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Open Source Computer Vision Library
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245 lines
9.1 KiB
245 lines
9.1 KiB
#include "opencv2/highgui/highgui.hpp" |
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#include "opencv2/imgproc/imgproc.hpp" |
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#include <iostream> |
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using namespace cv; |
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using namespace std; |
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void help() |
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{ |
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cout << "\nThis program demonstrates usage of Kinect sensor.\n" |
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"The user gets some of the supported output images.\n" |
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"\nAll supported output map types:\n" |
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"1.) Data given from depth generator\n" |
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" OPENNI_DEPTH_MAP - depth values in mm (CV_16UC1)\n" |
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" OPENNI_POINT_CLOUD_MAP - XYZ in meters (CV_32FC3)\n" |
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" OPENNI_DISPARITY_MAP - disparity in pixels (CV_8UC1)\n" |
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" OPENNI_DISPARITY_MAP_32F - disparity in pixels (CV_32FC1)\n" |
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" OPENNI_VALID_DEPTH_MASK - mask of valid pixels (not ocluded, not shaded etc.) (CV_8UC1)\n" |
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"2.) Data given from RGB image generator\n" |
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" OPENNI_BGR_IMAGE - color image (CV_8UC3)\n" |
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" OPENNI_GRAY_IMAGE - gray image (CV_8UC1)\n" |
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<< endl; |
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} |
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void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f, float S=1.f, float V=1.f ) |
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{ |
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CV_Assert( !gray.empty() ); |
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CV_Assert( gray.type() == CV_8UC1 ); |
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if( maxDisp <= 0 ) |
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{ |
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maxDisp = 0; |
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minMaxLoc( gray, 0, &maxDisp ); |
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} |
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rgb.create( gray.size(), CV_8UC3 ); |
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for( int y = 0; y < gray.rows; y++ ) |
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{ |
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for( int x = 0; x < gray.cols; x++ ) |
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{ |
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uchar d = gray.at<uchar>(y,x); |
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unsigned int H = ((uchar)maxDisp - d) * 240 / (uchar)maxDisp; |
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unsigned int hi = (H/60) % 6; |
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float f = H/60.f - H/60; |
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float p = V * (1 - S); |
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float q = V * (1 - f * S); |
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float t = V * (1 - (1 - f) * S); |
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Point3f res; |
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if( hi == 0 ) //R = V, G = t, B = p |
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res = Point3f( p, t, V ); |
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if( hi == 1 ) // R = q, G = V, B = p |
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res = Point3f( p, V, q ); |
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if( hi == 2 ) // R = p, G = V, B = t |
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res = Point3f( t, V, p ); |
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if( hi == 3 ) // R = p, G = q, B = V |
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res = Point3f( V, q, p ); |
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if( hi == 4 ) // R = t, G = p, B = V |
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res = Point3f( V, p, t ); |
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if( hi == 5 ) // R = V, G = p, B = q |
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res = Point3f( q, p, V ); |
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uchar b = (uchar)(std::max(0.f, std::min (res.x, 1.f)) * 255.f); |
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uchar g = (uchar)(std::max(0.f, std::min (res.y, 1.f)) * 255.f); |
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uchar r = (uchar)(std::max(0.f, std::min (res.z, 1.f)) * 255.f); |
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rgb.at<Point3_<uchar> >(y,x) = Point3_<uchar>(b, g, r); |
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} |
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} |
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} |
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float getMaxDisparity( VideoCapture& capture ) |
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{ |
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const int minDistance = 400; // mm |
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float b = capture.get( CV_CAP_OPENNI_DEPTH_GENERATOR_BASELINE ); // mm |
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float F = capture.get( CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ); // pixels |
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return b * F / minDistance; |
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} |
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void printCommandLineParams() |
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{ |
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cout << "-cd Colorized disparity? (0 or 1; 1 by default) Ignored if disparity map is not selected to show." << endl; |
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cout << "-fmd Fixed max disparity? (0 or 1; 0 by default) Ignored if disparity map is not colorized (-cd 0)." << endl; |
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cout << "-sxga SXGA resolution of image? (0 or 1; 0 by default) Ignored if rgb image or gray image are not selected to show." << endl; |
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cout << " If -sxga is 0 then vga resolution will be set by default." << endl; |
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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; |
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cout << " determine: is depth map, disparity map, valid pixels mask, rgb image, gray image need or not (correspondently)?" << endl ; |
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cout << " By default -m 01010 i.e. disparity map and rgb image will be shown." << endl ; |
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} |
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void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFixedMaxDisp, bool& isSetSXGA, bool retrievedImageFlags[] ) |
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{ |
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// set defaut values |
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isColorizeDisp = true; |
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isSetSXGA = false; |
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retrievedImageFlags[0] = false; |
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retrievedImageFlags[1] = true; |
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retrievedImageFlags[2] = false; |
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retrievedImageFlags[3] = true; |
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retrievedImageFlags[4] = false; |
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if( argc == 1 ) |
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{ |
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help(); |
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} |
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else |
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{ |
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for( int i = 1; i < argc; i++ ) |
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{ |
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if( !strcmp( argv[i], "--help" ) ) |
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{ |
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printCommandLineParams(); |
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exit(0); |
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} |
