Chiebot-Mirror
/
opencv
mirror of https://github.com/opencv/opencv.git
8
0
Fork 0
Code Issues Projects Releases Wiki Activity

Merge pull request #6619 from Slonegg:openni2_ir_stream

Browse Source
pull/6736/head
Alexander Alekhin 9 years ago
parent 86b54a52f0 f9e6741807
commit 6b511751f5
4 changed files with 393 additions and 174 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 14
      modules/videoio/include/opencv2/videoio.hpp
  2. 10
      modules/videoio/include/opencv2/videoio/videoio_c.h
  3. 466
      modules/videoio/src/cap_openni2.cpp
  4. 77
      samples/cpp/openni_capture.cpp

14
modules/videoio/include/opencv2/videoio.hpp
Unescape View File

@ -162,7 +162,8 @@ enum { CAP_PROP_DC1394_OFF = -4, //turn the feature off (not cont
// OpenNI map generators
enum { CAP_OPENNI_DEPTH_GENERATOR = 1 << 31,
CAP_OPENNI_IMAGE_GENERATOR = 1 << 30,
CAP_OPENNI_GENERATORS_MASK = CAP_OPENNI_DEPTH_GENERATOR + CAP_OPENNI_IMAGE_GENERATOR
CAP_OPENNI_IR_GENERATOR = 1 << 29,
CAP_OPENNI_GENERATORS_MASK = CAP_OPENNI_DEPTH_GENERATOR + CAP_OPENNI_IMAGE_GENERATOR + CAP_OPENNI_IR_GENERATOR
};
// Properties of cameras available through OpenNI interfaces
@ -183,13 +184,15 @@ enum { CAP_PROP_OPENNI_OUTPUT_MODE = 100,
CAP_PROP_OPENNI2_MIRROR = 111
};
// OpenNI shortcats
// OpenNI shortcuts
enum { CAP_OPENNI_IMAGE_GENERATOR_PRESENT = CAP_OPENNI_IMAGE_GENERATOR + CAP_PROP_OPENNI_GENERATOR_PRESENT,
CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE = CAP_OPENNI_IMAGE_GENERATOR + CAP_PROP_OPENNI_OUTPUT_MODE,
CAP_OPENNI_DEPTH_GENERATOR_PRESENT = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_GENERATOR_PRESENT,
CAP_OPENNI_DEPTH_GENERATOR_BASELINE = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_BASELINE,
CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_FOCAL_LENGTH,
CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_REGISTRATION,
CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON = CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION
CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON = CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION,
CAP_OPENNI_IR_GENERATOR_PRESENT = CAP_OPENNI_IR_GENERATOR + CAP_PROP_OPENNI_GENERATOR_PRESENT,
};
// OpenNI data given from depth generator
@ -201,7 +204,10 @@ enum { CAP_OPENNI_DEPTH_MAP = 0, // Depth values in mm (CV_16UC1)
// Data given from RGB image generator
CAP_OPENNI_BGR_IMAGE = 5,
CAP_OPENNI_GRAY_IMAGE = 6
CAP_OPENNI_GRAY_IMAGE = 6,
// Data given from IR image generator
CAP_OPENNI_IR_IMAGE = 7
};
// Supported output modes of OpenNI image generator

10
modules/videoio/include/opencv2/videoio/videoio_c.h
Unescape View File

@ -200,7 +200,8 @@ enum
// OpenNI map generators
CV_CAP_OPENNI_DEPTH_GENERATOR = 1 << 31,
CV_CAP_OPENNI_IMAGE_GENERATOR = 1 << 30,
CV_CAP_OPENNI_GENERATORS_MASK = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_OPENNI_IMAGE_GENERATOR,
CV_CAP_OPENNI_IR_GENERATOR = 1 << 29,
CV_CAP_OPENNI_GENERATORS_MASK = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_OPENNI_IR_GENERATOR,
// Properties of cameras available through OpenNI interfaces
CV_CAP_PROP_OPENNI_OUTPUT_MODE = 100,
@ -222,10 +223,12 @@ enum
CV_CAP_OPENNI_IMAGE_GENERATOR_PRESENT = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_OPENNI_GENERATOR_PRESENT,
CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_OPENNI_OUTPUT_MODE,
CV_CAP_OPENNI_DEPTH_GENERATOR_PRESENT = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_GENERATOR_PRESENT,
CV_CAP_OPENNI_DEPTH_GENERATOR_BASELINE = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_BASELINE,
CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_FOCAL_LENGTH,
CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_REGISTRATION,
CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON = CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION,
CV_CAP_OPENNI_IR_GENERATOR_PRESENT = CV_CAP_OPENNI_IR_GENERATOR + CV_CAP_PROP_OPENNI_GENERATOR_PRESENT,
// Properties of cameras available through GStreamer interface
CV_CAP_GSTREAMER_QUEUE_LENGTH = 200, // default is 1
@ -454,7 +457,10 @@ enum
// Data given from RGB image generator.
CV_CAP_OPENNI_BGR_IMAGE = 5,
CV_CAP_OPENNI_GRAY_IMAGE = 6
CV_CAP_OPENNI_GRAY_IMAGE = 6,
// Data given from IR image generator.
