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Merge pull request #21279 from cabelo:new-example-intelrealsense

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pull/21190/head
Alexander Alekhin 3 years ago
parent 3ce29236f3 05bfdeab7a
commit defd8a527b
3 changed files with 34 additions and 353 deletions
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  1. 2
      doc/tutorials/app/intelperc.markdown
  2. 352
      samples/cpp/videocapture_intelperc.cpp
  3. 33
      samples/cpp/videocapture_realsense.cpp

2
doc/tutorials/app/intelperc.markdown
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@ -83,5 +83,5 @@ 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_intelperc.cpp](https://github.com/opencv/opencv/tree/master/samples/cpp/videocapture_intelperc.cpp) [videocapture_realsense.cpp](https://github.com/opencv/opencv/tree/master/samples/cpp/videocapture_realsense.cpp)
in opencv/samples/cpp folder. in opencv/samples/cpp folder.

352
samples/cpp/videocapture_intelperc.cpp
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@ -1,352 +0,0 @@
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include <iostream>
using namespace cv;
using namespace std;
static bool g_printStreamSetting;
static int g_imageStreamProfileIdx;
static int g_depthStreamProfileIdx;
static bool g_irStreamShow;
static double g_imageBrightness;
static double g_imageContrast;
static bool g_printTiming;
static bool g_showClosedPoint;
static int g_closedDepthPoint[2];
static void printUsage(const char *arg0)
{
const char *filename = arg0;
while (*filename)
filename++;
while ((arg0 <= filename) && ('\\' != *filename) && ('/' != *filename))
filename--;
filename++;
cout << "This program demonstrates usage of camera supported\nby Intel Perceptual computing SDK." << endl << endl;
cout << "usage: " << filename << "[-ps] [-isp=IDX] [-dsp=IDX]\n [-ir] [-imb=VAL] [-imc=VAL]" << endl << endl;
cout << " -ps, print streams setting and profiles" << endl;
cout << " -isp=IDX, set profile index of the image stream" << endl;
cout << " -dsp=IDX, set profile index of the depth stream" << endl;
cout << " -ir, show data from IR stream" << endl;
cout << " -imb=VAL, set brightness value for an image stream" << endl;
cout << " -imc=VAL, set contrast value for a image stream" << endl;
cout << " -pts, print frame index and frame time" << endl;
cout << " --show-closed, print frame index and frame time" << endl;
cout << endl;
}
static void parseCMDLine(int argc, char* argv[])
{
cv::CommandLineParser parser(argc, argv,
"{ h help | | }"
"{ ps print-streams | | }"
"{ isp image-stream-prof | -1 | }"
"{ dsp depth-stream-prof | -1 | }"
"{ir||}{imb||}{imc||}{pts||}{show-closed||}");
if (parser.has("h"))
{
printUsage(argv[0]);
exit(0);
}
g_printStreamSetting = parser.has("ps");
g_imageStreamProfileIdx = parser.get<int>("isp");
g_depthStreamProfileIdx = parser.get<int>("dsp");
g_irStreamShow = parser.has("ir");
if (parser.has("imb"))
g_imageBrightness = parser.get<double>("imb");
else
g_imageBrightness = -DBL_MAX;
if (parser.has("imc"))
g_imageContrast = parser.get<double>("imc");
else
g_imageContrast = -DBL_MAX;
g_printTiming = parser.has("pts");
g_showClosedPoint = parser.has("show-closed");
if (!parser.check())
{
parser.printErrors();
exit(-1);
}
if (g_showClosedPoint && (-1 == g_depthStreamProfileIdx))
{
cerr << "For --show-closed depth profile has be selected" << endl;
exit(-1);
}
}
static void printStreamProperties(VideoCapture &capture)
{
size_t profilesCount = (size_t)capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_INTELPERC_PROFILE_COUNT);
cout << "Image stream." << endl;
cout << " Brightness = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BRIGHTNESS) << endl;
cout << " Contrast = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_CONTRAST) << endl;
cout << " Saturation = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_SATURATION) << endl;
