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#ifndef __OPENCV_RGBD_UTILS_HPP__
#define __OPENCV_RGBD_UTILS_HPP__

#ifdef __cplusplus

#include <opencv2/rgbd.hpp>

/** If the input image is of type CV_16UC1 (like the Kinect one), the image is converted to floats, divided
 * by 1000 to get a depth in meters, and the values 0 are converted to std::numeric_limits<float>::quiet_NaN()
 * Otherwise, the image is simply converted to floats
 * @param in the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters
 *              (as done with the Microsoft Kinect), it is assumed in meters)
 * @param the desired output depth (floats or double)
 * @param out The rescaled float depth image
 */
template<typename T>
void
rescaleDepthTemplated(const cv::Mat& in, cv::Mat& out);

template<>
inline void
rescaleDepthTemplated<float>(const cv::Mat& in, cv::Mat& out)
{
  rescaleDepth(in, CV_32F, out);
}

template<>
inline void
rescaleDepthTemplated<double>(const cv::Mat& in, cv::Mat& out)
{
  rescaleDepth(in, CV_64F, out);
}

#endif /* __cplusplus */

#endif

/* End of file. */
