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Merge pull request #25410 from kaingwade:add_videocapture_depth_sample

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Add videocapture_depth.cpp sample #25410

The PR is to combine the examples `videocapture_openni.cpp`, `videocapture_realsense.cpp` and `videocapture_obsensor.cpp` into `videocapture_depth.cpp`.

Tested cameras and OS using this sample are listed below:

|                        | Windows 10   | Ubuntu 22.04 | Mac M1 14.3   |
|------------------------|--------------|--------------|---------------|
| Orbbec Gemini 2 Series | ✓     | ✓     | ✓      |
| RealSense D435, D455   | ✓     | ✓     | ✗      |
| Kinect, XtionPRO       |  -           | -            | -             |

Note:
- OpenNI based cameras (Kinect, XtionPRO) are not tested as I don't have them.
- RealSense D435 and D455 don't work on Mac with OpenCV.
pull/25869/head
WU Jia 7 months ago committed by GitHub
parent 48b457f8c7
commit bd1f9cd1ed
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6 changed files with 176 additions and 398 deletions
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  1. 2
      doc/tutorials/app/intelperc.markdown
  2. 2
      doc/tutorials/app/kinect_openni.markdown
  3. 174
      samples/cpp/videocapture_depth.cpp
  4. 83
      samples/cpp/videocapture_obsensor.cpp
  5. 280
      samples/cpp/videocapture_openni.cpp
  6. 33
      samples/cpp/videocapture_realsense.cpp

2
doc/tutorials/app/intelperc.markdown
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@ -84,5 +84,5 @@ there are two flags that should be used to set/get property of the needed genera
flag value is assumed by default if neither of the two possible values of the property is set. flag value is assumed by default if neither of the two possible values of the property is set.
For more information please refer to the example of usage For more information please refer to the example of usage
[videocapture_realsense.cpp](https://github.com/opencv/opencv/tree/5.x/samples/cpp/videocapture_realsense.cpp) [videocapture_depth.cpp](https://github.com/opencv/opencv/tree/5.x/samples/cpp/videocapture_depth.cpp)
in opencv/samples/cpp folder. in opencv/samples/cpp folder.

2
doc/tutorials/app/kinect_openni.markdown
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@ -140,5 +140,5 @@ property. The following properties of cameras available through OpenNI interface
- CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_REGISTRATION - CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_REGISTRATION
For more information please refer to the example of usage For more information please refer to the example of usage
[videocapture_openni.cpp](https://github.com/opencv/opencv/tree/5.x/samples/cpp/videocapture_openni.cpp) in [videocapture_depth.cpp](https://github.com/opencv/opencv/tree/5.x/samples/cpp/videocapture_depth.cpp) in
opencv/samples/cpp folder. opencv/samples/cpp folder.