cout << " Hue = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_HUE) << endl;
cout << " Gamma = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_GAMMA) << endl;
cout << " Sharpness = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_SHARPNESS) << endl;
cout << " Gain = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_GAIN) << endl;
cout << " Backligh = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BACKLIGHT) << endl;
cout << "Image streams profiles:" << endl;
for (size_t i = 0; i < profilesCount; i++)
{
capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)i);
cout << " Profile[" << i << "]: ";
cout << "width = " <<
(int)capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_FRAME_WIDTH);
cout << ", height = " <<
(int)capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_FRAME_HEIGHT);
cout << ", fps = " <<
capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_FPS);
cout << endl;
}
profilesCount = (size_t)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_COUNT);
cout << "Depth stream." << endl;
cout << " Low confidence value = " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE) << endl;
cout << " Saturation value = " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE) << endl;
cout << " Confidence threshold = " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD) << endl;
cout << " Focal length = (" << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ) << ", "
<< capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT) << ")" << endl;
cout << "Depth streams profiles:" << endl;
for (size_t i = 0; i < profilesCount; i++)
{
capture.set(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)i);
cout << " Profile[" << i << "]: ";
cout << "width = " <<
(int)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_FRAME_WIDTH);
cout << ", height = " <<
(int)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_FRAME_HEIGHT);
cout << ", fps = " <<
capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_FPS);
cout << endl;
}
}
static void imshowImage(const char *winname, Mat &image, VideoCapture &capture)
{
if (g_showClosedPoint)
{
Mat uvMap;
if (capture.retrieve(uvMap, CAP_INTELPERC_UVDEPTH_MAP))
{
float *uvmap = (float *)uvMap.ptr() + 2 * (g_closedDepthPoint[0] * uvMap.cols + g_closedDepthPoint[1]);
int x = (int)((*uvmap) * image.cols); uvmap++;
int y = (int)((*uvmap) * image.rows);
if ((0 <= x) && (0 <= y))
{
static const int pointSize = 4;
for (int row = y; row < min(y + pointSize, image.rows); row++)
{
uchar* ptrDst = image.ptr(row) + x * 3 + 2;//+2 -> Red
for (int col = 0; col < min(pointSize, image.cols - x); col++, ptrDst+=3)
{
*ptrDst = 255;
}
}
}
}
}
imshow(winname, image);
}
static void imshowIR(const char *winname, Mat &ir)
{
Mat image;
if (g_showClosedPoint)
{
image.create(ir.rows, ir.cols, CV_8UC3);
for (int row = 0; row < ir.rows; row++)
{
uchar* ptrDst = image.ptr(row);
short* ptrSrc = (short*)ir.ptr(row);
for (int col = 0; col < ir.cols; col++, ptrSrc++)
{
uchar val = (uchar) ((*ptrSrc) >> 2);
*ptrDst = val; ptrDst++;
*ptrDst = val; ptrDst++;
*ptrDst = val; ptrDst++;
}
}
static const int pointSize = 4;
for (int row = g_closedDepthPoint[0]; row < min(g_closedDepthPoint[0] + pointSize, image.rows); row++)
{
uchar* ptrDst = image.ptr(row) + g_closedDepthPoint[1] * 3 + 2;//+2 -> Red
for (int col = 0; col < min(pointSize, image.cols - g_closedDepthPoint[1]); col++, ptrDst+=3)
{
*ptrDst = 255;
}
}
}
else
{
image.create(ir.rows, ir.cols, CV_8UC1);
for (int row = 0; row < ir.rows; row++)
{
uchar* ptrDst = image.ptr(row);
short* ptrSrc = (short*)ir.ptr(row);
for (int col = 0; col < ir.cols; col++, ptrSrc++, ptrDst++)
{
*ptrDst = (uchar) ((*ptrSrc) >> 2);
}
}
}
imshow(winname, image);
}
static void imshowDepth(const char *winname, Mat &depth, VideoCapture &capture)
{
short lowValue = (short)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE);
