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Merge pull request #24666 from zzuliys:4.x

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Add support for Orbbec Gemini2 and Gemini2 XL camera #24666

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
pull/24723/head
zzuliys 11 months ago committed by GitHub
parent 509c1afb8d
commit dfc61fbfaa
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6 changed files with 101 additions and 15 deletions
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  1. 2
      CMakeLists.txt
  2. 2
      modules/videoio/include/opencv2/videoio.hpp
  3. 2
      modules/videoio/src/cap_obsensor/obsensor_stream_channel_interface.hpp
  4. 68
      modules/videoio/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
  5. 27
      modules/videoio/src/cap_obsensor_capture.cpp
  6. 15
      samples/cpp/videocapture_obsensor.cpp

2
CMakeLists.txt
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@ -5,7 +5,6 @@
# $ cmake <PATH_TO_OPENCV_ROOT>
#
# ----------------------------------------------------------------------------
# Disable in-source builds to prevent source tree corruption.
if(" ${CMAKE_SOURCE_DIR}" STREQUAL " ${CMAKE_BINARY_DIR}")
message(FATAL_ERROR "
@ -471,6 +470,7 @@ OCV_OPTION(WITH_ONNX "Include Microsoft ONNX Runtime support" OFF
OCV_OPTION(WITH_TIMVX "Include Tim-VX support" OFF
VISIBLE_IF TRUE
VERIFY HAVE_TIMVX)
# attention: Astra2, Gemini2, and Gemini2L cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
OCV_OPTION(WITH_OBSENSOR "Include obsensor support (Orbbec RGB-D modules: Astra+/Femto)" ON
VISIBLE_IF (WIN32 AND NOT ARM AND NOT WINRT AND NOT MINGW) OR ( UNIX AND NOT APPLE AND NOT ANDROID)
VERIFY HAVE_OBSENSOR)

2
modules/videoio/include/opencv2/videoio.hpp
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@ -128,7 +128,7 @@ enum VideoCaptureAPIs {
CAP_INTEL_MFX = 2300, //!< Intel MediaSDK
CAP_XINE = 2400, //!< XINE engine (Linux)
CAP_UEYE = 2500, //!< uEye Camera API
CAP_OBSENSOR = 2600, //!< For Orbbec 3D-Sensor device/module (Astra+, Femto)
CAP_OBSENSOR = 2600, //!< For Orbbec 3D-Sensor device/module (Astra+, Femto, Astra2, Gemini2, Gemini2L, Gemini2XL, Femto Mega) attention: Astra2, Gemini2, and Gemini2L cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
};

2
modules/videoio/src/cap_obsensor/obsensor_stream_channel_interface.hpp
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@ -37,6 +37,8 @@ namespace obsensor {
#define OBSENSOR_ASTRA2_PID 0x0660 // pid of Orbbec Astra 2 Camera
#define OBSENSOR_GEMINI2_PID 0x0670 // pid of Orbbec Gemini 2 Camera
#define OBSENSOR_FEMTO_MEGA_PID 0x0669 // pid of Orbbec Femto Mega Camera
#define OBSENSOR_GEMINI2L_PID 0x0673 // pid of Orbbec Gemini 2 L Camera
#define OBSENSOR_GEMINI2XL_PID 0x0671 // pid of Orbbec Gemini 2 XL Camera
enum StreamType
{

