// This file is part of OpenCV project. // It is subject to the license terms in the LICENSE file found in the top-level directory // of this distribution and at http://opencv.org/license.html // This code is also subject to the license terms in the LICENSE_KinectFusion.md file found in this module's directory // This code is also subject to the license terms in the LICENSE_WillowGarage.md file found in this module's directory #include "precomp.hpp" #include "utils.hpp" 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); } } // namespace rgbd namespace kinfu { } // namespace kinfu } // namespace cv