CV_CAP_OPENNI_IR_IMAGE = 7
};
// Supported output modes of OpenNI image generator

466
modules/videoio/src/cap_openni2.cpp
Unescape View File

@ -65,8 +65,10 @@
#define CV_STREAM_TIMEOUT 2000
#define CV_DEPTH_STREAM 0
#define CV_COLOR_STREAM 1
#define CV_DEPTH_STREAM 0
#define CV_COLOR_STREAM 1
#define CV_IR_STREAM 2
#define CV_MAX_NUM_STREAMS 3
#include "OpenNI.h"
#include "PS1080.h"
@ -109,10 +111,9 @@ protected:
IplImage iplHeader;
};
static const int outputMapsTypesCount = 7;
static const int outputMapsTypesCount = 8;
static openni::VideoMode defaultColorOutputMode();
static openni::VideoMode defaultDepthOutputMode();
static openni::VideoMode defaultStreamOutputMode(int stream);
IplImage* retrieveDepthMap();
IplImage* retrievePointCloudMap();
@ -121,13 +122,17 @@ protected:
IplImage* retrieveValidDepthMask();
IplImage* retrieveBGRImage();
IplImage* retrieveGrayImage();
IplImage* retrieveIrImage();
openni::Status toggleStream(int stream, bool toggle);
bool readCamerasParams();
double getDepthGeneratorProperty(int propIdx) const;
bool setDepthGeneratorProperty(int propIdx, double propVal);
double getImageGeneratorProperty(int propIdx) const;
bool setImageGeneratorProperty(int propIdx, double propVal);
double getIrGeneratorProperty(int propIdx) const;
bool setIrGeneratorProperty(int propIdx, double propVal);
double getCommonProperty(int propIdx) const;
bool setCommonProperty(int propIdx, double propVal);
@ -137,9 +142,9 @@ protected:
openni::Recorder recorder;
// Data generators with its metadata
openni::VideoStream depth, color, **streams;
openni::VideoFrameRef depthFrame, colorFrame;
cv::Mat depthImage, colorImage;
openni::VideoStream streams[CV_MAX_NUM_STREAMS];
openni::VideoFrameRef streamFrames[CV_MAX_NUM_STREAMS];
cv::Mat streamImages[CV_MAX_NUM_STREAMS];
int maxBufferSize, maxTimeDuration; // for approx sync
bool isCircleBuffer;
@ -157,9 +162,6 @@ protected:
// The value for pixels without a valid disparity measurement
int noSampleValue;
int currentStream;
int numStream;
std::vector<OutputMap> outputMaps;
};
@ -177,27 +179,28 @@ bool CvCapture_OpenNI2::isOpened() const
return isContextOpened;
}
openni::VideoMode CvCapture_OpenNI2::defaultColorOutputMode()
{
openni::VideoMode mode;
mode.setResolution(640, 480);
mode.setFps(30);
mode.setPixelFormat(openni::PIXEL_FORMAT_RGB888);
return mode;
}
openni::VideoMode CvCapture_OpenNI2::defaultDepthOutputMode()
openni::VideoMode CvCapture_OpenNI2::defaultStreamOutputMode(int stream)
{
openni::VideoMode mode;
mode.setResolution(640, 480);
mode.setFps(30);
mode.setPixelFormat(openni::PIXEL_FORMAT_DEPTH_1_MM);
switch (stream)
{
case CV_DEPTH_STREAM:
mode.setPixelFormat(openni::PIXEL_FORMAT_DEPTH_1_MM);
break;
case CV_COLOR_STREAM:
mode.setPixelFormat(openni::PIXEL_FORMAT_RGB888);
break;
case CV_IR_STREAM:
mode.setPixelFormat(openni::PIXEL_FORMAT_GRAY16);
break;
}
return mode;
}
CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
{
numStream = 2;
const char* deviceURI = openni::ANY_DEVICE;
openni::Status status;
int deviceType = DEVICE_DEFAULT;
@ -215,13 +218,6 @@ CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
index %= 10;
}
// Asus XTION and Occipital Structure Sensor do not have an image generator
if (deviceType == DEVICE_ASUS_XTION)
numStream = 1;
if( deviceType > DEVICE_MAX )
return;
// Initialize and configure the context.
status = openni::OpenNI::initialize();
@ -247,83 +243,98 @@ CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
return;
}
//device.setDepthColorSyncEnabled(true);
status = depth.create(device, openni::SENSOR_DEPTH);
if (status == openni::STATUS_OK)
status = toggleStream(CV_DEPTH_STREAM, true);
// Asus XTION and Occipital Structure Sensor do not have an image generator
if (deviceType != DEVICE_ASUS_XTION)
status = openni::Status(status | toggleStream(CV_COLOR_STREAM, true));
if (status != openni::STATUS_OK)
{
if (depth.isValid())
{
CV_Assert(depth.setVideoMode(defaultDepthOutputMode()) == openni::STATUS_OK); // xn::DepthGenerator supports VGA only! (Jan 2011)
}
status = depth.start();
if (status != openni::STATUS_OK)
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't start depth stream: %s\n", openni::OpenNI::getExtendedError()));
depth.destroy();
return;
}
openni::OpenNI::shutdown();
return;
}
else
if (!readCamerasParams())
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't find depth stream:: %s\n", openni::OpenNI::getExtendedError()));
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Could not read cameras parameters\n"));
return;
}
streams = new openni::VideoStream*[numStream];
streams[CV_DEPTH_STREAM] = &depth;
// create a color object
status = color.create(device, openni::SENSOR_COLOR);
if (status == openni::STATUS_OK)
outputMaps.resize( outputMapsTypesCount );
isContextOpened = true;
setProperty(CV_CAP_PROP_OPENNI_REGISTRATION, 1.0);
}
openni::Status CvCapture_OpenNI2::toggleStream(int stream, bool toggle)
{
openni::Status status;
// for logging
static const char* stream_names[CV_MAX_NUM_STREAMS] = {
"depth",
"color",
"IR"
};
static const openni::SensorType stream_sensor_types[CV_MAX_NUM_STREAMS] = {
openni::SENSOR_DEPTH,
openni::SENSOR_COLOR,
openni::SENSOR_IR
};
if (toggle) // want to open stream
{
// Set map output mode.
