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added support of Asus XtionPRO (thanks to Gustav Karlsson for his patches) #1657

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pull/13383/head
Alexander Shishkov 13 years ago
parent 1252671c9d
commit 6051e27a09
3 changed files with 112 additions and 49 deletions
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  1. 5
      modules/highgui/include/opencv2/highgui/highgui_c.h
  2. 101
      modules/highgui/src/cap_openni.cpp
  3. 55
      samples/cpp/openni_capture.cpp

5
modules/highgui/include/opencv2/highgui/highgui_c.h
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@ -370,6 +370,7 @@ enum
CV_CAP_PROP_GUID =29,
CV_CAP_PROP_ISO_SPEED =30,
CV_CAP_PROP_MAX_DC1394 =31,
CV_CAP_PROP_IMAGE_GENERATOR_PRESENT = 32,
CV_CAP_PROP_AUTOGRAB =1024, // property for highgui class CvCapture_Android only
CV_CAP_PROP_SUPPORTED_PREVIEW_SIZES_STRING=1025, // readonly, tricky property, returns cpnst char* indeed
CV_CAP_PROP_PREVIEW_FORMAT=1026, // readonly, tricky property, returns cpnst char* indeed
@ -377,6 +378,7 @@ enum
CV_CAP_OPENNI_DEPTH_GENERATOR = 0,
CV_CAP_OPENNI_IMAGE_GENERATOR = 1 << 31,
CV_CAP_OPENNI_GENERATORS_MASK = 1 << 31,
CV_CAP_OPENNI_PROP_IMAGE_GENERATOR_PRESENT = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_IMAGE_GENERATOR_PRESENT,
// Properties of cameras available through OpenNI interfaces
CV_CAP_PROP_OPENNI_OUTPUT_MODE = 100,
@ -445,7 +447,8 @@ enum
enum
{
CV_CAP_OPENNI_VGA_30HZ = 0,
CV_CAP_OPENNI_SXGA_15HZ = 1
CV_CAP_OPENNI_SXGA_15HZ = 1,
CV_CAP_OPENNI_SXGA_30HZ = 2
};
//supported by Android camera output formats

101
modules/highgui/src/cap_openni.cpp
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@ -38,7 +38,6 @@
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
@ -67,7 +66,7 @@ const std::string XMLConfig =
"</Dumps>"
"</Log>"
"<ProductionNodes>"
"<Node type=\"Image\" name=\"Image1\">"
"<Node type=\"Image\" name=\"Image1\" stopOnError=\"false\">"
"<Configuration>"
"<MapOutputMode xRes=\"640\" yRes=\"480\" FPS=\"30\"/>"
"<Mirror on=\"false\"/>"
@ -134,6 +133,7 @@ protected:
xn::DepthMetaData depthMetaData;
XnMapOutputMode depthOutputMode;
bool m_isImageGeneratorPresent;
xn::ImageGenerator imageGenerator;
xn::ImageMetaData imageMetaData;
XnMapOutputMode imageOutputMode;
@ -241,17 +241,34 @@ CvCapture_OpenNI::CvCapture_OpenNI( int index )
return;
}
imageGenerator.Create( context );
// enumerate the nodes to find if image generator is present
xn::NodeInfoList Imagelist;
status = context.EnumerateExistingNodes( Imagelist, XN_NODE_TYPE_IMAGE );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create image generator: "
<< std::string(xnGetStatusString(status)) << std::endl;
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate Image Generators: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
if(Imagelist.IsEmpty())
{
m_isImageGeneratorPresent = FALSE;
}
else
{
m_isImageGeneratorPresent = TRUE;
imageGenerator.Create( context);
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create image generator: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
}
// 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 );
CV_Assert( m_isImageGeneratorPresent ? ( imageGenerator.SetMapOutputMode( imageOutputMode ) == XN_STATUS_OK ) : TRUE);
// Start generating data.
status = context.StartGeneratingAll();
@ -424,22 +441,28 @@ bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue
{
if( propValue != 0.0 ) // "on"
{
CV_Assert( imageGenerator.IsValid() );
if( !depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) )
// if no Image Generator is present i.e. ASUS XtionPro the imageGenerator cannot be used
if( m_isImageGeneratorPresent )
{
if( depthGenerator.GetAlternativeViewPointCap().IsViewPointSupported(imageGenerator) )
CV_Assert( imageGenerator.IsValid() );
if( !depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) )
{
XnStatus status = depthGenerator.GetAlternativeViewPointCap().SetViewPoint(imageGenerator);
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
if( depthGenerator.GetAlternativeViewPointCap().IsViewPointSupported(imageGenerator) )
{
XnStatus status = depthGenerator.GetAlternativeViewPointCap().SetViewPoint(imageGenerator);
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
else
res = true;
}
else
res = true;
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : Unsupported viewpoint." << std::endl;
}
else
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : Unsupported viewpoint." << std::endl;
res = true;
}
else
res = true;
res = false;
}
else // "off"
{
@ -460,30 +483,40 @@ bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue
double CvCapture_OpenNI::getImageGeneratorProperty( int propIdx )
{
CV_Assert( imageGenerator.IsValid() );
double res = 0;
switch( propIdx )
if (propIdx == CV_CAP_PROP_IMAGE_GENERATOR_PRESENT)
res = m_isImageGeneratorPresent ? 1 : -1;
else
{
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");
}
if (!m_isImageGeneratorPresent)
return res;
CV_Assert( imageGenerator.IsValid() );
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;
if(!m_isImageGeneratorPresent)
return res;
CV_Assert( imageGenerator.IsValid() );
@ -505,6 +538,11 @@ bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue
newImageOutputMode.nYRes = XN_SXGA_Y_RES;
newImageOutputMode.nFPS = 15;
break;
case CV_CAP_OPENNI_SXGA_30HZ :
newImageOutputMode.nXRes = XN_SXGA_X_RES;
newImageOutputMode.nYRes = XN_SXGA_Y_RES;
newImageOutputMode.nFPS = 30;
break;
default :
CV_Error( CV_StsBadArg, "Unsupported image generator output mode.\n");
}
@ -536,7 +574,8 @@ bool CvCapture_OpenNI::grabFrame()
return false;
depthGenerator.GetMetaData( depthMetaData );
imageGenerator.GetMetaData( imageMetaData );
if(m_isImageGeneratorPresent)
imageGenerator.GetMetaData( imageMetaData );
return true;
}

