Why the uint8_t* to uint16_t* conversion in register_convert()?

[JMLX42]

Hi,

thank you for your work.
I have a question though: could you please explain the uint8_t* to uint16_t* cast happening here ?

If depth is stored as an uint8_t, reading and writing it as an uint16_t won't have the expected outcome.
What am I missing?

Thanks,

[mpottinger]

@promethe42 Im not the author but I just took a look and I did not see any uint8_t for the depth in the code. Strange.

16 bit depth is the standard format from the camera, I don't see any conversion going on in the code.

Not a C++ expert but all I see is the creation of a pointer to the 16 bit data.

[JMLX42]

output is a std::vector<uint8_t> :

structure_core_ros/include/register.hpp

Line 41 in a59e98a

void register_convert(const ST::DepthFrame& depth_frame, const ST::ColorFrame& color_frame, std::vector<uint8_t>& output)

but inner data is casted into a uint16_t* here:

structure_core_ros/include/register.hpp

Line 74 in a59e98a

uint16_t* registered_data = reinterpret_cast<uint16_t*>(output.data());

The code works because of the 2* here when allocating. But it looks cumbersome to type output as uint8_t when the function actually expect/work on uint16_t.

[mpottinger]

@promethe42 ok yes now I see it. I don't know why either. The code also had other issues for me that I had to overcome.

[JMLX42]

Do you have an up to date version? Regards

…

On Thu, Dec 26, 2019, 00:13 mpottinger ***@***.***> wrote: @promethe42 <https://github.com/promethe42> ok yes now I see it. I don't know why either. The code also had other issues for me that I had to overcome. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#6?email_source=notifications&email_token=AAHT2LZ36SEOQTUX6GYW2ULQ2PSJPA5CNFSM4J7EBNHKYY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEHUUV2I#issuecomment-568937193>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAHT2LZAAXORA7IKH3UAFADQ2PSJPANCNFSM4J7EBNHA> .