text: // 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
  
  