174
samples/cpp/videocapture_depth.cpp
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@ -0,0 +1,174 @@
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
using namespace cv;
static void colorizeDisparity(const Mat& gray, Mat& rgb, double maxDisp=-1.f)
{
CV_Assert(!gray.empty());
CV_Assert(gray.type() == CV_8UC1);
if(maxDisp <= 0)
{
maxDisp = 0;
minMaxLoc(gray, nullptr, &maxDisp);
}
rgb = Mat::zeros(gray.size(), CV_8UC3);
if(maxDisp < 1)
return;
Mat tmp;
convertScaleAbs(gray, tmp, 255.f / maxDisp);
applyColorMap(tmp, rgb, COLORMAP_JET);
}
static float getMaxDisparity(VideoCapture& capture, int minDistance)
{
float b = (float)capture.get(CAP_OPENNI_DEPTH_GENERATOR_BASELINE); // mm
float F = (float)capture.get(CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH); // pixels
return b * F / minDistance;
}
static void colorizeDepth(const Mat& depth, Mat& rgb)
{
CV_Assert(!depth.empty());
normalize(depth, rgb, 0, 255, NORM_MINMAX, CV_8UC1);
applyColorMap(rgb, rgb, COLORMAP_JET);
}
const char* keys = "{type t | | Camera Type: OpenNI, RealSense, Orbbec}"
"{dist d | 400 | The minimum measurable distance in milimeter between the camera and the object}"
"{help h | | Help}";
const char* about =
"\nThis example demostrates how to get data from 3D cameras via OpenCV.\n"
"Currently OpenCV supports 3 types of 3D cameras:\n"
"1. Depth sensors compatible with OpenNI (Kinect, XtionPRO). "
"Users must install OpenNI library and PrimeSensorModule for OpenNI and configure OpenCV with WITH_OPENNI flag ON in CMake.\n"
"2. Depth sensors compatible with Intel® RealSense SDK (RealSense). "
"Users must install Intel RealSense SDK 2.0 and configure OpenCV with WITH_LIBREALSENSE flag ON in CMake.\n"
"3. Orbbec UVC depth sensors. "
"For the use of OpenNI based Orbbec cameras, please refer to the example openni_orbbec_astra.cpp\n";
int main(int argc, char *argv[])
{
CommandLineParser parser(argc, argv, keys);
parser.about(about);
if(parser.has("help"))
{
parser.printMessage();
return 0;
}
if (parser.has("type"))
{
int backend;
int flagDepth, flagBGR, flagIR;
bool hasDisparity = false;
String camType = parser.get<String>("type");
if (camType == "OpenNI")
{
backend = CAP_OPENNI2;
flagDepth = CAP_OPENNI_DEPTH_MAP;
flagBGR = CAP_OPENNI_BGR_IMAGE;
flagIR = CAP_OPENNI_IR_IMAGE;
hasDisparity = true;
}
else if (camType == "RealSense")
{
backend = CAP_INTELPERC;
flagDepth = CAP_INTELPERC_DEPTH_MAP;
flagBGR = CAP_INTELPERC_IMAGE;
flagIR = CAP_INTELPERC_IR_MAP;
}
else if (camType == "Orbbec")
{
backend = CAP_OBSENSOR;
flagDepth = CAP_OBSENSOR_DEPTH_MAP;
flagBGR = CAP_OBSENSOR_BGR_IMAGE;
flagIR = CAP_OBSENSOR_IR_IMAGE; // Note output IR stream is not implemented for now.
}
else
{
std::cerr << "Invalid input of camera type." << std::endl;
return -1;
}
VideoCapture capture(backend);
if(!capture.isOpened())
{
std::cerr << "Fail to open depth camera." << std::endl;
return -1;
}
if (camType == "OpenNI")
{
capture.set(CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_VGA_30HZ);
capture.set(CAP_OPENNI_DEPTH_GENERATOR_PRESENT, true);
capture.set(CAP_OPENNI_IMAGE_GENERATOR_PRESENT, true);
capture.set(CAP_OPENNI_IR_GENERATOR_PRESENT, true);
}
Mat depthMap;
Mat bgrImage;
Mat irImage;
Mat disparityMap;
for(;;)
{
if(capture.grab())
{
if(capture.retrieve(depthMap, flagDepth))
{
Mat colorDepthMap;
colorizeDepth(depthMap, colorDepthMap);
imshow("Colorized Depth Map", colorDepthMap);
}
if(capture.retrieve(bgrImage, flagBGR))
imshow("RGB Image", bgrImage);
if(capture.retrieve(irImage, flagIR))
{
if (camType == "OpenNI")
{
Mat ir8;
irImage.convertTo(ir8, CV_8U, 256.0 / 3500, 0.0);
imshow("Infrared Image", ir8);
}
else
imshow("Infrared Image", irImage);
}
if (hasDisparity)
{
int minDist = parser.get<int>("dist"); // mm
if(capture.retrieve(disparityMap, CAP_OPENNI_DISPARITY_MAP))
{
Mat colorDisparityMap;
colorizeDisparity(disparityMap, colorDisparityMap, getMaxDisparity(capture, minDist));
colorDisparityMap.setTo(Scalar(0, 0, 0), disparityMap == 0);
imshow("Colorized Disparity Map", colorDisparityMap);
}
}
}
if(waitKey(30) >= 0)
break;
}
}
else
{
parser.printMessage();
return 0;
}
return 0;
}

