inline void
convertDepthToInverseDepthRgba (
const uint16* depthValues,
int numPixels,
float scaleToMeters,
uint8* rgbaBuffer,
uint8 noDepthAlpha = 0,
uint8 depthAlpha = 255
)
{
for (int i = 0; i < numPixels; ++i)
{
int r = 0, g = 0, b = 0;
uint8 alpha = noDepthAlpha;
uint16 depth = depthValues[i];
if (0 < depth && depth < shift2depth(0xffff))
{
const float idepth = 1.f / (float(depth) * scaleToMeters);
// rainbow between 0 and 4
r = int((0.f - idepth) * 255.f / 1.f);
g = int((1.f - idepth) * 255.f / 1.f);
b = int((2.f - idepth) * 255.f / 1.f);
if (r < 0)
r = -r;
if (g < 0)
g = -g;
if (b < 0)
b = -b;
alpha = depthAlpha;
}
uint8_t rc = keepInRange (r, 0, 255);
uint8_t gc = keepInRange (g, 0, 255);
uint8_t bc = keepInRange (b, 0, 255);
rgbaBuffer[4 * i ] = 255 - rc;
rgbaBuffer[4 * i + 1] = 255 - gc;
rgbaBuffer[4 * i + 2] = 255 - bc;
rgbaBuffer[4 * i + 3] = alpha;
}
}
void testObj::test<4>(void)
{
try
{
keepInRange(42, 60, 10);
fail("no exception on invalid range");
}
catch(const Util::Exception&)
{ }
}
void testObj::test<3>(void)
{
ensure_equals("in range failed", keepInRange(666, 10, 50), 50);
}
void testObj::test<2>(void)
{
ensure_equals("in range failed", keepInRange(3, 10, 50), 10);
}
void testObj::test<1>(void)
{
ensure_equals("in range failed", keepInRange(42, 10, 50), 42);
}