55
samples/cpp/kinect_maps.cpp → samples/cpp/openni_capture.cpp
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@ -8,7 +8,7 @@ using namespace std;
void help()
{
cout << "\nThis program demonstrates usage of Kinect sensor.\n"
cout << "\nThis program demonstrates usage of depth sensors(Kinect,XtionPRO,...).\n"
"The user gets some of the supported output images.\n"
"\nAll supported output map types:\n"
"1.) Data given from depth generator\n"
@ -88,19 +88,19 @@ void printCommandLineParams()
{
cout << "-cd Colorized disparity? (0 or 1; 1 by default) Ignored if disparity map is not selected to show." << endl;
cout << "-fmd Fixed max disparity? (0 or 1; 0 by default) Ignored if disparity map is not colorized (-cd 0)." << endl;
cout << "-sxga SXGA resolution of image? (0 or 1; 0 by default) Ignored if rgb image or gray image are not selected to show." << endl;
cout << " If -sxga is 0 then vga resolution will be set by default." << endl;
cout << "-mode image mode: resolution and fps, supported three values: 0 - CV_CAP_OPENNI_VGA_30HZ, 1 - CV_CAP_OPENNI_SXGA_15HZ," << endl;
cout << " 2 - CV_CAP_OPENNI_SXGA_30HZ (0 by default). Ignored if rgb image or gray image are not selected to show." << endl;
cout << "-m Mask to set which output images are need. It is a string of size 5. Each element of this is '0' or '1' and" << endl;
cout << " determine: is depth map, disparity map, valid pixels mask, rgb image, gray image need or not (correspondently)?" << endl ;
cout << " By default -m 01010 i.e. disparity map and rgb image will be shown." << endl ;
}
void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFixedMaxDisp, bool& isSetSXGA, bool retrievedImageFlags[] )
void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFixedMaxDisp, int& imageMode, bool retrievedImageFlags[] )
{
// set defaut values
isColorizeDisp = true;
isFixedMaxDisp = false;
isSetSXGA = false;
imageMode = 0;
retrievedImageFlags[0] = false;
retrievedImageFlags[1] = true;
@ -129,9 +129,9 @@ void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFix
{
isFixedMaxDisp = atoi(argv[++i]) == 0 ? false : true;
}
else if( !strcmp( argv[i], "-sxga" ) )
else if( !strcmp( argv[i], "-mode" ) )
{
isSetSXGA = atoi(argv[++i]) == 0 ? false : true;
imageMode = atoi(argv[++i]);
}
else if( !strcmp( argv[i], "-m" ) )
{
@ -164,16 +164,17 @@ void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFix
}
/*
* To work with Kinect the user must install OpenNI library and PrimeSensorModule for OpenNI and
* To work with Kinect or XtionPRO the user must install OpenNI library and PrimeSensorModule for OpenNI and
* configure OpenCV with WITH_OPENNI flag is ON (using CMake).
*/
int main( int argc, char* argv[] )
{
bool isColorizeDisp, isFixedMaxDisp, isSetSXGA;
bool isColorizeDisp, isFixedMaxDisp;
int imageMode;
bool retrievedImageFlags[5];
parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, isSetSXGA, retrievedImageFlags );
parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, imageMode, retrievedImageFlags );
cout << "Kinect opening ..." << endl;
cout << "Device opening ..." << endl;
VideoCapture capture( CV_CAP_OPENNI );
cout << "done." << endl;
@ -183,22 +184,42 @@ int main( int argc, char* argv[] )
return -1;
}
if( isSetSXGA )
capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_SXGA_15HZ );
else
capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ ); // default
bool modeRes;
switch ( imageMode )
{
case 0:
modeRes = capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ );
break;
case 1:
modeRes = capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_SXGA_15HZ );
break;
case 2:
modeRes = capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_SXGA_30HZ );
break;
default:
CV_Error( CV_StsBadArg, "Unsupported image mode property.\n");
}
if (!modeRes)
cout << "\nThis image mode is not supported by the device, the default value (CV_CAP_OPENNI_SXGA_15HZ) will be used.\n" << endl;
// Print some avalible Kinect settings.
// Print some avalible device settings.
cout << "\nDepth 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( CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH ) << " mm" << endl <<
"FPS " << capture.get( CV_CAP_PROP_FPS ) << endl;
bool isImageGeneratorPresent = capture.get( CV_CAP_OPENNI_PROP_IMAGE_GENERATOR_PRESENT ) > 0;
if (isImageGeneratorPresent)
cout << "\nImage generator output mode:" << endl <<
"FRAME_WIDTH " << capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_WIDTH ) << endl <<
"FRAME_HEIGHT " << capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_HEIGHT ) << endl <<
"FPS " << capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FPS ) << endl;
else
{
cout << "\nDevice doesn't contain image generator" << endl;
if (!retrievedImageFlags[0] && !retrievedImageFlags[1] && !retrievedImageFlags[2])
return 0;
}
for(;;)
{
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