From f8c7862f699dc4da72b828d4e7831da88733ca33 Mon Sep 17 00:00:00 2001 From: Igor Murzov Date: Mon, 9 Nov 2020 19:08:09 +0300 Subject: [PATCH] Add tutorial on how to use Orbbec Astra 3D cameras --- doc/tutorials/videoio/intelperc.markdown | 2 +- doc/tutorials/videoio/kinect_openni.markdown | 2 +- .../orbbec-astra/images/astra_color.jpg | Bin 0 -> 138539 bytes .../orbbec-astra/images/astra_depth.png | Bin 0 -> 29766 bytes .../orbbec-astra/orbbec_astra.markdown | 150 ++++++++++++++ .../videoio/table_of_content_videoio.markdown | 6 +- .../videoio/orbbec_astra/orbbec_astra.cpp | 195 ++++++++++++++++++ samples/cpp/videocapture_openni.cpp | 2 +- 8 files changed, 353 insertions(+), 4 deletions(-) create mode 100644 doc/tutorials/videoio/orbbec-astra/images/astra_color.jpg create mode 100644 doc/tutorials/videoio/orbbec-astra/images/astra_depth.png create mode 100644 doc/tutorials/videoio/orbbec-astra/orbbec_astra.markdown create mode 100644 samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp diff --git a/doc/tutorials/videoio/intelperc.markdown b/doc/tutorials/videoio/intelperc.markdown index e27f70c7ed..6a6a5e5c9a 100644 --- a/doc/tutorials/videoio/intelperc.markdown +++ b/doc/tutorials/videoio/intelperc.markdown @@ -1,7 +1,7 @@ Using Creative Senz3D and other Intel RealSense SDK compatible depth sensors {#tutorial_intelperc} ======================================================================================= -@prev_tutorial{tutorial_kinect_openni} +@prev_tutorial{tutorial_orbbec_astra} **Note**: This tutorial is partially obsolete since PerC SDK has been replaced with RealSense SDK diff --git a/doc/tutorials/videoio/kinect_openni.markdown b/doc/tutorials/videoio/kinect_openni.markdown index dc1ee6eeaa..aadaec5e44 100644 --- a/doc/tutorials/videoio/kinect_openni.markdown +++ b/doc/tutorials/videoio/kinect_openni.markdown @@ -2,7 +2,7 @@ Using Kinect and other OpenNI compatible depth sensors 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zDSae<^H!;%$$xZV#^7u2QvJdn8D`Nd`a|zH{Pf^2%da01mj@Qa%QIbD(ceGR{TLp6 zz1=hIS4U|W9>Mf}`r9Z5emB8=D%WcNBbAlc{kDXMS#E zZ?&Z=a z(o9xlx70sASs2_-hm-gDmw)QC@A?~y*R6;=X40)sg?(efZWu_Pg!{H#qZb%8dYf%$ zJ665%x-;1Wnd^6ScFce2)YAX=RZ1ap+yBeib79#7gTHhts@nb^kDjTkJA3+`5kG!y S-@6;U25c). + Unzip the archive, choose the build according to your operating system and follow installation + steps provided in the Readme file. For instance, if you use 64bit GNU/Linux run: + @code{.bash} + $ cd Linux/OpenNI-Linux-x64-2.3.0.63/ + $ sudo ./install.sh + @endcode + When you are done with the installation, make sure to replug your device for udev rules to take + effect. The camera should now work as a general camera device. Note that your current user should + belong to group `video` to have access to the camera. Also, make sure to source `OpenNIDevEnvironment` file: + @code{.bash} + $ source OpenNIDevEnvironment + @endcode + +-# Run the following commands to verify that OpenNI library and header files can be found. You should see + something similar in your terminal: + @code{.bash} + $ echo $OPENNI2_INCLUDE + /home/user/OpenNI_2.3.0.63/Linux/OpenNI-Linux-x64-2.3.0.63/Include + $ echo $OPENNI2_REDIST + /home/user/OpenNI_2.3.0.63/Linux/OpenNI-Linux-x64-2.3.0.63/Redist + @endcode + If the above two variables are empty, then you need to source `OpenNIDevEnvironment` again. Now you can + configure OpenCV with OpenNI support enabled by setting the `WITH_OPENNI2` flag in CMake. + You may also like to enable the `BUILD_EXAMPLES` flag to get a code sample working with your Astra camera. + Run the following commands in the directory containing OpenCV source code to enable OpenNI support: + @code{.bash} + $ mkdir build + $ cd build + $ cmake -DWITH_OPENNI2=ON .. + @endcode + If the OpenNI library is found, OpenCV will be built with OpenNI2 support. You can see the status of OpenNI2 + support in the CMake log: + @code{.text} + -- Video I/O: + -- DC1394: YES (2.2.6) + -- FFMPEG: YES + -- avcodec: YES (58.91.100) + -- avformat: YES (58.45.100) + -- avutil: YES (56.51.100) + -- swscale: YES (5.7.100) + -- avresample: NO + -- GStreamer: YES (1.18.1) + -- OpenNI2: YES (2.3.0) + -- v4l/v4l2: YES (linux/videodev2.h) + @endcode + +-# Build OpenCV: + @code{.bash} + $ make + @endcode + +### Code + +To get both depth and color frames, two @ref cv::VideoCapture objects should be created: + +@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Open streams + +The first object will use the regular