mirror of https://github.com/opencv/opencv.git
Igor Murzov
4 years ago
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Using Orbbec Astra 3D cameras {#tutorial_orbbec_astra} |
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====================================================== |
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|
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@prev_tutorial{tutorial_kinect_openni} |
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@next_tutorial{tutorial_intelperc} |
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|
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### Introduction |
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|
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This tutorial is devoted to the Astra Series of Orbbec 3D cameras (https://orbbec3d.com/product-astra-pro/). |
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That cameras have a depth sensor in addition to a common color sensor. The depth sensors can be read using |
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the OpenNI interface with @ref cv::VideoCapture class. The video stream is provided through the regular camera |
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interface. |
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### Installation Instructions |
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In order to use a depth sensor with OpenCV you should do the following steps: |
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|
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-# Download the latest version of Orbbec OpenNI SDK (from here <https://orbbec3d.com/develop/>). |
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Unzip the archive, choose the build according to your operating system and follow installation |
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steps provided in the Readme file. For instance, if you use 64bit GNU/Linux run: |
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@code{.bash} |
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$ cd Linux/OpenNI-Linux-x64-2.3.0.63/ |
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$ sudo ./install.sh |
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@endcode |
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When you are done with the installation, make sure to replug your device for udev rules to take |
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effect. The camera should now work as a general camera device. Note that your current user should |
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belong to group `video` to have access to the camera. Also, make sure to source `OpenNIDevEnvironment` file: |
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@code{.bash} |
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$ source OpenNIDevEnvironment |
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@endcode |
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|
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-# Run the following commands to verify that OpenNI library and header files can be found. You should see |
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something similar in your terminal: |
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@code{.bash} |
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$ echo $OPENNI2_INCLUDE |
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/home/user/OpenNI_2.3.0.63/Linux/OpenNI-Linux-x64-2.3.0.63/Include |
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$ echo $OPENNI2_REDIST |
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/home/user/OpenNI_2.3.0.63/Linux/OpenNI-Linux-x64-2.3.0.63/Redist |
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@endcode |
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If the above two variables are empty, then you need to source `OpenNIDevEnvironment` again. Now you can |
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configure OpenCV with OpenNI support enabled by setting the `WITH_OPENNI2` flag in CMake. |
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You may also like to enable the `BUILD_EXAMPLES` flag to get a code sample working with your Astra camera. |
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Run the following commands in the directory containing OpenCV source code to enable OpenNI support: |
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@code{.bash} |
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$ mkdir build |
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$ cd build |
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$ cmake -DWITH_OPENNI2=ON .. |
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@endcode |
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If the OpenNI library is found, OpenCV will be built with OpenNI2 support. You can see the status of OpenNI2 |
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support in the CMake log: |
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@code{.text} |
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-- Video I/O: |
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-- DC1394: YES (2.2.6) |
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-- FFMPEG: YES |
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-- avcodec: YES (58.91.100) |
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-- avformat: YES (58.45.100) |
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-- avutil: YES (56.51.100) |
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-- swscale: YES (5.7.100) |
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-- avresample: NO |
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-- GStreamer: YES (1.18.1) |
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-- OpenNI2: YES (2.3.0) |
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-- v4l/v4l2: YES (linux/videodev2.h) |
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@endcode |
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-# Build OpenCV: |
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@code{.bash} |
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$ make |
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@endcode |
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### Code |
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|
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To get both depth and color frames, two @ref cv::VideoCapture objects should be created: |
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|
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@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Open streams |
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The first object will use the regular Video4Linux2 interface to access the color sensor. The second one |
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is using OpenNI2 API to retrieve depth data. |
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Before using the created VideoCapture objects you may want to setup stream parameters by setting |
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objects' properties. The most important parameters are frame width, frame height and fps: |
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@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Setup streams |
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For setting and getting some property of sensor data generators use @ref cv::VideoCapture::set and |
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@ref cv::VideoCapture::get methods respectively, e.g. : |
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@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Get properties |
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The following properties of cameras available through OpenNI interfaces are supported for the depth |
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generator: |
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- @ref cv::CAP_PROP_FRAME_WIDTH -- Frame width in pixels. |
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- @ref cv::CAP_PROP_FRAME_HEIGHT -- Frame height in pixels. |
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- @ref cv::CAP_PROP_FPS -- Frame rate in FPS. |
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- @ref cv::CAP_PROP_OPENNI_REGISTRATION -- Flag that registers the remapping depth map to image map |
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by changing the depth generator's viewpoint (if the flag is "on") or sets this view point to |
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its normal one (if the flag is "off"). The registration process’ resulting images are |