68
modules/videoio/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
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@ -46,6 +46,9 @@ const uint8_t OB_EXT_CMD7[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x12
const uint8_t OB_EXT_CMD8[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD9[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x13, 0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD10[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD11[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD12[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD13[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x13, 0x4b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
#if defined(HAVE_OBSENSOR_V4L2)
#define fourCc2Int(a, b, c, d) \
@ -269,14 +272,22 @@ bool IUvcStreamChannel::setProperty(int propId, const uint8_t* /*data*/, uint32_
rst &= getXu(2, &rcvData, &rcvLen);
rst &= setXu(2, OB_EXT_CMD6, sizeof(OB_EXT_CMD6));
rst &= getXu(2, &rcvData, &rcvLen);
}
else if(OBSENSOR_ASTRA2_PID == devInfo_.pid ){
rst &= setXu(2, OB_EXT_CMD10, sizeof(OB_EXT_CMD8));
}else if(OBSENSOR_ASTRA2_PID == devInfo_.pid ){
rst &= setXu(2, OB_EXT_CMD12, sizeof(OB_EXT_CMD12));
rst &= getXu(2, &rcvData, &rcvLen);
rst &= setXu(2, OB_EXT_CMD6, sizeof(OB_EXT_CMD6));
rst &= getXu(2, &rcvData, &rcvLen);
}
else{
}else if(OBSENSOR_GEMINI2L_PID == devInfo_.pid){
rst &= setXu(2, OB_EXT_CMD11, sizeof(OB_EXT_CMD11));
rst &= getXu(2, &rcvData, &rcvLen);
rst &= setXu(2, OB_EXT_CMD6, sizeof(OB_EXT_CMD6));
rst &= getXu(2, &rcvData, &rcvLen);
}else if(OBSENSOR_GEMINI2XL_PID == devInfo_.pid){
rst &= setXu(2, OB_EXT_CMD11, sizeof(OB_EXT_CMD11));
rst &= getXu(2, &rcvData, &rcvLen);
rst &= setXu(2, OB_EXT_CMD6, sizeof(OB_EXT_CMD6));
rst &= getXu(2, &rcvData, &rcvLen);
}else{
rst &= setXu(2, OB_EXT_CMD0, sizeof(OB_EXT_CMD0));
rst &= getXu(2, &rcvData, &rcvLen);
rst &= setXu(2, OB_EXT_CMD1, sizeof(OB_EXT_CMD1));
@ -319,6 +330,40 @@ bool IUvcStreamChannel::getProperty(int propId, uint8_t* recvData, uint32_t* rec
param.p7[1] = 480;
*recvDataSize = sizeof(CameraParam);
memcpy(recvData, &param, *recvDataSize);
}else if(OBSENSOR_GEMINI2L_PID == devInfo_.pid){
// return default param
CameraParam param;
param.p0[0] = 688.87f;
param.p0[1] = 688.922f;
param.p0[2] = 644.317f;
param.p0[3] = 354.382f;
param.p1[0] = 688.87f;
param.p1[1] = 688.922f;
param.p1[2] = 644.317f;
param.p1[3] = 354.382f;
param.p6[0] = 1280;
param.p6[1] = 720;
param.p7[0] = 1280;
param.p7[1] = 720;
*recvDataSize = sizeof(CameraParam);
memcpy(recvData, &param, *recvDataSize);
}else if(OBSENSOR_GEMINI2XL_PID == devInfo_.pid){
// return default param
CameraParam param;
param.p0[0] = 610.847f;
param.p0[1] = 610.829f;
param.p0[2] = 640.647f;
param.p0[3] = 401.817f;
param.p1[0] = 610.847f;
param.p1[1] = 610.829f;
param.p1[2] = 640.647f;
param.p1[3] = 401.817f;
param.p6[0] = 640;
param.p6[1] = 480;
param.p7[0] = 640;
param.p7[1] = 480;
*recvDataSize = sizeof(CameraParam);
memcpy(recvData, &param, *recvDataSize);
}
else if(OBSENSOR_ASTRA2_PID == devInfo_.pid){
// return default param
@ -376,7 +421,7 @@ bool IUvcStreamChannel::getProperty(int propId, uint8_t* recvData, uint32_t* rec
bool IUvcStreamChannel::initDepthFrameProcessor()
{
if(OBSENSOR_GEMINI2_PID == devInfo_.pid || OBSENSOR_ASTRA2_PID == devInfo_.pid){
if(OBSENSOR_GEMINI2_PID == devInfo_.pid || OBSENSOR_ASTRA2_PID == devInfo_.pid || OBSENSOR_GEMINI2L_PID == devInfo_.pid){
uint8_t* rcvData;
uint32_t rcvLen;
@ -387,6 +432,17 @@ bool IUvcStreamChannel::initDepthFrameProcessor()
getXu(2, &rcvData, &rcvLen);
depthFrameProcessor_ = makePtr<DepthFrameUnpacker>();
return true;
}else if(OBSENSOR_GEMINI2XL_PID == devInfo_.pid){
uint8_t* rcvData;
uint32_t rcvLen;
setXu(2, OB_EXT_CMD7, sizeof(OB_EXT_CMD7));
getXu(2, &rcvData, &rcvLen);
setXu(2, OB_EXT_CMD13, sizeof(OB_EXT_CMD13));
getXu(2, &rcvData, &rcvLen);
return true;
}
else if (streamType_ == OBSENSOR_STREAM_DEPTH && setXu(2, OB_EXT_CMD4, sizeof(OB_EXT_CMD4)))