if (color.isValid())
// already opened
if (streams[stream].isValid())
return openni::STATUS_OK;
// open stream
status = streams[stream].create(device, stream_sensor_types[stream]);
if (status == openni::STATUS_OK)
{
CV_Assert(color.setVideoMode(defaultColorOutputMode()) == openni::STATUS_OK);
// set video mode
status = streams[stream].setVideoMode(defaultStreamOutputMode(stream)); // xn::DepthGenerator supports VGA only! (Jan 2011)
if (status != openni::STATUS_OK)
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't set %s stream output mode: %s\n",
stream_names[stream],
openni::OpenNI::getExtendedError()));
streams[stream].destroy();
return status;
}
// start stream
status = streams[stream].start();
if (status != openni::STATUS_OK)
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't start %s stream: %s\n",
stream_names[stream],
openni::OpenNI::getExtendedError()));
streams[stream].destroy();
return status;
}
}
status = color.start();
if (status != openni::STATUS_OK)
else
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't start color stream: %s\n", openni::OpenNI::getExtendedError()));
color.destroy();
return;
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't find %s stream:: %s\n",
stream_names[stream],
openni::OpenNI::getExtendedError()));
return status;
}
streams[CV_COLOR_STREAM] = &color;
}
else if (numStream == 2)
else if (streams[stream].isValid()) // want to close stream
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't find color stream: %s\n", openni::OpenNI::getExtendedError()));
return;
streams[stream].stop();
streams[stream].destroy();
}
if( !readCamerasParams() )
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Could not read cameras parameters\n"));
return;
}
// if( deviceType == DEVICE_ASUS_XTION )
// {
// //ps/asus specific
// imageGenerator.SetIntProperty("InputFormat", 1 /*XN_IO_IMAGE_FORMAT_YUV422*/);
// imageGenerator.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
// depthGenerator.SetIntProperty("RegistrationType", 1 /*XN_PROCESSING_HARDWARE*/);
// }
outputMaps.resize( outputMapsTypesCount );
isContextOpened = true;
setProperty(CV_CAP_PROP_OPENNI_REGISTRATION, 1.0);
return openni::STATUS_OK;
}
CvCapture_OpenNI2::CvCapture_OpenNI2(const char * filename)
{
numStream = 2;
openni::Status status;
isContextOpened = false;
@ -348,6 +359,13 @@ CvCapture_OpenNI2::CvCapture_OpenNI2(const char * filename)
return;
}
status = openni::Status(toggleStream(CV_DEPTH_STREAM, true) | toggleStream(CV_COLOR_STREAM, true));
if (status != openni::STATUS_OK)
{
openni::OpenNI::shutdown();
return;
}
if( !readCamerasParams() )
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Could not read cameras parameters\n"));
@ -361,17 +379,20 @@ CvCapture_OpenNI2::CvCapture_OpenNI2(const char * filename)
CvCapture_OpenNI2::~CvCapture_OpenNI2()
{
this->depthFrame.release();
this->colorFrame.release();
this->depth.stop();
this->color.stop();
for (int i = 0; i < CV_MAX_NUM_STREAMS; ++i)
{
streamFrames[i].release();
streams[i].stop();
streams[i].destroy();
}
device.close();
openni::OpenNI::shutdown();
}
bool CvCapture_OpenNI2::readCamerasParams()
{
double pixelSize = 0;
if (depth.getProperty<double>(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &pixelSize) != openni::STATUS_OK)
if (streams[CV_DEPTH_STREAM].getProperty<double>(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &pixelSize) != openni::STATUS_OK)
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::readCamerasParams : Could not read pixel size!\n"));
return false;
@ -382,13 +403,13 @@ bool CvCapture_OpenNI2::readCamerasParams()
// focal length of IR camera in pixels for VGA resolution
int zeroPlanDistance; // in mm
if (depth.getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &zeroPlanDistance) != openni::STATUS_OK)
if (streams[CV_DEPTH_STREAM].getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &zeroPlanDistance) != openni::STATUS_OK)
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::readCamerasParams : Could not read virtual plane distance!\n"));
return false;
}
if (depth.getProperty<double>(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, &baseline) != openni::STATUS_OK)
if (streams[CV_DEPTH_STREAM].getProperty<double>(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, &baseline) != openni::STATUS_OK)
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::readCamerasParams : Could not read base line!\n"));
return false;
@ -419,6 +440,10 @@ double CvCapture_OpenNI2::getProperty( int propIdx ) const
{
propValue = getDepthGeneratorProperty( purePropIdx );
}
else if ((propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IR_GENERATOR)
{
propValue = getIrGeneratorProperty(purePropIdx);
}
else
{
propValue = getCommonProperty( purePropIdx );
@ -443,6 +468,10 @@ bool CvCapture_OpenNI2::setProperty( int propIdx, double propValue )
{
isSet = setDepthGeneratorProperty( purePropIdx, propValue );
}
else if ((propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IR_GENERATOR)
{
isSet = setIrGeneratorProperty(purePropIdx, propValue);
}
else
{
isSet = setCommonProperty( purePropIdx, propValue );
@ -458,12 +487,6 @@ double CvCapture_OpenNI2::getCommonProperty( int propIdx ) const
switch( propIdx )
{
// There is a set of properties that correspond to depth generator by default
// (is they are pass without particular generator flag). Two reasons of this:
// 1) We can assume that depth generator is the main one for depth sensor.
