depth_tools.h

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#ifndef DEPTH_TOOLS_H
#define DEPTH_TOOLS_H

#include <opencv2/opencv.hpp>

class DepthTools {
public:
    struct Camera {

        float projectZ(unsigned short depth, float factor = 1000.f) const;

        template <typename T>
        float projectX(T x, unsigned short depth, float factor = 1000.f) const;

        template <typename T>
        float projectY(T y, unsigned short depth, float factor = 1000.f) const;

        int backprojectX(float x, float depth, float factor = 1000.f) const;

        int backprojectY(float y, float depth, float factor = 1000.f) const;

        float cropping_x;
        float cropping_y;
        float principal_x;
        float principal_y;
        float focal_x;
        float focal_y;
    };
    
    static void computeCloudFromDepth(const cv::Mat &depth, const Camera &camera,
            cv::Mat &cloud);
};

#endif  /* DEPTH_TOOLS_H */