mirror of https://github.com/opencv/opencv.git
Merge pull request #24877 from zzuliys:feature/mac
Orbbec Camera supports MacOS，Gemini2 and Gemini2L support Y16 format #24877 note: 1.Gemini2 and Gemini2L must use the latest firmware -- https://github.com/orbbec/OrbbecFirmware; 2.Administrator privileges are necessary to run on MacOS.pull/25294/head
zzuliys
8 months ago
committed by
GitHub
parent
01dc010436
commit
2b9d1a2ff8
11 changed files with 357 additions and 60 deletions
@ -0,0 +1,18 @@ |
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function(download_orbbec_sdk root_var) |
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set(ORBBECSDK_DOWNLOAD_DIR "${OpenCV_BINARY_DIR}/3rdparty/orbbecsdk") |
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set(ORBBECSDK_FILE_HASH_CMAKE "2624c84837d3416fd8b3e95750e6e725") |
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ocv_download(FILENAME "v1.9.4.tar.gz" |
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HASH ${ORBBECSDK_FILE_HASH_CMAKE} |
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URL "https://github.com/orbbec/OrbbecSDK/archive/refs/tags/v1.9.4/" |
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DESTINATION_DIR ${ORBBECSDK_DOWNLOAD_DIR} |
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ID OrbbecSDK |
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STATUS res |
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UNPACK RELATIVE_URL |
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) |
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if(${res}) |
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message(STATUS "orbbec sdk downloaded to: ${ORBBECSDK_DOWNLOAD_DIR}") |
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set(${root_var} "${ORBBECSDK_DOWNLOAD_DIR}/OrbbecSDK-1.9.4" PARENT_SCOPE) |
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else() |
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message(FATAL_ERROR "Failed to download orbbec sdk") |
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endif() |
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endfunction() |
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@ -1,28 +1,54 @@ |
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# --- obsensor --- |
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if(NOT HAVE_OBSENSOR) |
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if(WIN32) |
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check_include_file(mfapi.h HAVE_MFAPI) |
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check_include_file(vidcap.h HAVE_VIDCAP) |
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if(HAVE_MFAPI AND HAVE_VIDCAP) |
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set(HAVE_OBSENSOR TRUE) |
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set(HAVE_OBSENSOR_MSMF TRUE) |
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ocv_add_external_target(obsensor "" "" "HAVE_OBSENSOR;HAVE_OBSENSOR_MSMF") |
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else() |
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set(HAVE_OBSENSOR OFF) |
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set(HAVE_OBSENSOR_MSMF OFF) |
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if(NOT HAVE_MFAPI) |
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MESSAGE(STATUS "Could not find mfapi.h. Turning HAVE_OBSENSOR OFF") |
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endif() |
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if(NOT HAVE_VIDCAP) |
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MESSAGE(STATUS "Could not find vidcap.h. Turning HAVE_OBSENSOR OFF") |
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if(APPLE) |
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# force to use orbbec sdk on mac |
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set(OBSENSOR_USE_ORBBEC_SDK ON) |
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endif() |
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|
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if(OBSENSOR_USE_ORBBEC_SDK) |
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include(${CMAKE_SOURCE_DIR}/3rdparty/orbbecsdk/orbbecsdk.cmake) |
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download_orbbec_sdk(ORBBEC_SDK_ROOT_DIR) |
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message(STATUS "ORBBEC_SDK_ROOT_DIR: ${ORBBEC_SDK_ROOT_DIR}") |
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if(ORBBEC_SDK_ROOT_DIR) |
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set(OrbbecSDK_DIR "${ORBBEC_SDK_ROOT_DIR}") |
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find_package(OrbbecSDK REQUIRED) |
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message(STATUS "OrbbecSDK_FOUND: ${OrbbecSDK_FOUND}") |
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message(STATUS "OrbbecSDK_INCLUDE_DIRS: ${OrbbecSDK_INCLUDE_DIRS}") |
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if(OrbbecSDK_FOUND) |
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set(HAVE_OBSENSOR TRUE) |
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set(HAVE_OBSENSOR_ORBBEC_SDK TRUE) |
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ocv_add_external_target(obsensor "${OrbbecSDK_INCLUDE_DIRS}" "${OrbbecSDK_LIBRARY}" "HAVE_OBSENSOR;HAVE_OBSENSOR_ORBBEC_SDK") |
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file(COPY ${OrbbecSDK_DLL_FILES} DESTINATION ${CMAKE_BINARY_DIR}/bin) |
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file(COPY ${OrbbecSDK_DLL_FILES} DESTINATION ${CMAKE_BINARY_DIR}/lib) |
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install(FILES ${OrbbecSDK_DLL_FILES} DESTINATION ${OPENCV_LIB_INSTALL_PATH}) |
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ocv_install_3rdparty_licenses(OrbbecSDK ${OrbbecSDK_DIR}/LICENSE.txt) |
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endif() |
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endif() |
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elseif(UNIX) |
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check_include_file(linux/videodev2.h HAVE_CAMV4L2_OBSENSOR) |
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if(HAVE_CAMV4L2_OBSENSOR) |
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set(HAVE_OBSENSOR TRUE) |
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set(HAVE_OBSENSOR_V4L2 TRUE) |
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ocv_add_external_target(obsensor "" "" "HAVE_OBSENSOR;HAVE_OBSENSOR_V4L2") |
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else() |
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if(WIN32) |
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check_include_file(mfapi.h HAVE_MFAPI) |
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check_include_file(vidcap.h HAVE_VIDCAP) |
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if(HAVE_MFAPI AND HAVE_VIDCAP) |
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set(HAVE_OBSENSOR TRUE) |
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set(HAVE_OBSENSOR_MSMF TRUE) |
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ocv_add_external_target(obsensor "" "" "HAVE_OBSENSOR;HAVE_OBSENSOR_MSMF") |
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else() |
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set(HAVE_OBSENSOR OFF) |
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set(HAVE_OBSENSOR_MSMF OFF) |
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if(NOT HAVE_MFAPI) |
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MESSAGE(STATUS "Could not find mfapi.h. Turning HAVE_OBSENSOR OFF") |
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endif() |
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if(NOT HAVE_VIDCAP) |
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MESSAGE(STATUS "Could not find vidcap.h. Turning HAVE_OBSENSOR OFF") |
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endif() |
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endif() |
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elseif(UNIX) |
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check_include_file(linux/videodev2.h HAVE_CAMV4L2_OBSENSOR) |
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if(HAVE_CAMV4L2_OBSENSOR) |
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set(HAVE_OBSENSOR TRUE) |
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set(HAVE_OBSENSOR_V4L2 TRUE) |