// 2) In the initial vertions of OpenNI integration to OpenCV the value of
// flag CV_CAP_OPENNI_DEPTH_GENERATOR was 0 (it isn't zero now).
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT :
case CV_CAP_PROP_FRAME_WIDTH :
case CV_CAP_PROP_FRAME_HEIGHT :
case CV_CAP_PROP_FPS :
@ -477,7 +500,9 @@ double CvCapture_OpenNI2::getCommonProperty( int propIdx ) const
propValue = const_cast<CvCapture_OpenNI2 *>(this)->device.getDepthColorSyncEnabled();
case CV_CAP_PROP_OPENNI2_MIRROR:
{
bool isMirroring = color.getMirroringEnabled() && depth.getMirroringEnabled();
bool isMirroring = false;
for (int i = 0; i < CV_MAX_NUM_STREAMS; ++i)
isMirroring |= streams[i].getMirroringEnabled();
propValue = isMirroring ? 1.0 : 0.0;
break;
}
@ -497,8 +522,11 @@ bool CvCapture_OpenNI2::setCommonProperty( int propIdx, double propValue )
case CV_CAP_PROP_OPENNI2_MIRROR:
{
bool mirror = propValue > 0.0 ? true : false;
isSet = color.setMirroringEnabled(mirror) == openni::STATUS_OK;
isSet = depth.setMirroringEnabled(mirror) == openni::STATUS_OK;
for (int i = 0; i < CV_MAX_NUM_STREAMS; ++i)
{
if (streams[i].isValid())
isSet |= streams[i].setMirroringEnabled(mirror) == openni::STATUS_OK;
}
}
break;
// There is a set of properties that correspond to depth generator by default
@ -509,6 +537,7 @@ bool CvCapture_OpenNI2::setCommonProperty( int propIdx, double propValue )
case CV_CAP_PROP_OPENNI2_SYNC:
isSet = device.setDepthColorSyncEnabled(propValue > 0.0) == openni::STATUS_OK;
break;
default:
CV_Error( CV_StsBadArg, cv::format("Such parameter (propIdx=%d) isn't supported for setting.\n", propIdx) );
}
@ -519,29 +548,28 @@ bool CvCapture_OpenNI2::setCommonProperty( int propIdx, double propValue )
double CvCapture_OpenNI2::getDepthGeneratorProperty( int propIdx ) const
{
double propValue = 0;
if( !depth.isValid() )
if( !streams[CV_DEPTH_STREAM].isValid() )
return propValue;
openni::VideoMode mode;
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT :
CV_DbgAssert(depth.isValid());
propValue = 1.;
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
propValue = streams[CV_DEPTH_STREAM].isValid();
break;
case CV_CAP_PROP_FRAME_WIDTH :
propValue = depth.getVideoMode().getResolutionX();
propValue = streams[CV_DEPTH_STREAM].getVideoMode().getResolutionX();
break;
case CV_CAP_PROP_FRAME_HEIGHT :
propValue = depth.getVideoMode().getResolutionY();
propValue = streams[CV_DEPTH_STREAM].getVideoMode().getResolutionY();
break;
case CV_CAP_PROP_FPS :
mode = depth.getVideoMode();
mode = streams[CV_DEPTH_STREAM].getVideoMode();
propValue = mode.getFps();
break;
case CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH :
propValue = depth.getMaxPixelValue();
propValue = streams[CV_DEPTH_STREAM].getMaxPixelValue();
break;
case CV_CAP_PROP_OPENNI_BASELINE :
propValue = baseline;
@ -553,10 +581,10 @@ double CvCapture_OpenNI2::getDepthGeneratorProperty( int propIdx ) const
propValue = device.getImageRegistrationMode();
break;
case CV_CAP_PROP_POS_MSEC :
propValue = (double)depthFrame.getTimestamp();
propValue = (double)streamFrames[CV_DEPTH_STREAM].getTimestamp();
break;
case CV_CAP_PROP_POS_FRAMES :
propValue = depthFrame.getFrameIndex();
propValue = streamFrames[CV_DEPTH_STREAM].getFrameIndex();
break;
default :
CV_Error( CV_StsBadArg, cv::format("Depth generator does not support such parameter (propIdx=%d) for getting.\n", propIdx) );
@ -569,17 +597,20 @@ bool CvCapture_OpenNI2::setDepthGeneratorProperty( int propIdx, double propValue
{
bool isSet = false;
CV_Assert( depth.isValid() );
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
if (isContextOpened)
isSet = toggleStream(CV_DEPTH_STREAM, propValue > 0.0) == openni::STATUS_OK;
break;
case CV_CAP_PROP_OPENNI_REGISTRATION:
{
CV_Assert(streams[CV_DEPTH_STREAM].isValid());
if( propValue != 0.0 ) // "on"
{
// if there isn't image generator (i.e. ASUS XtionPro doesn't have it)
// then the property isn't avaliable
if ( color.isValid() )
if ( streams[CV_COLOR_STREAM].isValid() )
{
openni::ImageRegistrationMode mode = propValue != 0.0 ? openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR : openni::IMAGE_REGISTRATION_OFF;
if( !device.getImageRegistrationMode() == mode )