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pixel-aligned, which means that every pixel in the image is aligned to a pixel in the depth |
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image. |
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- @ref cv::CAP_PROP_OPENNI2_MIRROR -- Flag to enable or disable mirroring for this stream. Set to 0 |
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to disable mirroring |
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Next properties are available for getting only: |
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- @ref cv::CAP_PROP_OPENNI_FRAME_MAX_DEPTH -- A maximum supported depth of the camera in mm. |
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- @ref cv::CAP_PROP_OPENNI_BASELINE -- Baseline value in mm. |
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After the VideoCapture objects are set up you can start reading frames from them. |
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@note |
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OpenCV's VideoCapture provides synchronous API, so you have to grab frames in a new thread |
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to avoid one stream blocking while another stream is being read. VideoCapture is not a |
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thread-safe class, so you need to be careful to avoid any possible deadlocks or data races. |
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Example implementation that gets frames from each sensor in a new thread and stores them |
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in a list along with their timestamps: |
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@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Read streams |
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VideoCapture can retrieve the following data: |
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-# data given from the depth generator: |
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- @ref cv::CAP_OPENNI_DEPTH_MAP - depth values in mm (CV_16UC1) |
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- @ref cv::CAP_OPENNI_POINT_CLOUD_MAP - XYZ in meters (CV_32FC3) |
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- @ref cv::CAP_OPENNI_DISPARITY_MAP - disparity in pixels (CV_8UC1) |
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- @ref cv::CAP_OPENNI_DISPARITY_MAP_32F - disparity in pixels (CV_32FC1) |
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- @ref cv::CAP_OPENNI_VALID_DEPTH_MASK - mask of valid pixels (not occluded, not shaded, etc.) |
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(CV_8UC1) |
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-# data given from the color sensor is a regular BGR image (CV_8UC3). |
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When new data is available a reading thread notifies the main thread. A frame is stored in the |
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ordered list -- the first frame is the latest one: |
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@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Show color frame |
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Depth frames can be picked the same way from the `depthFrames` list. |
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After that, you'll have two frames: one containing color information and another one -- depth |
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information. In the sample images below you can see the color frame and the depth frame showing |
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the same scene. Looking at the color frame it's hard to distinguish plant leaves from leaves painted |
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on a wall, but the depth data makes it easy. |
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 |
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 |
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The complete implementation can be found in |
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[orbbec_astra.cpp](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp) |
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in `samples/cpp/tutorial_code/videoio` directory. |
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@ -0,0 +1,195 @@ |
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#include <opencv2/videoio/videoio.hpp> |
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#include <opencv2/highgui.hpp> |
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#include <opencv2/imgproc.hpp> |
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#include <list> |
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#include <iostream> |
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#include <thread> |
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#include <mutex> |
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#include <condition_variable> |
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#include <atomic> |
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using namespace cv; |
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using std::cout; |
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using std::cerr; |
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using std::endl; |
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// Stores frames along with their timestamps
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struct Frame |
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{ |
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int64 timestamp; |
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Mat frame; |
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}; |
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int main() |
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{ |
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//! [Open streams]
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// Open color stream
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VideoCapture colorStream(CAP_V4L2); |
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// Open depth stream
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VideoCapture depthStream(CAP_OPENNI2_ASTRA); |
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//! [Open streams]
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// Check that stream has opened
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if (!colorStream.isOpened()) |
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{ |
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cerr << "ERROR: Unable to open color stream" << endl; |
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return 1; |
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} |
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// Check that stream has opened
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if (!depthStream.isOpened()) |
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{ |
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cerr << "ERROR: Unable to open depth stream" << endl; |
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return 1; |
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} |
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//! [Setup streams]
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// Set color and depth stream parameters
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colorStream.set(CAP_PROP_FRAME_WIDTH, 640); |
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colorStream.set(CAP_PROP_FRAME_HEIGHT, 480); |
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depthStream.set(CAP_PROP_FRAME_WIDTH, 640); |
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depthStream.set(CAP_PROP_FRAME_HEIGHT, 480); |
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depthStream.set(CAP_PROP_OPENNI2_MIRROR, 0); |
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//! [Setup streams]
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// Print color stream parameters
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cout << "Color stream: " |
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<< colorStream.get(CAP_PROP_FRAME_WIDTH) << "x" << colorStream.get(CAP_PROP_FRAME_HEIGHT) |
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<< " @" << colorStream.get(CAP_PROP_FPS) << " fps" << endl; |
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//! [Get properties]
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// Print depth stream parameters
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cout << "Depth stream: " |
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<< depthStream.get(CAP_PROP_FRAME_WIDTH) << "x" << depthStream.get(CAP_PROP_FRAME_HEIGHT) |