83
samples/cpp/videocapture_obsensor.cpp
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@ -1,83 +0,0 @@
/**
* attention: Astra2 cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
*/
#include <opencv2/videoio.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <iostream>
using namespace cv;
int main()
{
VideoCapture obsensorCapture(0, CAP_OBSENSOR);
if(!obsensorCapture.isOpened()){
std::cerr << "Failed to open obsensor capture! Index out of range or no response from device";
return -1;
}
double fx = obsensorCapture.get(CAP_PROP_OBSENSOR_INTRINSIC_FX);
double fy = obsensorCapture.get(CAP_PROP_OBSENSOR_INTRINSIC_FY);
double cx = obsensorCapture.get(CAP_PROP_OBSENSOR_INTRINSIC_CX);
double cy = obsensorCapture.get(CAP_PROP_OBSENSOR_INTRINSIC_CY);
std::cout << "obsensor camera intrinsic params: fx=" << fx << ", fy=" << fy << ", cx=" << cx << ", cy=" << cy << std::endl;
Mat image;
Mat depthMap;
Mat adjDepthMap;
// Minimum depth value
const double minVal = 300;
// Maximum depth value
const double maxVal = 5000;
while (true)
{
// Grab depth map like this:
// obsensorCapture >> depthMap;
// Another way to grab depth map (and bgr image).
if (obsensorCapture.grab())
{
if (obsensorCapture.retrieve(image, CAP_OBSENSOR_BGR_IMAGE))
{
imshow("RGB", image);
}
if (obsensorCapture.retrieve(depthMap, CAP_OBSENSOR_DEPTH_MAP))
{
depthMap.convertTo(adjDepthMap, CV_8U, 255.0 / (maxVal - minVal), -minVal * 255.0 / (maxVal - minVal));
applyColorMap(adjDepthMap, adjDepthMap, COLORMAP_JET);
imshow("DEPTH", adjDepthMap);
}
// depth map overlay on bgr image
static const float alpha = 0.6f;
if (!image.empty() && !depthMap.empty())
{
depthMap.convertTo(adjDepthMap, CV_8U, 255.0 / (maxVal - minVal), -minVal * 255.0 / (maxVal - minVal));
cv::resize(adjDepthMap, adjDepthMap, cv::Size(image.cols, image.rows));
for (int i = 0; i < image.rows; i++)
{
for (int j = 0; j < image.cols; j++)
{
cv::Vec3b& outRgb = image.at<cv::Vec3b>(i, j);
uint8_t depthValue = 255 - adjDepthMap.at<uint8_t>(i, j);
if (depthValue != 0 && depthValue != 255)
{
outRgb[0] = (uint8_t)(outRgb[0] * (1.0f - alpha) + depthValue * alpha);
outRgb[1] = (uint8_t)(outRgb[1] * (1.0f - alpha) + depthValue * alpha);
outRgb[2] = (uint8_t)(outRgb[2] * (1.0f - alpha) + depthValue * alpha);
}
}
}
imshow("DepthToColor", image);
}
image.release();
depthMap.release();
}
if (pollKey() >= 0)
break;
}
return 0;
}