@ -619,30 +650,29 @@ bool CvCapture_OpenNI2::setDepthGeneratorProperty( int propIdx, double propValue
double CvCapture_OpenNI2::getImageGeneratorProperty( int propIdx ) const
{
double propValue = 0.;
if( !color.isValid() )
if( !streams[CV_COLOR_STREAM].isValid() )
return propValue;
openni::VideoMode mode;
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT :
CV_DbgAssert( color.isValid() );
propValue = 1.;
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
propValue = streams[CV_COLOR_STREAM].isValid();
break;
case CV_CAP_PROP_FRAME_WIDTH :
propValue = color.getVideoMode().getResolutionX();
propValue = streams[CV_COLOR_STREAM].getVideoMode().getResolutionX();
break;
case CV_CAP_PROP_FRAME_HEIGHT :
propValue = color.getVideoMode().getResolutionY();
propValue = streams[CV_COLOR_STREAM].getVideoMode().getResolutionY();
break;
case CV_CAP_PROP_FPS :
propValue = color.getVideoMode().getFps();
propValue = streams[CV_COLOR_STREAM].getVideoMode().getFps();
break;
case CV_CAP_PROP_POS_MSEC :
propValue = (double)colorFrame.getTimestamp();
propValue = (double)streamFrames[CV_COLOR_STREAM].getTimestamp();
break;
case CV_CAP_PROP_POS_FRAMES :
propValue = (double)colorFrame.getFrameIndex();
propValue = (double)streamFrames[CV_COLOR_STREAM].getFrameIndex();
break;
default :
CV_Error( CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for getting.\n", propIdx) );
@ -654,14 +684,18 @@ double CvCapture_OpenNI2::getImageGeneratorProperty( int propIdx ) const
bool CvCapture_OpenNI2::setImageGeneratorProperty(int propIdx, double propValue)
{
bool isSet = false;
if( !color.isValid() )
return isSet;
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
if (isContextOpened)
isSet = toggleStream(CV_COLOR_STREAM, propValue > 0.0) == openni::STATUS_OK;
break;
case CV_CAP_PROP_OPENNI_OUTPUT_MODE :
{
openni::VideoMode mode = color.getVideoMode();
if (!streams[CV_COLOR_STREAM].isValid())
return isSet;
openni::VideoMode mode = streams[CV_COLOR_STREAM].getVideoMode();
switch( cvRound(propValue) )
{
@ -689,7 +723,7 @@ bool CvCapture_OpenNI2::setImageGeneratorProperty(int propIdx, double propValue)
CV_Error( CV_StsBadArg, "Unsupported image generator output mode.\n");
}
openni::Status status = color.setVideoMode( mode );
openni::Status status = streams[CV_COLOR_STREAM].setVideoMode( mode );
if( status != openni::STATUS_OK )
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::setImageGeneratorProperty : %s\n", openni::OpenNI::getExtendedError()));
else
@ -703,6 +737,96 @@ bool CvCapture_OpenNI2::setImageGeneratorProperty(int propIdx, double propValue)
return isSet;
}
double CvCapture_OpenNI2::getIrGeneratorProperty(int propIdx) const
{
double propValue = 0.;
if (!streams[CV_IR_STREAM].isValid())
return propValue;
openni::VideoMode mode;
switch (propIdx)
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
propValue = streams[CV_IR_STREAM].isValid();
break;
case CV_CAP_PROP_FRAME_WIDTH:
propValue = streams[CV_IR_STREAM].getVideoMode().getResolutionX();
break;
case CV_CAP_PROP_FRAME_HEIGHT:
propValue = streams[CV_IR_STREAM].getVideoMode().getResolutionY();
break;
case CV_CAP_PROP_FPS:
propValue = streams[CV_IR_STREAM].getVideoMode().getFps();
break;
case CV_CAP_PROP_POS_MSEC:
propValue = (double)streamFrames[CV_IR_STREAM].getTimestamp();
break;
case CV_CAP_PROP_POS_FRAMES:
propValue = (double)streamFrames[CV_IR_STREAM].getFrameIndex();
break;
default:
CV_Error(CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for getting.\n", propIdx));
}
return propValue;
}
bool CvCapture_OpenNI2::setIrGeneratorProperty(int propIdx, double propValue)
{
bool isSet = false;
switch (propIdx)
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
if (isContextOpened)
isSet = toggleStream(CV_IR_STREAM, propValue > 0.0) == openni::STATUS_OK;
break;
case CV_CAP_PROP_OPENNI_OUTPUT_MODE:
{
if (!streams[CV_IR_STREAM].isValid())
return isSet;
openni::VideoMode mode = streams[CV_IR_STREAM].getVideoMode();
switch (cvRound(propValue))
{
case CV_CAP_OPENNI_VGA_30HZ:
mode.setResolution(640, 480);
mode.setFps(30);
break;
case CV_CAP_OPENNI_SXGA_15HZ:
mode.setResolution(1280, 960);
mode.setFps(15);
break;