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ocv_add_external_target(obsensor "" "" "HAVE_OBSENSOR;HAVE_OBSENSOR_V4L2") |
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endif() |
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endif() |
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endif() |
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endif() |
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|
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@ -0,0 +1,154 @@ |
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// 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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|
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/*
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* Copyright(C) 2024 by ORBBEC Technology., Inc. |
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* Authors: |
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* Huang Zhenchang <yufeng@orbbec.com> |
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* Yu Shuai <daiyin@orbbec.com> |
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* |
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* Licensed under the Apache License, Version 2.0 (the "License"); |
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* you may not use this file except in compliance with the License. |
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* You may obtain a copy of the License at |
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* http://www.apache.org/licenses/LICENSE-2.0
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* |
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* Unless required by applicable law or agreed to in writing, software |
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* distributed under the License is distributed on an "AS IS" BASIS, |
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
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* See the License for the specific language governing permissions and |
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* limitations under the License. |
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*/ |
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|
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#include "precomp.hpp" |
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#if defined(HAVE_OBSENSOR) && defined(HAVE_OBSENSOR_ORBBEC_SDK) |
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#include "libobsensor/ObSensor.hpp" |
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#include "cap_obsensor_liborbbec.hpp" |
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namespace cv |
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{ |
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Ptr<IVideoCapture> create_obsensor_capture(int index) |
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{ |
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return makePtr<VideoCapture_obsensor>(index); |
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} |
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|
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VideoCapture_obsensor::VideoCapture_obsensor(int) |
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{ |
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ob::Context::setLoggerToFile(OB_LOG_SEVERITY_OFF, ""); |
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config = std::make_shared<ob::Config>(); |
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pipe = std::make_shared<ob::Pipeline>(); |
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auto colorProfiles = pipe->getStreamProfileList(OB_SENSOR_COLOR); |
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auto colorProfile = colorProfiles->getProfile(OB_PROFILE_DEFAULT); |
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config->enableStream(colorProfile->as<ob::VideoStreamProfile>()); |
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auto depthProfiles = pipe->getStreamProfileList(OB_SENSOR_DEPTH); |
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auto depthProfile = depthProfiles->getProfile(OB_PROFILE_DEFAULT); |
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config->enableStream(depthProfile->as<ob::VideoStreamProfile>()); |
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config->setAlignMode(ALIGN_D2C_SW_MODE); |
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pipe->start(config, [&](std::shared_ptr<ob::FrameSet> frameset) { |
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std::unique_lock<std::mutex> lk(videoFrameMutex); |
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colorFrame = frameset->colorFrame(); |
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depthFrame = frameset->depthFrame(); |
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}); |
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auto param = pipe->getCameraParam(); |
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camParam.p1[0] = param.rgbIntrinsic.fx; |
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camParam.p1[1] = param.rgbIntrinsic.fy; |
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camParam.p1[2] = param.rgbIntrinsic.cx; |
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camParam.p1[3] = param.rgbIntrinsic.cy; |
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} |
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VideoCapture_obsensor::~VideoCapture_obsensor(){ |
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pipe->stop(); |
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} |
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double VideoCapture_obsensor::getProperty(int propIdx) const |
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{ |
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double rst = 0.0; |
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propIdx = propIdx & (~CAP_OBSENSOR_GENERATORS_MASK); |
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switch (propIdx) |
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{ |
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case CAP_PROP_OBSENSOR_INTRINSIC_FX: |
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rst = camParam.p1[0]; |
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break; |
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case CAP_PROP_OBSENSOR_INTRINSIC_FY: |
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rst = camParam.p1[1]; |
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break; |
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case CAP_PROP_OBSENSOR_INTRINSIC_CX: |
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rst = camParam.p1[2]; |
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break; |
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case CAP_PROP_OBSENSOR_INTRINSIC_CY: |
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rst = camParam.p1[3]; |
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break; |
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} |
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return rst; |
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} |
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bool VideoCapture_obsensor::setProperty(int, double) |
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{ |
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return false; |
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} |
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bool VideoCapture_obsensor::grabFrame() |
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{ |
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std::unique_lock<std::mutex> lk(videoFrameMutex); |
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grabbedColorFrame = colorFrame; |
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grabbedDepthFrame = depthFrame; |
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return grabbedColorFrame || grabbedDepthFrame; |
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} |
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bool VideoCapture_obsensor::retrieveFrame(int outputType, cv::OutputArray frame) |
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{ |
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switch (outputType) |
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{ |
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case CAP_OBSENSOR_BGR_IMAGE: |