280
samples/cpp/videocapture_openni.cpp
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@ -1,280 +0,0 @@
#include "opencv2/videoio/videoio.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
using namespace cv;
using namespace std;
static void help()
{
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"
" CAP_OPENNI_DEPTH_MAP - depth values in mm (CV_16UC1)\n"
" CAP_OPENNI_POINT_CLOUD_MAP - XYZ in meters (CV_32FC3)\n"
" CAP_OPENNI_DISPARITY_MAP - disparity in pixels (CV_8UC1)\n"
" CAP_OPENNI_DISPARITY_MAP_32F - disparity in pixels (CV_32FC1)\n"
" CAP_OPENNI_VALID_DEPTH_MASK - mask of valid pixels (not occluded, not shaded etc.) (CV_8UC1)\n"
"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;
}
static void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f)
{
CV_Assert( !gray.empty() );
CV_Assert( gray.type() == CV_8UC1 );
if( maxDisp <= 0 )
{
maxDisp = 0;
minMaxLoc( gray, 0, &maxDisp );
}
rgb.create( gray.size(), CV_8UC3 );
rgb = Scalar::all(0);
if( maxDisp < 1 )
return;
Mat tmp;
convertScaleAbs(gray, tmp, 255.f / maxDisp);
applyColorMap(tmp, rgb, COLORMAP_JET);
}
static float getMaxDisparity( VideoCapture& capture )
{
const int minDistance = 400; // mm
float b = (float)capture.get( CAP_OPENNI_DEPTH_GENERATOR_BASELINE ); // mm
float F = (float)capture.get( CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ); // pixels
return b * F / minDistance;
}
static 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 << "-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 6. 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), 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 ;
}
static void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFixedMaxDisp, int& imageMode, bool retrievedImageFlags[],
string& filename, bool& isFileReading )
{
filename.clear();
cv::CommandLineParser parser(argc, argv, "{h help||}{cd|1|}{fmd|0|}{mode|-1|}{m|010100|}{r||}");
if (parser.has("h"))
{
help();
printCommandLineParams();
exit(0);
}
isColorizeDisp = (parser.get<int>("cd") != 0);
isFixedMaxDisp = (parser.get<int>("fmd") != 0);
imageMode = parser.get<int>("mode");
int flags = parser.get<int>("m");
isFileReading = parser.has("r");
if (isFileReading)
filename = parser.get<string>("r");
if (!parser.check())
{
parser.printErrors();
help();
exit(-1);
}
if (flags % 1000000 == 0)
{
cout << "No one output image is selected." << endl;
exit(0);
}
for (int i = 0; i < 6; i++)
{
retrievedImageFlags[5 - i] = (flags % 10 != 0);
flags /= 10;
}
}
/*
* 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;
int imageMode;
bool retrievedImageFlags[6];
string filename;
bool isVideoReading;
parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, imageMode, retrievedImageFlags, filename, isVideoReading );
cout << "Device opening ..." << endl;
VideoCapture capture;
if( isVideoReading )
capture.open( filename );
else
{
capture.open( CAP_OPENNI2 );
}
cout << "done." << endl;
if( !capture.isOpened() )
{
cout << "Can not open a capture object." << endl;
return -1;
}
if( !isVideoReading && imageMode >= 0 )
{
bool modeRes=false;
switch ( imageMode )
{
case 0:
modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_VGA_30HZ );
break;
case 1:
modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_SXGA_15HZ );
break;
case 2:
modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_SXGA_30HZ );
break;
//The following modes are only supported by the Xtion Pro Live
case 3:
modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_QVGA_30HZ );
break;
case 4:
modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_QVGA_60HZ );
break;
default:
CV_Error( Error::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;
}
// 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 available device settings.
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 <<
"\nImage generator output mode:" << endl <<
"FRAME_WIDTH " << capture.get( CAP_OPENNI_IMAGE_GENERATOR+CAP_PROP_FRAME_WIDTH ) << endl <<
"FRAME_HEIGHT " << capture.get( CAP_OPENNI_IMAGE_GENERATOR+CAP_PROP_FRAME_HEIGHT ) << endl <<
"FPS " << capture.get( CAP_OPENNI_IMAGE_GENERATOR+CAP_PROP_FPS ) << endl;
}
else
{
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(;;)
{
Mat depthMap;
Mat validDepthMap;
Mat disparityMap;
Mat bgrImage;
Mat grayImage;
Mat irImage;
if( !capture.grab() )
{
cout << "Can not grab images." << endl;
return -1;
}
else
{
if( retrievedImageFlags[0] && capture.retrieve( depthMap, CAP_OPENNI_DEPTH_MAP ) )
{
const float scaleFactor = 0.05f;
Mat show; depthMap.convertTo( show, CV_8UC1, scaleFactor );
imshow( "depth map", show );
}
if( retrievedImageFlags[1] && capture.retrieve( disparityMap, CAP_OPENNI_DISPARITY_MAP ) )
{
if( isColorizeDisp )
{
Mat colorDisparityMap;
colorizeDisparity( disparityMap, colorDisparityMap, isFixedMaxDisp ? getMaxDisparity(capture) : -1 );
Mat validColorDisparityMap;
colorDisparityMap.copyTo( validColorDisparityMap, disparityMap != 0 );
imshow( "colorized disparity map", validColorDisparityMap );
}
else
{
imshow( "original disparity map", disparityMap );
}
}
if( retrievedImageFlags[2] && capture.retrieve( validDepthMap, CAP_OPENNI_VALID_DEPTH_MASK ) )
imshow( "valid depth mask", validDepthMap );
if( retrievedImageFlags[3] && capture.retrieve( bgrImage, CAP_OPENNI_BGR_IMAGE ) )
imshow( "rgb image", bgrImage );
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 )
break;
}
return 0;
}

33
samples/cpp/videocapture_realsense.cpp
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#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
using namespace cv;
using namespace std;
int main()
{
VideoCapture capture(CAP_INTELPERC);
for(;;)
{
Mat depthMap;
Mat image;
Mat irImage;
Mat adjMap;
capture.grab();
capture.retrieve(depthMap,CAP_INTELPERC_DEPTH_MAP);
capture.retrieve(image,CAP_INTELPERC_IMAGE);
capture.retrieve(irImage,CAP_INTELPERC_IR_MAP);
normalize(depthMap, adjMap, 0, 255, NORM_MINMAX, CV_8UC1);
applyColorMap(adjMap, adjMap, COLORMAP_JET);
imshow("RGB", image);
imshow("IR", irImage);
imshow("DEPTH", adjMap);
if( waitKey( 30 ) >= 0 )
break;
}
return 0;
}
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