case CV_CAP_OPENNI_SXGA_30HZ:
mode.setResolution(1280, 960);
mode.setFps(30);
break;
case CV_CAP_OPENNI_QVGA_30HZ:
mode.setResolution(320, 240);
mode.setFps(30);
break;
case CV_CAP_OPENNI_QVGA_60HZ:
mode.setResolution(320, 240);
mode.setFps(60);
break;
default:
CV_Error(CV_StsBadArg, "Unsupported image generator output mode.\n");
}
openni::Status status = streams[CV_IR_STREAM].setVideoMode(mode);
if (status != openni::STATUS_OK)
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::setImageGeneratorProperty : %s\n", openni::OpenNI::getExtendedError()));
else
isSet = true;
break;
}
default:
CV_Error(CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for setting.\n", propIdx));
}
return isSet;
}
bool CvCapture_OpenNI2::grabFrame()
{
if( !isOpened() )
@ -710,14 +834,22 @@ bool CvCapture_OpenNI2::grabFrame()
bool isGrabbed = false;
openni::Status status = openni::OpenNI::waitForAnyStream(streams, numStream, &currentStream, CV_STREAM_TIMEOUT);
int numActiveStreams = 0;
openni::VideoStream* streamPtrs[CV_MAX_NUM_STREAMS];
for (int i = 0; i < CV_MAX_NUM_STREAMS; ++i) {
streamPtrs[numActiveStreams++] = &streams[i];
}
int currentStream;
openni::Status status = openni::OpenNI::waitForAnyStream(streamPtrs, numActiveStreams, &currentStream, CV_STREAM_TIMEOUT);
if( status != openni::STATUS_OK )
return false;
if( depth.isValid() )
depth.readFrame(&depthFrame);
if (color.isValid())
color.readFrame(&colorFrame);
for (int i = 0; i < CV_MAX_NUM_STREAMS; ++i)
{
if (streams[i].isValid())
streams[i].readFrame(&streamFrames[i]);
}
isGrabbed = true;
return isGrabbed;
@ -736,25 +868,25 @@ inline void getDepthMapFromMetaData(const openni::VideoFrameRef& depthMetaData,
IplImage* CvCapture_OpenNI2::retrieveDepthMap()
{
if( !depth.isValid() )
if( !streamFrames[CV_DEPTH_STREAM].isValid() )
return 0;
getDepthMapFromMetaData( depthFrame, outputMaps[CV_CAP_OPENNI_DEPTH_MAP].mat, noSampleValue, shadowValue );
getDepthMapFromMetaData(streamFrames[CV_DEPTH_STREAM], outputMaps[CV_CAP_OPENNI_DEPTH_MAP].mat, noSampleValue, shadowValue );
return outputMaps[CV_CAP_OPENNI_DEPTH_MAP].getIplImagePtr();
}
IplImage* CvCapture_OpenNI2::retrievePointCloudMap()
{
if( !depthFrame.isValid() )
if( !streamFrames[CV_DEPTH_STREAM].isValid() )
return 0;
cv::Mat depthImg;
getDepthMapFromMetaData(depthFrame, depthImg, noSampleValue, shadowValue);
getDepthMapFromMetaData(streamFrames[CV_DEPTH_STREAM], depthImg, noSampleValue, shadowValue);
const int badPoint = INVALID_PIXEL_VAL;
const float badCoord = INVALID_COORDINATE_VAL;
int cols = depthFrame.getWidth(), rows = depthFrame.getHeight();
int cols = streamFrames[CV_DEPTH_STREAM].getWidth(), rows = streamFrames[CV_DEPTH_STREAM].getHeight();
cv::Mat pointCloud_XYZ( rows, cols, CV_32FC3, cv::Scalar::all(badPoint) );
float worldX, worldY, worldZ;
@ -762,7 +894,7 @@ IplImage* CvCapture_OpenNI2::retrievePointCloudMap()
{
for (int x = 0; x < cols; x++)
{
openni::CoordinateConverter::convertDepthToWorld(depth, x, y, depthImg.at<unsigned short>(y, x), &worldX, &worldY, &worldZ);
openni::CoordinateConverter::convertDepthToWorld(streams[CV_DEPTH_STREAM], x, y, depthImg.at<unsigned short>(y, x), &worldX, &worldY, &worldZ);
if (depthImg.at<unsigned short>(y, x) == badPoint) // not valid
pointCloud_XYZ.at<cv::Point3f>(y, x) = cv::Point3f(badCoord, badCoord, badCoord);
@ -803,11 +935,11 @@ static void computeDisparity_32F( const openni::VideoFrameRef& depthMetaData, cv
IplImage* CvCapture_OpenNI2::retrieveDisparityMap()
{
if (!depthFrame.isValid())
if (!streamFrames[CV_DEPTH_STREAM].isValid())
return 0;
cv::Mat disp32;
computeDisparity_32F(depthFrame, disp32, baseline, depthFocalLength_VGA, noSampleValue, shadowValue);
computeDisparity_32F(streamFrames[CV_DEPTH_STREAM], disp32, baseline, depthFocalLength_VGA, noSampleValue, shadowValue);
disp32.convertTo( outputMaps[CV_CAP_OPENNI_DISPARITY_MAP].mat, CV_8UC1 );
@ -816,21 +948,21 @@ IplImage* CvCapture_OpenNI2::retrieveDisparityMap()
IplImage* CvCapture_OpenNI2::retrieveDisparityMap_32F()
{
if (!depthFrame.isValid())
if (!streamFrames[CV_DEPTH_STREAM].isValid())
return 0;
computeDisparity_32F(depthFrame, outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].mat, baseline, depthFocalLength_VGA, noSampleValue, shadowValue);
