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56 lines
2.3 KiB
56 lines
2.3 KiB
// This file is part of OpenCV project. |
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// It is subject to the license terms in the LICENSE file found in the top-level directory |
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// of this distribution and at http://opencv.org/license.html |
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// This code is also subject to the license terms in the LICENSE_KinectFusion.md file found in this module's directory |
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// This code is also subject to the license terms in the LICENSE_WillowGarage.md file found in this module's directory |
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#include "precomp.hpp" |
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#include "utils.hpp" |
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namespace cv |
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{ |
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namespace rgbd |
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{ |
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/** If the input image is of type CV_16UC1 (like the Kinect one), the image is converted to floats, divided |
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* by 1000 to get a depth in meters, and the values 0 are converted to std::numeric_limits<float>::quiet_NaN() |
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* Otherwise, the image is simply converted to floats |
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* @param in_in the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters |
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* (as done with the Microsoft Kinect), it is assumed in meters) |
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* @param depth the desired output depth (floats or double) |
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* @param out_out The rescaled float depth image |
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*/ |
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void |
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rescaleDepth(InputArray in_in, int depth, OutputArray out_out, double depth_factor) |
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{ |
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cv::Mat in = in_in.getMat(); |
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CV_Assert(in.type() == CV_64FC1 || in.type() == CV_32FC1 || in.type() == CV_16UC1 || in.type() == CV_16SC1); |
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CV_Assert(depth == CV_64FC1 || depth == CV_32FC1); |
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int in_depth = in.depth(); |
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out_out.create(in.size(), depth); |
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cv::Mat out = out_out.getMat(); |
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if (in_depth == CV_16U) |
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{ |
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in.convertTo(out, depth, 1 / depth_factor); //convert to float so that it is in meters |
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cv::Mat valid_mask = in == std::numeric_limits<ushort>::min(); // Should we do std::numeric_limits<ushort>::max() too ? |
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out.setTo(std::numeric_limits<float>::quiet_NaN(), valid_mask); //set a$ |
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} |
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if (in_depth == CV_16S) |
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{ |
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in.convertTo(out, depth, 1 / depth_factor); //convert to float so tha$ |
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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 ? |
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out.setTo(std::numeric_limits<float>::quiet_NaN(), valid_mask); //set a$ |
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} |
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if ((in_depth == CV_32F) || (in_depth == CV_64F)) |
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in.convertTo(out, depth); |
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} |
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} // namespace rgbd |
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namespace kinfu { |
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} // namespace kinfu |
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} // namespace cv |
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