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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#include <opencv2/rgbd.hpp>
#include <limits>
#include "utils.h"
namespace cv
{
namespace rgbd
{
/** 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_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 depth the desired output depth (floats or double)
* @param out_out The rescaled float depth image
*/
void
rescaleDepth(InputArray in_in, int depth, OutputArray out_out)
{
cv::Mat in = in_in.getMat();
CV_Assert(in.type() == CV_64FC1 || in.type() == CV_32FC1 || in.type() == CV_16UC1 || in.type() == CV_16SC1);
CV_Assert(depth == CV_64FC1 || depth == CV_32FC1);
int in_depth = in.depth();
out_out.create(in.size(), depth);
cv::Mat out = out_out.getMat();
if (in_depth == CV_16U)
{
in.convertTo(out, depth, 1 / 1000.0); //convert to float so that it is in meters
cv::Mat valid_mask = in == std::numeric_limits<ushort>::min(); // Should we do std::numeric_limits<ushort>::max() too ?
out.setTo(std::numeric_limits<float>::quiet_NaN(), valid_mask); //set a$
}
if (in_depth == CV_16S)
{
in.convertTo(out, depth, 1 / 1000.0); //convert to float so tha$
cv::Mat valid_mask = (in == std::numeric_limits<short>::min()) | (in == std::numeric_limits<short>::max()); // Should we do std::numeric_limits<ushort>::max() too ?
out.setTo(std::numeric_limits<float>::quiet_NaN(), valid_mask); //set a$
}
if ((in_depth == CV_32F) || (in_depth == CV_64F))
in.convertTo(out, depth);
}
}
}