computeDisparity_32F(streamFrames[CV_DEPTH_STREAM], outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].mat, baseline, depthFocalLength_VGA, noSampleValue, shadowValue);
return outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].getIplImagePtr();
}
IplImage* CvCapture_OpenNI2::retrieveValidDepthMask()
{
if (!depthFrame.isValid())
if (!streamFrames[CV_DEPTH_STREAM].isValid())
return 0;
cv::Mat d;
getDepthMapFromMetaData(depthFrame, d, noSampleValue, shadowValue);
getDepthMapFromMetaData(streamFrames[CV_DEPTH_STREAM], d, noSampleValue, shadowValue);
outputMaps[CV_CAP_OPENNI_VALID_DEPTH_MASK].mat = d != CvCapture_OpenNI2::INVALID_PIXEL_VAL;
@ -850,30 +982,58 @@ inline void getBGRImageFromMetaData( const openni::VideoFrameRef& imageMetaData,
cv::cvtColor(bufferImage, bgrImage, cv::COLOR_RGB2BGR);
}
inline void getGrayImageFromMetaData(const openni::VideoFrameRef& imageMetaData, cv::Mat& grayImage)
{
if (imageMetaData.getVideoMode().getPixelFormat() == openni::PIXEL_FORMAT_GRAY8)
{
grayImage.create(imageMetaData.getHeight(), imageMetaData.getWidth(), CV_8UC1);
grayImage.data = (uchar*)imageMetaData.getData();
}
else if (imageMetaData.getVideoMode().getPixelFormat() == openni::PIXEL_FORMAT_GRAY16)
{
grayImage.create(imageMetaData.getHeight(), imageMetaData.getWidth(), CV_16UC1);
grayImage.data = (uchar*)imageMetaData.getData();
}
else
{
CV_Error(CV_StsUnsupportedFormat, "Unsupported format of grabbed image\n");
}
}
IplImage* CvCapture_OpenNI2::retrieveBGRImage()
{
if( !color.isValid() )
if( !streamFrames[CV_COLOR_STREAM].isValid() )
return 0;
getBGRImageFromMetaData( colorFrame, outputMaps[CV_CAP_OPENNI_BGR_IMAGE].mat );
getBGRImageFromMetaData(streamFrames[CV_COLOR_STREAM], outputMaps[CV_CAP_OPENNI_BGR_IMAGE].mat );
return outputMaps[CV_CAP_OPENNI_BGR_IMAGE].getIplImagePtr();
}
IplImage* CvCapture_OpenNI2::retrieveGrayImage()
{
if (!colorFrame.isValid())
if (!streamFrames[CV_COLOR_STREAM].isValid())
return 0;
CV_Assert(colorFrame.getVideoMode().getPixelFormat() == openni::PIXEL_FORMAT_RGB888); // RGB
CV_Assert(streamFrames[CV_COLOR_STREAM].getVideoMode().getPixelFormat() == openni::PIXEL_FORMAT_RGB888); // RGB
cv::Mat rgbImage;
getBGRImageFromMetaData(colorFrame, rgbImage);
getBGRImageFromMetaData(streamFrames[CV_COLOR_STREAM], rgbImage);
cv::cvtColor( rgbImage, outputMaps[CV_CAP_OPENNI_GRAY_IMAGE].mat, CV_BGR2GRAY );
return outputMaps[CV_CAP_OPENNI_GRAY_IMAGE].getIplImagePtr();
}
IplImage* CvCapture_OpenNI2::retrieveIrImage()
{
if (!streamFrames[CV_IR_STREAM].isValid())
return 0;
getGrayImageFromMetaData(streamFrames[CV_IR_STREAM], outputMaps[CV_CAP_OPENNI_IR_IMAGE].mat);
return outputMaps[CV_CAP_OPENNI_IR_IMAGE].getIplImagePtr();
}
IplImage* CvCapture_OpenNI2::retrieveFrame( int outputType )
{
IplImage* image = 0;
@ -907,6 +1067,10 @@ IplImage* CvCapture_OpenNI2::retrieveFrame( int outputType )
{
image = retrieveGrayImage();
}
else if( outputType == CV_CAP_OPENNI_IR_IMAGE )
{
image = retrieveIrImage();
}
return image;
}

77
samples/cpp/openni_capture.cpp
Unescape View File

@ -21,6 +21,8 @@ static void help()
"2.) Data given from RGB image generator\n"
" CAP_OPENNI_BGR_IMAGE - color image (CV_8UC3)\n"
" CAP_OPENNI_GRAY_IMAGE - gray image (CV_8UC1)\n"
"2.) Data given from IR image generator\n"
" CAP_OPENNI_IR_IMAGE - gray image (CV_16UC1)\n"
<< endl;
}
@ -92,8 +94,8 @@ static void printCommandLineParams()
cout << "-mode= image mode: resolution and fps, supported three values: 0 - CAP_OPENNI_VGA_30HZ, 1 - CAP_OPENNI_SXGA_15HZ," << endl;
cout << " 2 - 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 ;
cout << " determine: is depth map, disparity map, valid pixels mask, rgb image, gray image need or not (correspondently), ir image" << endl ;
cout << " By default -m=010100 i.e. disparity map and rgb image will be shown." << endl ;
cout << "-r= Filename of .oni video file. The data will grabbed from it." << endl ;
}
@ -101,7 +103,7 @@ static void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool
string& filename, bool& isFileReading )
{
filename.clear();
