diff --git a/modules/highgui/include/opencv2/highgui/highgui_c.h b/modules/highgui/include/opencv2/highgui/highgui_c.h
index 87fa0e6ea6..b98fb682ac 100644
--- a/modules/highgui/include/opencv2/highgui/highgui_c.h
+++ b/modules/highgui/include/opencv2/highgui/highgui_c.h
@@ -288,9 +288,9 @@ enum
CV_CAP_DSHOW =700, // DirectShow (via videoInput)
- CV_CAP_PVAPI =800, // PvAPI, Prosilica GigE SDK
+ CV_CAP_PVAPI =800, // PvAPI, Prosilica GigE SDK
- CV_CAP_OPENNI =900 // OpenNI (for Kinect)
+ CV_CAP_OPENNI =900 // OpenNI (for Kinect)
};
/* start capturing frames from camera: index = camera_index + domain_offset (CV_CAP_*) */
@@ -383,6 +383,32 @@ enum
OPENNI_GRAY_IMAGE = 6
};
+// OpenNI map generators
+enum
+{
+ OPENNI_DEPTH_GENERATOR = 0,
+ OPENNI_IMAGE_GENERATOR = 1 << 31
+};
+
+// Properties of Kinect (additional to ones begining from CV_CAP_PROP_...)
+enum
+{
+ OPENNI_OUTPUT_MODE = 20,
+ OPENNI_FRAME_MAX_DEPTH = 21, // in mm
+ OPENNI_BASELINE = 22, // in mm
+ OPENNI_FOCAL_LENGTH = 23, // in pixels
+ OPENNI_IMAGE_GENERATOR_OUTPUT_MODE = OPENNI_IMAGE_GENERATOR + OPENNI_OUTPUT_MODE,
+ OPENNI_DEPTH_GENERATOR_BASELINE = OPENNI_DEPTH_GENERATOR + OPENNI_BASELINE,
+ OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH = OPENNI_DEPTH_GENERATOR + OPENNI_FOCAL_LENGTH
+};
+
+// Supported output modes of OpenNI image generator
+enum
+{
+ OPENNI_VGA_30HZ = 0,
+ OPENNI_SXGA_15HZ = 1
+};
+
const int OPENNI_BAD_DEPTH_VAL = 0;
const int OPENNI_BAD_DISP_VAL = 0;
diff --git a/modules/highgui/src/cap_openni.cpp b/modules/highgui/src/cap_openni.cpp
index d517daf320..575bf3d08e 100644
--- a/modules/highgui/src/cap_openni.cpp
+++ b/modules/highgui/src/cap_openni.cpp
@@ -119,6 +119,11 @@ protected:
void readCamerasParams();
+ double getDepthGeneratorProperty(int);
+ bool setDepthGeneratorProperty(int, double);
+ double getImageGeneratorProperty(int);
+ bool setImageGeneratorProperty(int, double);
+
// OpenNI context
xn::Context context;
bool m_isOpened;
@@ -126,9 +131,11 @@ protected:
// Data generators with its metadata
xn::DepthGenerator depthGenerator;
xn::DepthMetaData depthMetaData;
+ XnMapOutputMode depthOutputMode;
xn::ImageGenerator imageGenerator;
xn::ImageMetaData imageMetaData;
+ XnMapOutputMode imageOutputMode;
// Cameras settings:
#if 1
@@ -163,17 +170,20 @@ CvCapture_OpenNI::CvCapture_OpenNI()
{
XnStatus status = XN_STATUS_OK;
- // Initialize the context with default configuration.
- status = context.Init();
- m_isOpened = (status == XN_STATUS_OK);
-
- if( m_isOpened )
+ // Initialize image output modes (VGA_30HZ by default).
+ depthOutputMode.nXRes = imageOutputMode.nXRes = XN_VGA_X_RES;
+ depthOutputMode.nYRes = imageOutputMode.nYRes = XN_VGA_Y_RES;
+ depthOutputMode.nFPS = imageOutputMode.nFPS = 30;
+
+ m_isOpened = false;
+
+ // Initialize and configure the context.
+ if( context.Init() == XN_STATUS_OK )
{
- // Configure the context.
#ifdef HACK_WITH_XML
// Write configuration to the temporary file.
// This is a hack, because there is a bug in RunXmlScript().
- // TODO: remove hack when bug in RunXmlScript() will be fixed.
+ // TODO: remove hack when bug in RunXmlScript() will be fixed.
char xmlFilename[100];
tmpnam( xmlFilename );
std::ofstream outfile( xmlFilename );
@@ -187,10 +197,12 @@ CvCapture_OpenNI::CvCapture_OpenNI()
#else
status = context.RunXmlScript( XMLConfig.c_str() );
#endif
- if( status != XN_STATUS_OK )
- CV_Error(CV_StsError, ("Failed to apply XML configuration: " + std::string(xnGetStatusString(status))).c_str() );
+ m_isOpened = ( status == XN_STATUS_OK );
+ }
- // Initialize generators.