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<< " @" << depthStream.get(CAP_PROP_FPS) << " fps" << endl; |
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//! [Get properties]
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//! [Read streams]
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// Create two lists to store frames
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std::list<Frame> depthFrames, colorFrames; |
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std::mutex depthFramesMtx, colorFramesMtx; |
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const std::size_t maxFrames = 64; |
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// Synchronization objects
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std::mutex mtx; |
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std::condition_variable dataReady; |
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std::atomic<bool> isFinish; |
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isFinish = false; |
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// Start depth reading thread
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std::thread depthReader([&] |
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{ |
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while (!isFinish) |
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{ |
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// Grab and decode new frame
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if (depthStream.grab()) |
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{ |
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Frame f; |
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f.timestamp = cv::getTickCount(); |
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depthStream.retrieve(f.frame, CAP_OPENNI_DEPTH_MAP); |
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//depthStream.retrieve(f.frame, CAP_OPENNI_DISPARITY_MAP);
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//depthStream.retrieve(f.frame, CAP_OPENNI_IR_IMAGE);
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if (f.frame.empty()) |
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{ |
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cerr << "ERROR: Failed to decode frame from depth stream" << endl; |
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break; |
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} |
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{ |
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std::lock_guard<std::mutex> lk(depthFramesMtx); |
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if (depthFrames.size() >= maxFrames) |
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depthFrames.pop_front(); |
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depthFrames.push_back(f); |
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} |
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dataReady.notify_one(); |
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} |
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} |
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}); |
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// Start color reading thread
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std::thread colorReader([&] |
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{ |
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while (!isFinish) |
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{ |
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// Grab and decode new frame
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if (colorStream.grab()) |
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{ |
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Frame f; |
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f.timestamp = cv::getTickCount(); |
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colorStream.retrieve(f.frame); |
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if (f.frame.empty()) |
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{ |
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cerr << "ERROR: Failed to decode frame from color stream" << endl; |
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break; |
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} |
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{ |
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std::lock_guard<std::mutex> lk(colorFramesMtx); |
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if (colorFrames.size() >= maxFrames) |
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colorFrames.pop_front(); |
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colorFrames.push_back(f); |
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} |
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dataReady.notify_one(); |
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} |
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} |
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}); |
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//! [Read streams]
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while (true) |
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{ |
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std::unique_lock<std::mutex> lk(mtx); |
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while (depthFrames.empty() && colorFrames.empty()) |
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dataReady.wait(lk); |
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depthFramesMtx.lock(); |
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if (depthFrames.empty()) |
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{ |
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depthFramesMtx.unlock(); |
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} |
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else |
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{ |
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// Get a frame from the list
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Mat depthMap = depthFrames.front().frame; |
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depthFrames.pop_front(); |
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depthFramesMtx.unlock(); |
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// Show depth frame
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Mat d8, dColor; |
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depthMap.convertTo(d8, CV_8U, 255.0 / 2500); |
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applyColorMap(d8, dColor, COLORMAP_OCEAN); |
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imshow("Depth (colored)", dColor); |
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} |
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//! [Show color frame]
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colorFramesMtx.lock(); |
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if (colorFrames.empty()) |
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{ |
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colorFramesMtx.unlock(); |
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} |
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else |
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{ |
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// Get a frame from the list
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Mat colorFrame = colorFrames.front().frame; |
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colorFrames.pop_front(); |
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colorFramesMtx.unlock(); |
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// Show color frame
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imshow("Color", colorFrame); |
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} |
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//! [Show color frame]
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// Exit on Esc key press
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int key = waitKey(1); |
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if (key == 27) // ESC
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break; |
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} |
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isFinish = true; |
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depthReader.join(); |
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colorReader.join(); |
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return 0; |
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} |
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