PointCloud2::SharedPtr & cloud_msg,
+ const cv::Mat & transform)
 {
  // Combine unit conversion (if necessary) with scaling by focal length for computing (X,Y)
  float bad_point = std::numeric_limits<float>::quiet_NaN();
@@ -137,7 +137,7 @@ void convertDepthRadial(
 template<typename T>
 void convertIntensity(
  const sensor_msgs::msg::Image::ConstSharedPtr & intensity_msg,
- sensor_msgs::msg::PointCloud2::SharedPtr & cloud_msg)
+ const sensor_msgs::msg::PointCloud2::SharedPtr & cloud_msg)
 {
  sensor_msgs::PointCloud2Iterator<float> iter_i(*cloud_msg, "intensity");
  const T * inten_row = reinterpret_cast<const T *>(&intensity_msg->data[0]);
@@ -153,7 +153,7 @@ void convertIntensity(
 // Handles RGB8, BGR8, and MONO8
 void convertRgb(
  const sensor_msgs::msg::Image::ConstSharedPtr & rgb_msg,
- sensor_msgs::msg::PointCloud2::SharedPtr & cloud_msg,
+ sensor_msgs::msg::PointCloud2::SharedPtr cloud_msg,
  int red_offset, int green_offset, int blue_offset, int color_step);
 
 cv::Mat initMatrix(cv::Mat cameraMatrix, cv::Mat distCoeffs, int width, int height, bool radial);

depth_image_proc/src/conversions.cpp

@@ -79,7 +79,7 @@ cv::Mat initMatrix(
 
 void convertRgb(
  const sensor_msgs::msg::Image::ConstSharedPtr & rgb_msg,
- sensor_msgs::msg::PointCloud2::SharedPtr & cloud_msg,
+ const sensor_msgs::msg::PointCloud2::SharedPtr & cloud_msg,
  int red_offset, int green_offset, int blue_offset, int color_step)
 {
  sensor_msgs::PointCloud2Iterator<uint8_t> iter_r(*cloud_msg, "r");
@@ -101,7 +101,7 @@ void convertRgb(
 // force template instantiation
 template void convertDepth<uint16_t>(
  const sensor_msgs::msg::Image::ConstSharedPtr & depth_msg,
- sensor_msgs::msg::PointCloud2::SharedPtr & cloud_msg,
+ const sensor_msgs::msg::PointCloud2::SharedPtr & cloud_msg,
  const image_geometry::PinholeCameraModel & model,
  double range_max);
 

depth_image_proc/src/point_cloud_xyz.cpp

@@ -59,8 +59,8 @@ PointCloudXyzNode::PointCloudXyzNode(const rclcpp::NodeOptions & options)
  queue_size_ = this->declare_parameter<int>("queue_size", 5);
 
  // values used for invalid points for pcd conversion
- invalid_depth_ = this->declare_parameter<double>("invalid_depth_", 0.0);
- 
+ invalid_depth_ = this->declare_parameter<double>("invalid_depth", 0.0);
+
  // Create publisher with connect callback
  rclcpp::PublisherOptions pub_options;
  pub_options.event_callbacks.matched_callback =
@@ -97,7 +97,7 @@ void PointCloudXyzNode::depthCb(
  const Image::ConstSharedPtr & depth_msg,
  const CameraInfo::ConstSharedPtr & info_msg)
 {
- auto cloud_msg = std::make_shared<PointCloud2>();
+ const PointCloud2::SharedPtr cloud_msg = std::make_shared<PointCloud2>();
  cloud_msg->header = depth_msg->header;
  cloud_msg->height = depth_msg->height;
  cloud_msg->width = depth_msg->width;