it is reusing CAP_INTELPERC* enums as Intel PerC is deprecated and librealsense replaces it.pull/11532/head
Pavel Rojtberg
7 years ago
parent
cd2b188c9a
commit
936d2963a2
8 changed files with 181 additions and 0 deletions
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# Main variables: |
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# LIBREALSENSE_LIBRARIES and LIBREALSENSE_INCLUDE to link Intel librealsense modules |
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# HAVE_LIBREALSENSE for conditional compilation OpenCV with/without librealsense |
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find_path(LIBREALSENSE_INCLUDE_DIR "librealsense/rs.hpp" PATHS "$ENV{LIBREALSENSE_INCLUDE}" DOC "Path to librealsense interface headers") |
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find_library(LIBREALSENSE_LIBRARIES "realsense" PATHS "$ENV{LIBREALSENSE_LIB}" DOC "Path to librealsense interface libraries") |
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if(LIBREALSENSE_INCLUDE_DIR AND LIBREALSENSE_LIBRARIES) |
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set(HAVE_LIBREALSENSE TRUE) |
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else() |
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set(HAVE_LIBREALSENSE FALSE) |
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message( WARNING, " librealsense include directory (set by LIBREALSENSE_INCLUDE_DIR variable) is not found or does not have librealsense include files." ) |
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endif() #if(LIBREALSENSE_INCLUDE_DIR AND LIBREALSENSE_LIBRARIES) |
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mark_as_advanced(FORCE LIBREALSENSE_LIBRARIES LIBREALSENSE_INCLUDE_DIR) |
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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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#include "precomp.hpp" |
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#ifdef HAVE_LIBREALSENSE |
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#include "cap_librealsense.hpp" |
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namespace cv |
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{ |
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VideoCapture_LibRealsense::VideoCapture_LibRealsense(int index) |
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{ |
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try |
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{ |
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mDev = mContext.get_device(index); |
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// Configure all streams to run at VGA resolution at 60 frames per second
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mDev->enable_stream(rs::stream::depth, 640, 480, rs::format::z16, 60); |
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mDev->enable_stream(rs::stream::color, 640, 480, rs::format::bgr8, 60); |
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mDev->enable_stream(rs::stream::infrared, 640, 480, rs::format::y8, 60); |
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mDev->start(); |
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} |
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catch (rs::error&) |
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{ |
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mDev = nullptr; |
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} |
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} |
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VideoCapture_LibRealsense::~VideoCapture_LibRealsense(){} |
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double VideoCapture_LibRealsense::getProperty(int prop) const |
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{ |
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double propValue = 0; |
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if(prop == CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE) |
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return mDev->get_depth_scale(); |
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return propValue; |
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} |
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bool VideoCapture_LibRealsense::setProperty(int, double) |
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{ |
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bool isSet = false; |
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return isSet; |
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} |
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bool VideoCapture_LibRealsense::grabFrame() |
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{ |
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if (!isOpened()) |
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return false; |
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try |
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{ |
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mDev->wait_for_frames(); |
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} |
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catch (rs::error&) |
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{ |
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return false; |
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} |
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return true; |
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} |
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bool VideoCapture_LibRealsense::retrieveFrame(int outputType, cv::OutputArray frame) |
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{ |
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rs::stream stream; |
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int type; |
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switch (outputType) |
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{ |
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case CAP_INTELPERC_DEPTH_MAP: |
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stream = rs::stream::depth_aligned_to_color; |
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type = CV_16UC1; |
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break; |
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case CAP_INTELPERC_IR_MAP: |
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stream = rs::stream::infrared; |
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type = CV_8UC1; |
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break; |
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case CAP_INTELPERC_IMAGE: |
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stream = rs::stream::color; |
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type = CV_8UC3; |
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break; |
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default: |
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return false; |
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} |
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try |
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{ |
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// we copy the data straight away, so const_cast should be fine
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void* data = const_cast<void*>(mDev->get_frame_data(stream)); |
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Mat(mDev->get_stream_height(stream), mDev->get_stream_width(stream), type, data).copyTo(frame); |
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} |
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catch (rs::error&) |
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{ |
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return false; |
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} |
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return true; |
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} |
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int VideoCapture_LibRealsense::getCaptureDomain() |
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{ |
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return CAP_INTELPERC; |
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} |
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bool VideoCapture_LibRealsense::isOpened() const |
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{ |
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return mDev && mDev->is_streaming(); |
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} |
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} |
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#endif |
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@ -0,0 +1,36 @@ |
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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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#ifndef _CAP_LIBREALSENE_HPP_ |
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#define _CAP_LIBREALSENE_HPP_ |
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#ifdef HAVE_LIBREALSENSE |
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#include <librealsense/rs.hpp> |
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namespace cv |
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{ |
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class VideoCapture_LibRealsense : public IVideoCapture |
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{ |
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public: |
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VideoCapture_LibRealsense(int index); |
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virtual ~VideoCapture_LibRealsense(); |
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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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rs::context mContext; |
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rs::device* mDev = nullptr; |
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}; |
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} |
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#endif |
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#endif |
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