57 lines
2.3 KiB
C++
57 lines
2.3 KiB
C++
// 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)
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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 / 1000.0); //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 / 1000.0); //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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