27
modules/videoio/src/cap_obsensor_capture.cpp
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@ -35,9 +35,14 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
static const obsensor::StreamProfile colorProfile = { 640, 480, 30, obsensor::FRAME_FORMAT_MJPG };
static const obsensor::StreamProfile depthProfile = {640, 480, 30, obsensor::FRAME_FORMAT_Y16};
static const obsensor::StreamProfile gemini2DepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y14};
static const obsensor::StreamProfile astra2DepthProfile = {640, 480, 30, obsensor::FRAME_FORMAT_Y14};
static const obsensor::StreamProfile astra2ColorProfile = {800, 600, 30, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile astra2DepthProfile = {800, 600, 30, obsensor::FRAME_FORMAT_Y14};
static const obsensor::StreamProfile megaColorProfile = {1280, 720, 30, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile megaDepthProfile = {640, 576, 30, obsensor::FRAME_FORMAT_Y16};
static const obsensor::StreamProfile gemini2lColorProfile = { 1280, 720, 30, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile gemini2lDepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y14};
static const obsensor::StreamProfile gemini2XlColorProfile = { 1280, 800, 10, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile gemini2XlDepthProfile = {1280, 800, 10, obsensor::FRAME_FORMAT_Y16};
streamChannelGroup_ = obsensor::getStreamChannelGroup(index);
if (!streamChannelGroup_.empty())
@ -52,6 +57,12 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
auto profile = colorProfile;
if(OBSENSOR_FEMTO_MEGA_PID == channel->getPid()){
profile = megaColorProfile;
}else if(OBSENSOR_GEMINI2L_PID == channel->getPid()){
profile = gemini2lColorProfile;
}else if(OBSENSOR_ASTRA2_PID == channel->getPid()){
profile = astra2ColorProfile;
}else if(OBSENSOR_GEMINI2XL_PID == channel->getPid()){
profile = gemini2XlColorProfile;
}
channel->start(profile, [&](obsensor::Frame* frame) {
std::unique_lock<std::mutex> lk(frameMutex_);
@ -74,8 +85,11 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
}
else if(OBSENSOR_FEMTO_MEGA_PID == channel->getPid()){
profile = megaDepthProfile;
}else if(OBSENSOR_GEMINI2L_PID == channel->getPid()){
profile = gemini2lDepthProfile;
}else if(OBSENSOR_GEMINI2XL_PID == channel->getPid()){
profile = gemini2XlDepthProfile;
}
channel->start(profile, [&](obsensor::Frame* frame) {
std::unique_lock<std::mutex> lk(frameMutex_);
depthFrame_ = Mat(frame->height, frame->width, CV_16UC1, frame->data, frame->width * 2).clone();
@ -140,8 +154,13 @@ bool VideoCapture_obsensor::retrieveFrame(int outputType, OutputArray frame)
else if(OBSENSOR_FEMTO_MEGA_PID == streamChannelGroup_.front()->getPid()){
Rect rect(0, 0, 640, 360);
grabbedDepthFrame_(rect).copyTo(frame);
}
else{
}else if(OBSENSOR_GEMINI2L_PID == streamChannelGroup_.front()->getPid()){
grabbedDepthFrame_ = grabbedDepthFrame_*0.8;
Rect rect(0, 40, 1280, 720);
grabbedDepthFrame_(rect).copyTo(frame);
}else if(OBSENSOR_GEMINI2XL_PID == streamChannelGroup_.front()->getPid()){
grabbedDepthFrame_.copyTo(frame);
}else{
grabbedDepthFrame_.copyTo(frame);
}
grabbedDepthFrame_.release();

15
samples/cpp/videocapture_obsensor.cpp
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@ -1,3 +1,7 @@
/**
* attention: Astra2, Gemini2, and Gemini2L 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>
@ -21,6 +25,11 @@ int main()
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:
@ -36,7 +45,7 @@ int main()
if (obsensorCapture.retrieve(depthMap, CAP_OBSENSOR_DEPTH_MAP))
{
normalize(depthMap, adjDepthMap, 0, 255, NORM_MINMAX, CV_8UC1);
depthMap.convertTo(adjDepthMap, CV_8U, 255.0 / (maxVal - minVal), -minVal * 255.0 / (maxVal - minVal));
applyColorMap(adjDepthMap, adjDepthMap, COLORMAP_JET);
imshow("DEPTH", adjDepthMap);
}
@ -45,7 +54,7 @@ int main()
static const float alpha = 0.6f;
if (!image.empty() && !depthMap.empty())
{
normalize(depthMap, adjDepthMap, 0, 255, NORM_MINMAX, CV_8UC1);
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++)
{
@ -71,4 +80,4 @@ int main()
break;
}
return 0;
}
}

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