+ if( m_isOpened )
+ {
+ // Associate generators with context.
status = depthGenerator.Create( context );
if( status != XN_STATUS_OK )
CV_Error(CV_StsError, ("Failed to create depth generator: " + std::string(xnGetStatusString(status))).c_str() );
@@ -198,6 +210,10 @@ CvCapture_OpenNI::CvCapture_OpenNI()
if( status != XN_STATUS_OK )
CV_Error(CV_StsError, ("Failed to create image generator: " + std::string(xnGetStatusString(status))).c_str() );
+ // Set map output mode.
+ CV_Assert( depthGenerator.SetMapOutputMode( depthOutputMode ) == XN_STATUS_OK ); // xn::DepthGenerator supports VGA only! (Jan 2011)
+ CV_Assert( imageGenerator.SetMapOutputMode( imageOutputMode ) == XN_STATUS_OK );
+
// Start generating data.
status = context.StartGeneratingAll();
if( status != XN_STATUS_OK )
@@ -247,18 +263,141 @@ void CvCapture_OpenNI::readCamerasParams()
CV_Error( CV_StsError, "Could not read no sample value!" );
}
-double CvCapture_OpenNI::getProperty(int)
+double CvCapture_OpenNI::getProperty( int propIdx )
{
- assert(0);
- // TODO
- return 0;
+ double propValue = -1;
+
+ if( isOpened() )
+ {
+ if( propIdx & OPENNI_IMAGE_GENERATOR )
+ {
+ propValue = getImageGeneratorProperty( propIdx ^ OPENNI_IMAGE_GENERATOR );
+ }
+ else // depth generator (by default, OPENNI_DEPTH_GENERATOR == 0)
+ {
+ propValue = getDepthGeneratorProperty( propIdx /*^ OPENNI_DEPTH_GENERATOR*/ );
+ }
+ }
+
+ return propValue;
}
-bool CvCapture_OpenNI::setProperty(int, double)
+bool CvCapture_OpenNI::setProperty( int propIdx, double propValue )
{
- assert(0);
- // TODO
- return true;
+ bool res = false;
+ if( isOpened() )
+ {
+ if( propIdx & OPENNI_IMAGE_GENERATOR )
+ {
+ res = setImageGeneratorProperty( propIdx ^ OPENNI_IMAGE_GENERATOR, propValue );
+ }
+ else // depth generator (by default, OPENNI_DEPTH_GENERATOR == 0)
+ {
+ res = setDepthGeneratorProperty( propIdx /*^ OPENNI_DEPTH_GENERATOR*/, propValue );
+ }
+ }
+
+ return false;
+}
+
+double CvCapture_OpenNI::getDepthGeneratorProperty( int propIdx )
+{
+ CV_Assert( depthGenerator.IsValid() );
+
+ double res = -1;
+ switch( propIdx )
+ {
+ case CV_CAP_PROP_FRAME_WIDTH :
+ res = depthOutputMode.nXRes;
+ break;
+ case CV_CAP_PROP_FRAME_HEIGHT :
+ res = depthOutputMode.nYRes;
+ break;
+ case CV_CAP_PROP_FPS :
+ res = depthOutputMode.nFPS;
+ break;
+ case OPENNI_FRAME_MAX_DEPTH :
+ res = depthGenerator.GetDeviceMaxDepth();
+ break;
+ case OPENNI_BASELINE :
+ res = baseline;
+ break;
+ case OPENNI_FOCAL_LENGTH :
+ res = depthFocalLength_VGA;
+ break;
+ default :
+ CV_Error( CV_StsBadArg, "Depth generator does not support such parameter for getting.\n");
+ }
+
+ return res;
+}
+
+bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue )
+{
+ CV_Assert( depthGenerator.IsValid() );
+ CV_Error( CV_StsBadArg, "Depth generator does not support such parameter for setting.\n");
+}
+
+double CvCapture_OpenNI::getImageGeneratorProperty( int propIdx )
+{
+ CV_Assert( imageGenerator.IsValid() );
+
+ double res = -1;
+ switch( propIdx )
+ {
+ case CV_CAP_PROP_FRAME_WIDTH :
+ res = imageOutputMode.nXRes;
+ break;
+ case CV_CAP_PROP_FRAME_HEIGHT :
+ res = imageOutputMode.nYRes;
+ break;
+ case CV_CAP_PROP_FPS :
+ res = imageOutputMode.nFPS;
+ break;
+ default :
+ CV_Error( CV_StsBadArg, "Image generator does not support such parameter for getting.\n");
+ }
+
+ return res;
+}
+
+bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue )
+{
+ bool res = false;
+
+ CV_Assert( imageGenerator.IsValid() );
+ XnMapOutputMode newImageOutputMode = imageOutputMode;
+ switch( propIdx )
+ {
+ case OPENNI_OUTPUT_MODE :
+ switch( cvRound(propValue) )
+ {
+ case OPENNI_VGA_30HZ :
+ newImageOutputMode.nXRes = XN_VGA_X_RES;
+ newImageOutputMode.nYRes = XN_VGA_Y_RES;