cv::CommandLineParser parser(argc, argv, "{h help||}{cd|1|}{fmd|0|}{mode|0|}{m|01010|}{r||}");
cv::CommandLineParser parser(argc, argv, "{h help||}{cd|1|}{fmd|0|}{mode|-1|}{m|010100|}{r||}");
if (parser.has("h"))
{
help();
@ -121,14 +123,14 @@ static void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool
help();
exit(-1);
}
if (flags % 100000 == 0)
if (flags % 1000000 == 0)
{
cout << "No one output image is selected." << endl;
exit(0);
}
for (int i = 0; i < 5; i++)
for (int i = 0; i < 6; i++)
{
retrievedImageFlags[4 - i] = (flags % 10 != 0);
retrievedImageFlags[5 - i] = (flags % 10 != 0);
flags /= 10;
}
}
@ -141,7 +143,7 @@ int main( int argc, char* argv[] )
{
bool isColorizeDisp, isFixedMaxDisp;
int imageMode;
bool retrievedImageFlags[5];
bool retrievedImageFlags[6];
string filename;
bool isVideoReading;
parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, imageMode, retrievedImageFlags, filename, isVideoReading );
@ -165,7 +167,7 @@ int main( int argc, char* argv[] )
return -1;
}
if( !isVideoReading )
if( !isVideoReading && imageMode >= 0 )
{
bool modeRes=false;
switch ( imageMode )
@ -193,13 +195,35 @@ int main( int argc, char* argv[] )
cout << "\nThis image mode is not supported by the device, the default value (CV_CAP_OPENNI_SXGA_15HZ) will be used.\n" << endl;
}
// turn on depth, color and IR if needed
if (retrievedImageFlags[0] || retrievedImageFlags[1] || retrievedImageFlags[2])
capture.set(CAP_OPENNI_DEPTH_GENERATOR_PRESENT, true);
else
capture.set(CAP_OPENNI_DEPTH_GENERATOR_PRESENT, false);
if (retrievedImageFlags[3] || retrievedImageFlags[4])
capture.set(CAP_OPENNI_IMAGE_GENERATOR_PRESENT, true);
else
capture.set(CAP_OPENNI_IMAGE_GENERATOR_PRESENT, false);
if (retrievedImageFlags[5])
capture.set(CAP_OPENNI_IR_GENERATOR_PRESENT, true);
else
capture.set(CAP_OPENNI_IR_GENERATOR_PRESENT, false);
// Print some avalible device settings.
cout << "\nDepth generator output mode:" << endl <<
"FRAME_WIDTH " << capture.get( CAP_PROP_FRAME_WIDTH ) << endl <<
"FRAME_HEIGHT " << capture.get( CAP_PROP_FRAME_HEIGHT ) << endl <<
"FRAME_MAX_DEPTH " << capture.get( CAP_PROP_OPENNI_FRAME_MAX_DEPTH ) << " mm" << endl <<
"FPS " << capture.get( CAP_PROP_FPS ) << endl <<
"REGISTRATION " << capture.get( CAP_PROP_OPENNI_REGISTRATION ) << endl;
if (capture.get(CAP_OPENNI_DEPTH_GENERATOR_PRESENT))
{
cout << "\nDepth generator output mode:" << endl <<
"FRAME_WIDTH " << capture.get(CAP_PROP_FRAME_WIDTH) << endl <<
"FRAME_HEIGHT " << capture.get(CAP_PROP_FRAME_HEIGHT) << endl <<
"FRAME_MAX_DEPTH " << capture.get(CAP_PROP_OPENNI_FRAME_MAX_DEPTH) << " mm" << endl <<
"FPS " << capture.get(CAP_PROP_FPS) << endl <<
"REGISTRATION " << capture.get(CAP_PROP_OPENNI_REGISTRATION) << endl;
}
else
{
cout << "\nDevice doesn't contain depth generator or it is not selected." << endl;
}
if( capture.get( CAP_OPENNI_IMAGE_GENERATOR_PRESENT ) )
{
cout <<
@ -210,9 +234,20 @@ int main( int argc, char* argv[] )
}
else
{
cout << "\nDevice doesn't contain image generator." << endl;
if (!retrievedImageFlags[0] && !retrievedImageFlags[1] && !retrievedImageFlags[2])
return 0;
cout << "\nDevice doesn't contain image generator or it is not selected." << endl;
}
if( capture.get(CAP_OPENNI_IR_GENERATOR_PRESENT) )
{
cout <<
"\nIR generator output mode:" << endl <<
"FRAME_WIDTH " << capture.get(CAP_OPENNI_IR_GENERATOR + CAP_PROP_FRAME_WIDTH) << endl <<
"FRAME_HEIGHT " << capture.get(CAP_OPENNI_IR_GENERATOR + CAP_PROP_FRAME_HEIGHT) << endl <<
"FPS " << capture.get(CAP_OPENNI_IR_GENERATOR + CAP_PROP_FPS) << endl;
}
else
{
cout << "\nDevice doesn't contain IR generator or it is not selected." << endl;
}
for(;;)
@ -222,6 +257,7 @@ int main( int argc, char* argv[] )
Mat disparityMap;
Mat bgrImage;
Mat grayImage;
Mat irImage;
if( !capture.grab() )
{
@ -261,6 +297,13 @@ int main( int argc, char* argv[] )
if( retrievedImageFlags[4] && capture.retrieve( grayImage, CAP_OPENNI_GRAY_IMAGE ) )
imshow( "gray image", grayImage );
if( retrievedImageFlags[5] && capture.retrieve( irImage, CAP_OPENNI_IR_IMAGE ) )
{
Mat ir8;
irImage.convertTo(ir8, CV_8U, 256.0 / 3500, 0.0);
imshow("IR image", ir8);
}
}
if( waitKey( 30 ) >= 0 )

Write Preview
Loading…
Cancel
Save