short saturationValue = (short)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE);
Mat image;
if (g_showClosedPoint)
{
image.create(depth.rows, depth.cols, CV_8UC3);
for (int row = 0; row < depth.rows; row++)
{
uchar* ptrDst = image.ptr(row);
short* ptrSrc = (short*)depth.ptr(row);
for (int col = 0; col < depth.cols; col++, ptrSrc++)
{
if ((lowValue == (*ptrSrc)) || (saturationValue == (*ptrSrc)))
{
*ptrDst = 0; ptrDst++;
*ptrDst = 0; ptrDst++;
*ptrDst = 0; ptrDst++;
}
else
{
uchar val = (uchar) ((*ptrSrc) >> 2);
*ptrDst = val; ptrDst++;
*ptrDst = val; ptrDst++;
*ptrDst = val; ptrDst++;
}
}
}
static const int pointSize = 4;
for (int row = g_closedDepthPoint[0]; row < min(g_closedDepthPoint[0] + pointSize, image.rows); row++)
{
uchar* ptrDst = image.ptr(row) + g_closedDepthPoint[1] * 3 + 2;//+2 -> Red
for (int col = 0; col < min(pointSize, image.cols - g_closedDepthPoint[1]); col++, ptrDst+=3)
{
*ptrDst = 255;
}
}
}
else
{
image.create(depth.rows, depth.cols, CV_8UC1);
for (int row = 0; row < depth.rows; row++)
{
uchar* ptrDst = image.ptr(row);
short* ptrSrc = (short*)depth.ptr(row);
for (int col = 0; col < depth.cols; col++, ptrSrc++, ptrDst++)
{
if ((lowValue == (*ptrSrc)) || (saturationValue == (*ptrSrc)))
*ptrDst = 0;
else
*ptrDst = (uchar) ((*ptrSrc) >> 2);
}
}
}
imshow(winname, image);
}
int main(int argc, char* argv[])
{
parseCMDLine(argc, argv);
VideoCapture capture;
capture.open(CAP_INTELPERC);
if (!capture.isOpened())
{
cerr << "Can not open a capture object." << endl;
return -1;
}
if (g_printStreamSetting)
printStreamProperties(capture);
if (-1 != g_imageStreamProfileIdx)
{
if (!capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)g_imageStreamProfileIdx))
{
cerr << "Can not setup a image stream." << endl;
return -1;
}
}
if (-1 != g_depthStreamProfileIdx)
{
if (!capture.set(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)g_depthStreamProfileIdx))
{
cerr << "Can not setup a depth stream." << endl;
return -1;
}
}
else if (g_irStreamShow)
{
if (!capture.set(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, 0.0))
{
cerr << "Can not setup a IR stream." << endl;
return -1;
}
}
else
{
cout << "Streams not selected" << endl;
return 0;
}
//Setup additional properties only after set profile of the stream
if ( (-10000.0 < g_imageBrightness) && (g_imageBrightness < 10000.0))
capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BRIGHTNESS, g_imageBrightness);
if ( (0 < g_imageContrast) && (g_imageContrast < 10000.0))
capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BRIGHTNESS, g_imageContrast);
int frame = 0;
for(;;frame++)
{
Mat bgrImage;
Mat depthImage;
Mat irImage;
if (!capture.grab())
{
cout << "Can not grab images." << endl;
return -1;
}
if ((-1 != g_depthStreamProfileIdx) && (capture.retrieve(depthImage, CAP_INTELPERC_DEPTH_MAP)))
{
if (g_showClosedPoint)
{
double minVal = 0.0; double maxVal = 0.0;
minMaxIdx(depthImage, &minVal, &maxVal, g_closedDepthPoint);
}
imshowDepth("depth image", depthImage, capture);
}
if ((g_irStreamShow) && (capture.retrieve(irImage, CAP_INTELPERC_IR_MAP)))
imshowIR("ir image", irImage);
if ((-1 != g_imageStreamProfileIdx) && (capture.retrieve(bgrImage, CAP_INTELPERC_IMAGE)))
imshowImage("color image", bgrImage, capture);
if (g_printTiming)
{
cout << "Image frame: " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_POS_FRAMES)
<< ", Depth(IR) frame: " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_POS_FRAMES) << endl;
cout << "Image frame: " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_POS_MSEC)
<< ", Depth(IR) frame: " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_POS_MSEC) << endl;
}
if( waitKey(30) >= 0 )
break;
}
return 0;
}

33
samples/cpp/videocapture_realsense.cpp
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@ -0,0 +1,33 @@
#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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