+ newImageOutputMode.nFPS = 30;
+ break;
+ case OPENNI_SXGA_15HZ :
+ newImageOutputMode.nXRes = XN_SXGA_X_RES;
+ newImageOutputMode.nYRes = XN_SXGA_Y_RES;
+ newImageOutputMode.nFPS = 15;
+ break;
+ default :
+ CV_Error( CV_StsBadArg, "Unsupported image generator output mode.\n");
+ }
+ break;
+
+ default:
+ CV_Error( CV_StsBadArg, "Image generator does not support such parameter for setting.\n");
+ }
+
+ if( imageGenerator.SetMapOutputMode( newImageOutputMode ) == XN_STATUS_OK )
+ {
+ imageOutputMode = newImageOutputMode;
+ res = true;
+ }
+
+ return res;
}
bool CvCapture_OpenNI::grabFrame()
diff --git a/samples/cpp/kinect_maps.cpp b/samples/cpp/kinect_maps.cpp
index 2a2004cddd..4eeead95cd 100644
--- a/samples/cpp/kinect_maps.cpp
+++ b/samples/cpp/kinect_maps.cpp
@@ -6,14 +6,20 @@
using namespace cv;
using namespace std;
-void colorizeDisparity( const Mat& gray, Mat& rgb, float S=1.f, float V=1.f )
+#define COLORIZED_DISP 1
+#define IMAGE_GENERATOR_VGA_30HZ 1
+#define FIXED_MAX_DISP 0
+
+void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f, float S=1.f, float V=1.f )
{
CV_Assert( !gray.empty() );
CV_Assert( gray.type() == CV_8UC1 );
- // TODO do maxDisp constant (when camera properties will be accessible)
- double maxDisp = 0;
- minMaxLoc( gray, 0, &maxDisp );
+ if( maxDisp <= 0 )
+ {
+ maxDisp = 0;
+ minMaxLoc( gray, 0, &maxDisp );
+ }
rgb.create( gray.size(), CV_8UC3 );
for( int y = 0; y < gray.rows; y++ )
@@ -70,6 +76,18 @@ void help()
<< endl;
}
+float getMaxDisparity( VideoCapture& capture )
+{
+#if FIXED_MAX_DISP
+ const int minDistance = 400; // mm
+ float b = capture.get( OPENNI_DEPTH_GENERATOR_BASELINE ); // mm
+ float F = capture.get( OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ); // pixels
+ return b * F / minDistance;
+#else
+ return -1;
+#endif
+}
+
/*
* To work with Kinect the user must install OpenNI library and PrimeSensorModule for OpenNI and
* configure OpenCV with WITH_OPENNI flag is ON (using CMake).
@@ -88,6 +106,24 @@ int main()
return -1;
}
+#if IMAGE_GENERATOR_VGA_30HZ
+ capture.set( OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, OPENNI_VGA_30HZ ); // default
+#else
+ capture.set( OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, OPENNI_SXGA_15HZ );
+#endif
+
+ // Print some avalible Kinect settings.
+ cout << "Depth generator output mode:" << endl <<
+ "FRAME_WIDTH " << capture.get( CV_CAP_PROP_FRAME_WIDTH ) << endl <<
+ "FRAME_HEIGHT " << capture.get( CV_CAP_PROP_FRAME_HEIGHT ) << endl <<
+ "FRAME_MAX_DEPTH " << capture.get( OPENNI_FRAME_MAX_DEPTH ) << " mm" << endl <<
+ "FPS " << capture.get( CV_CAP_PROP_FPS ) << endl;
+
+ cout << "Image generator output mode:" << endl <<
+ "FRAME_WIDTH " << capture.get( OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_WIDTH ) << endl <<
+ "FRAME_HEIGHT " << capture.get( OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_HEIGHT ) << endl <<
+ "FPS " << capture.get( OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FPS ) << endl;
+
for(;;)
{
Mat depthMap;
@@ -112,14 +148,14 @@ int main()
if( capture.retrieve( disparityMap, OPENNI_DISPARITY_MAP ) )
{
-#if 0 // original disparity
- imshow( "original disparity map", disparityMap );
-#else // colorized disparity for more visibility
+#if COLORIZED_DISP // colorized disparity for more visibility
Mat colorDisparityMap;
- colorizeDisparity( disparityMap, colorDisparityMap );
+ colorizeDisparity( disparityMap, colorDisparityMap, getMaxDisparity( capture ) );
Mat validColorDisparityMap;
colorDisparityMap.copyTo( validColorDisparityMap, disparityMap != OPENNI_BAD_DISP_VAL );
imshow( "colorized disparity map", validColorDisparityMap );
+#else // original disparity
+ imshow( "original disparity map", disparityMap );
#endif
}