Merge pull request #2751 from akashsharma02:master

Add depth_factor argument in rescaleDepth and typedef dynafu::Params for backwards compatibility

* Add depth factor argument (default = 1000.0) to rescaleDepth to
potentially support TUM type datasets

* typedef dynafu::Params as kinfu::Params for compatibility

modules/rgbd/include/opencv2/rgbd/depth.hpp

@@ -312,16 +312,17 @@ namespace rgbd
   depthTo3d(InputArray depth, InputArray K, OutputArray points3d, InputArray mask = noArray());
 
   /** 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()
+   * by depth_factor 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 depth the desired output depth (floats or double)
    * @param out The rescaled float depth image
+   * @param depth_factor (optional) factor by which depth is converted to distance (by default = 1000.0 for Kinect sensor)
    */
   CV_EXPORTS_W
   void
-  rescaleDepth(InputArray in, int depth, OutputArray out);
+  rescaleDepth(InputArray in, int depth, OutputArray out, double depth_factor = 1000.0);
 
   /** Object that can compute planes in an image
    */

modules/rgbd/include/opencv2/rgbd/dynafu.hpp

@@ -13,6 +13,7 @@
 #include "kinfu.hpp"
 
 namespace cv {
+
 namespace dynafu {
 
 /** @brief DynamicFusion implementation
@@ -37,6 +38,11 @@ namespace dynafu {
 
   That's why you need to set the OPENCV_ENABLE_NONFREE option in CMake to use DynamicFusion.
 */
+
+
+/** Backwards compatibility for old versions */
+using Params = kinfu::Params;
+
 class CV_EXPORTS_W DynaFu
 {
 public:

modules/rgbd/src/utils.cpp

@@ -22,7 +22,7 @@ namespace rgbd
    * @param out_out The rescaled float depth image
    */
   void
-  rescaleDepth(InputArray in_in, int depth, OutputArray out_out)
+  rescaleDepth(InputArray in_in, int depth, OutputArray out_out, double depth_factor)
   {
     cv::Mat in = in_in.getMat();
     CV_Assert(in.type() == CV_64FC1 || in.type() == CV_32FC1 || in.type() == CV_16UC1 || in.type() == CV_16SC1);
@@ -34,13 +34,13 @@ namespace rgbd
     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
+      in.convertTo(out, depth, 1 / depth_factor); //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$
+      in.convertTo(out, depth, 1 / depth_factor); //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$
     }