/*
 * 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);
  }
}
}