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if(grabbedColorFrame != nullptr){ |
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auto format = grabbedColorFrame->format(); |
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if(format != OB_FORMAT_MJPEG){ |
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CV_LOG_WARNING(NULL, "Unsupported color frame format"); |
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return false; |
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} |
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auto mjpgMat = Mat(1, grabbedColorFrame->dataSize() , CV_8UC1, grabbedColorFrame->data()).clone(); |
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auto bgrMat = imdecode(mjpgMat, IMREAD_COLOR); |
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if(bgrMat.empty()){ |
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CV_LOG_WARNING(NULL, "Failed to decode color frame"); |
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return false; |
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} |
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bgrMat.copyTo(frame); |
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return true; |
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} |
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break; |
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case CAP_OBSENSOR_DEPTH_MAP: |
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if(grabbedDepthFrame != nullptr){ |
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auto format = grabbedDepthFrame->format(); |
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if(format != OB_FORMAT_Y16){ |
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CV_LOG_WARNING(NULL, "Unsupported depth frame format"); |
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return false; |
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} |
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Mat(grabbedDepthFrame->height(), grabbedDepthFrame->width(), CV_16UC1, grabbedDepthFrame->data()).copyTo(frame); |
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return true; |
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} |
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break; |
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default: |
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return false; |
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} |
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return false; |
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} |
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int VideoCapture_obsensor::getCaptureDomain() |
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{ |
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return CAP_OBSENSOR; |
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} |
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bool VideoCapture_obsensor::isOpened() const |
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{ |
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return true; |
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} |
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} |
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#endif |
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@ -0,0 +1,74 @@ |
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// 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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/*
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* Copyright(C) 2024 by ORBBEC Technology., Inc. |
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* Authors: |
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* Huang Zhenchang <yufeng@orbbec.com> |
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* Yu Shuai <daiyin@orbbec.com> |
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* |
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* Licensed under the Apache License, Version 2.0 (the "License"); |
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* you may not use this file except in compliance with the License. |
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* You may obtain a copy of the License at |
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* http://www.apache.org/licenses/LICENSE-2.0
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* |
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* Unless required by applicable law or agreed to in writing, software |
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* distributed under the License is distributed on an "AS IS" BASIS, |
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
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* See the License for the specific language governing permissions and |
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* limitations under the License. |
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*/ |
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|
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#ifndef _CAP_LIBORBBEC_HPP_ |
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#define _CAP_LIBORBBEC_HPP_ |
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#if defined(HAVE_OBSENSOR) && defined(HAVE_OBSENSOR_ORBBEC_SDK) |
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#include <libobsensor/ObSensor.hpp> |
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#include <mutex> |
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namespace cv |
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{ |
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struct CameraParam |
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{ |
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float p0[4]; |
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float p1[4]; |
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float p2[9]; |
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float p3[3]; |
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float p4[5]; |
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float p5[5]; |
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uint32_t p6[2]; |
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uint32_t p7[2]; |
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}; |
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class VideoCapture_obsensor : public IVideoCapture |
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{ |
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public: |
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VideoCapture_obsensor(int index); |
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virtual ~VideoCapture_obsensor(); |
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virtual double getProperty(int propIdx) const CV_OVERRIDE; |
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virtual bool setProperty(int propIdx, double propVal) CV_OVERRIDE; |
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virtual bool grabFrame() CV_OVERRIDE; |
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virtual bool retrieveFrame(int outputType, OutputArray frame) CV_OVERRIDE; |
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virtual int getCaptureDomain() CV_OVERRIDE; |
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virtual bool isOpened() const CV_OVERRIDE; |
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protected: |
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std::mutex videoFrameMutex; |
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std::shared_ptr<ob::VideoFrame> colorFrame; |
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std::shared_ptr<ob::VideoFrame> depthFrame; |
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std::shared_ptr<ob::VideoFrame> grabbedColorFrame; |
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std::shared_ptr<ob::VideoFrame> grabbedDepthFrame; |
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std::shared_ptr<ob::Pipeline> pipe; |
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std::shared_ptr<ob::Config> config; |
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CameraParam camParam; |
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}; |
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} |
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#endif |
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#endif |
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