Video4Linux2 interface to access the color sensor. The second one +is using OpenNI2 API to retrieve depth data. + +Before using the created VideoCapture objects you may want to setup stream parameters by setting +objects' properties. The most important parameters are frame width, frame height and fps: + +@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Setup streams + +For setting and getting some property of sensor data generators use @ref cv::VideoCapture::set and +@ref cv::VideoCapture::get methods respectively, e.g. : + +@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Get properties + +The following properties of cameras available through OpenNI interfaces are supported for the depth +generator: + +- @ref cv::CAP_PROP_FRAME_WIDTH -- Frame width in pixels. +- @ref cv::CAP_PROP_FRAME_HEIGHT -- Frame height in pixels. +- @ref cv::CAP_PROP_FPS -- Frame rate in FPS. +- @ref cv::CAP_PROP_OPENNI_REGISTRATION -- Flag that registers the remapping depth map to image map + by changing the depth generator's viewpoint (if the flag is "on") or sets this view point to + its normal one (if the flag is "off"). The registration process’ resulting images are + pixel-aligned, which means that every pixel in the image is aligned to a pixel in the depth + image. +- @ref cv::CAP_PROP_OPENNI2_MIRROR -- Flag to enable or disable mirroring for this stream. Set to 0 + to disable mirroring + + Next properties are available for getting only: + +- @ref cv::CAP_PROP_OPENNI_FRAME_MAX_DEPTH -- A maximum supported depth of the camera in mm. +- @ref cv::CAP_PROP_OPENNI_BASELINE -- Baseline value in mm. + +After the VideoCapture objects are set up you can start reading frames from them. + +@note + OpenCV's VideoCapture provides synchronous API, so you have to grab frames in a new thread + to avoid one stream blocking while another stream is being read. VideoCapture is not a + thread-safe class, so you need to be careful to avoid any possible deadlocks or data races. + +Example implementation that gets frames from each sensor in a new thread and stores them +in a list along with their timestamps: + +@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Read streams + +VideoCapture can retrieve the following data: + +-# data given from the depth generator: + - @ref cv::CAP_OPENNI_DEPTH_MAP - depth values in mm (CV_16UC1) + - @ref cv::CAP_OPENNI_POINT_CLOUD_MAP - XYZ in meters (CV_32FC3) + - @ref cv::CAP_OPENNI_DISPARITY_MAP - disparity in pixels (CV_8UC1) + - @ref cv::CAP_OPENNI_DISPARITY_MAP_32F - disparity in pixels (CV_32FC1) + - @ref cv::CAP_OPENNI_VALID_DEPTH_MASK - mask of valid pixels (not occluded, not shaded, etc.) + (CV_8UC1) + +-# data given from the color sensor is a regular BGR image (CV_8UC3). + +When new data is available a reading thread notifies the main thread. A frame is stored in the +ordered list -- the first frame is the latest one: + +@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Show color frame + +Depth frames can be picked the same way from the `depthFrames` list. + +After that, you'll have two frames: one containing color information and another one -- depth +information. In the sample images below you can see the color frame and the depth frame showing +the same scene. Looking at the color frame it's hard to distinguish plant leaves from leaves painted +on a wall, but the depth data makes it easy. + +![Color frame](images/astra_color.jpg) +![Depth frame](images/astra_depth.png) + +The complete implementation can be found in +[orbbec_astra.cpp](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp) +in `samples/cpp/tutorial_code/videoio` directory. diff --git a/doc/tutorials/videoio/table_of_content_videoio.markdown b/doc/tutorials/videoio/table_of_content_videoio.markdown index b27726bd87..393a0fc236 100644 --- a/doc/tutorials/videoio/table_of_content_videoio.markdown +++ b/doc/tutorials/videoio/table_of_content_videoio.markdown @@ -26,6 +26,10 @@ This section contains tutorials about how to read/save your video files. *Languages:* C++ +- @subpage tutorial_orbbec_astra + + *Languages:* C++ + - @subpage tutorial_intelperc - *Languages:* C++ \ No newline at end of file + *Languages:* C++ diff --git a/samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp b/samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp new file mode 100644 index 0000000000..a6dc6dd75c --- /dev/null +++ b/samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp @@ -0,0 +1,195 @@ +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +using namespace cv; +using std::cout; +using std::cerr; +using std::endl; + + +// Stores frames along with their timestamps +struct Frame +{ + int64 timestamp; + Mat frame; +}; + +int main() +{ + //! [Open streams] + // Open color stream + VideoCapture colorStream(CAP_V4L2); + // Open depth stream + VideoCapture depthStream(CAP_OPENNI2_ASTRA); + //! [Open streams] + + // Check that stream has opened + if (!colorStream.isOpened()) + { + cerr << "ERROR: Unable to open color stream" << endl; + return 1; + } + + // Check that stream has opened + if (!depthStream.isOpened()) + { + cerr << "ERROR: Unable to open depth stream" << endl; + return 1; + } + + //! [Setup streams] + // Set color and depth stream parameters + colorStream.set(CAP_PROP_FRAME_WIDTH, 640); + colorStream.set(CAP_PROP_FRAME_HEIGHT, 480); + depthStream.set(CAP_PROP_FRAME_WIDTH, 640); + depthStream.set(CAP_PROP_FRAME_HEIGHT, 480); + depthStream.set(CAP_PROP_OPENNI2_MIRROR, 0); + //! [Setup streams] + + // Print color stream parameters + cout << "Color stream: " + << colorStream.get(CAP_PROP_FRAME_WIDTH) << "x" << colorStream.get(CAP_PROP_FRAME_HEIGHT) + << " @" << colorStream.get(CAP_PROP_FPS) << " fps" << endl; + + //! [Get properties] + // Print depth stream parameters + cout << "Depth stream: " + << depthStream.get(CAP_PROP_FRAME_WIDTH) << "x" << depthStream.get(CAP_PROP_FRAME_HEIGHT) + << " @" << depthStream.get(CAP_PROP_FPS) << " fps" << endl; + //! [Get properties] + + //! [Read streams] + // Create two lists to store frames + std::list depthFrames, colorFrames; + std::mutex depthFramesMtx, colorFramesMtx; + const std::size_t maxFrames = 64; + + // Synchronization objects + std::mutex mtx; + std::condition_variable dataReady; + std::atomic isFinish; + + isFinish = false; + + // Start depth reading thread + std::thread depthReader([&] + { + while (!isFinish) + { + // Grab and decode new frame + if (depthStream.grab()) + { + Frame f; + f.timestamp = cv::getTickCount(); + depthStream.retrieve(f.frame, CAP_OPENNI_DEPTH_MAP); + //depthStream.retrieve(f.frame, CAP_OPENNI_DISPARITY_MAP); + //depthStream.retrieve(f.frame, CAP_OPENNI_IR_IMAGE); + if (f.frame.empty()) + { + cerr << "ERROR: Failed to decode frame from depth stream" << endl; + break; + } + + { + std::lock_guard lk(depthFramesMtx); + if (depthFrames.size() >= maxFrames) + depthFrames.pop_front(); + depthFrames.push_back(f); + } + dataReady.notify_one(); + } + } + }); + + // Start color reading thread + std::thread colorReader([&] + { + while (!isFinish) + { + // Grab and decode new frame + if (colorStream.grab()) + { + Frame f; + f.timestamp = cv::getTickCount(); + colorStream.retrieve(f.frame); + if (f.frame.empty()) + { + cerr << "ERROR: Failed to decode frame from color stream" << endl; + break; + } + + { + std::lock_guard lk(colorFramesMtx); + if (colorFrames.size() >= maxFrames) + colorFrames.pop_front(); + colorFrames.push_back(f); + } + dataReady.notify_one(); + } + } + }); + //! [Read streams] + + while (true) + { + std::unique_lock lk(mtx); + while (depthFrames.empty() && colorFrames.empty()) + dataReady.wait(lk); + + depthFramesMtx.lock(); + if (depthFrames.empty()) + { + depthFramesMtx.unlock(); + } + else + { + // Get a frame from the list + Mat depthMap = depthFrames.front().frame; + depthFrames.pop_front(); + depthFramesMtx.unlock(); + + // Show depth frame + Mat d8, dColor; + depthMap.convertTo(d8, CV_8U, 255.0 / 2500); + applyColorMap(d8, dColor, COLORMAP_OCEAN); + imshow("Depth (colored)", dColor); + } + + //! [Show color frame] + colorFramesMtx.lock(); + if (colorFrames.empty()) + { + colorFramesMtx.unlock(); + } + else + { + // Get a frame from the list + Mat colorFrame = colorFrames.front().frame; + colorFrames.pop_front(); + colorFramesMtx.unlock(); + + // Show color frame + imshow("Color", colorFrame); + } + //! [Show color frame] + + // Exit on Esc key press + int key = waitKey(1); + if (key == 27) // ESC + break; + } + + isFinish = true; + depthReader.join(); + colorReader.join(); + + return 0; +} diff --git a/samples/cpp/videocapture_openni.cpp b/samples/cpp/videocapture_openni.cpp index 0b67d92f61..5b4b23f19b 100644 --- a/samples/cpp/videocapture_openni.cpp +++ b/samples/cpp/videocapture_openni.cpp @@ -61,7 +61,7 @@ static void printCommandLineParams() 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 5. Each element of this is '0' or '1' and" << 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 ;