From 011d8e80d8a69d736a59619b7dcae768023bd045 Mon Sep 17 00:00:00 2001
From: Igor Murzov <igor.murzov@xperience.ai>
Date: Mon, 9 Nov 2020 19:03:46 +0300
Subject: [PATCH] videoio: Support Orbbec Astra 3D cameras using OpenNI2 API
Only depth sensor is supported. Color sensor is accessible as a
regular UVC camera.
---
modules/videoio/include/opencv2/videoio.hpp | 3 ++-
modules/videoio/src/cap_openni2.cpp | 11 +++++++++--
2 files changed, 11 insertions(+), 3 deletions(-)
diff --git a/modules/videoio/include/opencv2/videoio.hpp b/modules/videoio/include/opencv2/videoio.hpp
index eb5645ab77..c429699d3f 100644
--- a/modules/videoio/include/opencv2/videoio.hpp
+++ b/modules/videoio/include/opencv2/videoio.hpp
@@ -112,6 +112,7 @@ enum VideoCaptureAPIs {
CAP_REALSENSE = 1500, //!< Synonym for CAP_INTELPERC
CAP_OPENNI2 = 1600, //!< OpenNI2 (for Kinect)
CAP_OPENNI2_ASUS = 1610, //!< OpenNI2 (for Asus Xtion and Occipital Structure sensors)
+ CAP_OPENNI2_ASTRA= 1620, //!< OpenNI2 (for Orbbec Astra)
CAP_GPHOTO2 = 1700, //!< gPhoto2 connection
CAP_GSTREAMER = 1800, //!< GStreamer
CAP_FFMPEG = 1900, //!< Open and record video file or stream using the FFMPEG library
@@ -825,7 +826,7 @@ public:
@throws Exception %Exception on stream errors (check .isOpened() to filter out malformed streams) or VideoCapture type is not supported
The primary use of the function is in multi-camera environments.
- The method fills the ready state vector, grabbs video frame, if camera is ready.
+ The method fills the ready state vector, grabs video frame, if camera is ready.
After this call use VideoCapture::retrieve() to decode and fetch frame data.
*/
diff --git a/modules/videoio/src/cap_openni2.cpp b/modules/videoio/src/cap_openni2.cpp
index adec7359fb..1d455442fa 100644
--- a/modules/videoio/src/cap_openni2.cpp
+++ b/modules/videoio/src/cap_openni2.cpp
@@ -103,7 +103,7 @@ private:
class CvCapture_OpenNI2 : public CvCapture
{
public:
- enum { DEVICE_DEFAULT=0, DEVICE_MS_KINECT=0, DEVICE_ASUS_XTION=1, DEVICE_MAX=1 };
+ enum { DEVICE_DEFAULT=0, DEVICE_MS_KINECT=0, DEVICE_ASUS_XTION=1, DEVICE_ORBBEC_ASTRA=2, DEVICE_MAX=2 };
static const int INVALID_PIXEL_VAL = 0;
static const int INVALID_COORDINATE_VAL = 0;
@@ -116,6 +116,7 @@ public:
CvCapture_OpenNI2(const char * filename);
virtual ~CvCapture_OpenNI2();
+ virtual int getCaptureDomain() CV_OVERRIDE { return cv::CAP_OPENNI2; }
virtual double getProperty(int propIdx) const CV_OVERRIDE;
virtual bool setProperty(int probIdx, double propVal) CV_OVERRIDE;
virtual bool grabFrame() CV_OVERRIDE;
@@ -261,7 +262,8 @@ CvCapture_OpenNI2::CvCapture_OpenNI2(int index, const char * filename) :
index %= 10;
}
// Asus XTION and Occipital Structure Sensor do not have an image generator
- needColor = (deviceType != DEVICE_ASUS_XTION);
+ // Orbbec Astra cameras don't provide OpenNI interface for color stream reading
+ needColor = (deviceType != DEVICE_ASUS_XTION) && (deviceType != DEVICE_ORBBEC_ASTRA);
// find appropriate device URI
openni::Array<openni::DeviceInfo> ldevs;
@@ -300,6 +302,11 @@ CvCapture_OpenNI2::CvCapture_OpenNI2(int index, const char * filename) :
setProperty(CV_CAP_PROP_OPENNI2_MIRROR, 0.0);
isContextOpened = true;
+
+ CV_LOG_INFO(NULL, cv::format("Opened OpenNI camera: %s %s (%04x:%04x)",
+ device.getDeviceInfo().getVendor(), device.getDeviceInfo().getName(),
+ device.getDeviceInfo().getUsbVendorId(), device.getDeviceInfo().getUsbProductId())
+ );
}
CvCapture_OpenNI2::~CvCapture_OpenNI2()