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else if( !strcmp( argv[i], "-cd" ) ) |
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{ |
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isColorizeDisp = atoi(argv[++i]) == 0 ? false : true; |
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} |
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else if( !strcmp( argv[i], "-fmd" ) ) |
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{ |
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isFixedMaxDisp = atoi(argv[++i]) == 0 ? false : true; |
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} |
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else if( !strcmp( argv[i], "-sxga" ) ) |
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{ |
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isSetSXGA = atoi(argv[++i]) == 0 ? false : true; |
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} |
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else if( !strcmp( argv[i], "-m" ) ) |
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{ |
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string mask( argv[++i] ); |
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if( mask.size() != 5) |
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CV_Error( CV_StsBadArg, "Incorrect length of -m argument string" ); |
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int val = atoi(mask.c_str()); |
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int l = 100000, r = 10000, sum = 0; |
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for( int i = 0; i < 5; i++ ) |
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{ |
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retrievedImageFlags[i] = ((val % l) / r ) == 0 ? false : true; |
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l /= 10; r /= 10; |
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if( retrievedImageFlags[i] ) sum++; |
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} |
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if( sum == 0 ) |
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{ |
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cout << "No one output image is selected." << endl; |
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exit(0); |
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} |
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} |
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} |
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} |
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} |
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/* |
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* To work with Kinect the user must install OpenNI library and PrimeSensorModule for OpenNI and |
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* configure OpenCV with WITH_OPENNI flag is ON (using CMake). |
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*/ |
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int main( int argc, char* argv[] ) |
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{ |
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bool isColorizeDisp, isFixedMaxDisp, isSetSXGA; |
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bool retrievedImageFlags[5]; |
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parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, isSetSXGA, retrievedImageFlags ); |
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cout << "Kinect opening ..." << endl; |
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VideoCapture capture( CV_CAP_OPENNI ); |
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cout << "done." << endl; |
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if( !capture.isOpened() ) |
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{ |
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cout << "Can not open a capture object." << endl; |
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return -1; |
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} |
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if( isSetSXGA ) |
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capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_SXGA_15HZ ); |
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else |
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capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ ); // default |
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// Print some avalible Kinect settings. |
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cout << "\nDepth generator output mode:" << endl << |
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"FRAME_WIDTH " << capture.get( CV_CAP_PROP_FRAME_WIDTH ) << endl << |
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"FRAME_HEIGHT " << capture.get( CV_CAP_PROP_FRAME_HEIGHT ) << endl << |
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"FRAME_MAX_DEPTH " << capture.get( CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH ) << " mm" << endl << |
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"FPS " << capture.get( CV_CAP_PROP_FPS ) << endl; |
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cout << "\nImage generator output mode:" << endl << |
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"FRAME_WIDTH " << capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_WIDTH ) << endl << |
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"FRAME_HEIGHT " << capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_HEIGHT ) << endl << |
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"FPS " << capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FPS ) << endl; |
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for(;;) |
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{ |
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Mat depthMap; |
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Mat validDepthMap; |
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Mat disparityMap; |
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Mat bgrImage; |
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Mat grayImage; |
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if( !capture.grab() ) |
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{ |
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cout << "Can not grab images." << endl; |
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return -1; |
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} |
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else |
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{ |
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if( retrievedImageFlags[0] && capture.retrieve( depthMap, CV_CAP_OPENNI_DEPTH_MAP ) ) |
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{ |
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const float scaleFactor = 0.05f; |
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Mat show; depthMap.convertTo( show, CV_8UC1, scaleFactor ); |
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imshow( "depth map", show ); |
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} |
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if( retrievedImageFlags[1] && capture.retrieve( disparityMap, CV_CAP_OPENNI_DISPARITY_MAP ) ) |
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{ |
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if( isColorizeDisp ) |
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{ |
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Mat colorDisparityMap; |
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colorizeDisparity( disparityMap, colorDisparityMap, isFixedMaxDisp ? getMaxDisparity(capture) : -1 ); |
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Mat validColorDisparityMap; |
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colorDisparityMap.copyTo( validColorDisparityMap, disparityMap != 0 ); |
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imshow( "colorized disparity map", validColorDisparityMap ); |
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} |
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else |
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{ |
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imshow( "original disparity map", disparityMap ); |
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} |
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} |
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if( retrievedImageFlags[2] && capture.retrieve( validDepthMap, CV_CAP_OPENNI_VALID_DEPTH_MASK ) ) |
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imshow( "valid depth mask", validDepthMap ); |
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if( retrievedImageFlags[3] && capture.retrieve( bgrImage, CV_CAP_OPENNI_BGR_IMAGE ) ) |
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imshow( "rgb image", bgrImage ); |
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if( retrievedImageFlags[4] && capture.retrieve( grayImage, CV_CAP_OPENNI_GRAY_IMAGE ) ) |
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imshow( "gray image", grayImage ); |
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} |
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if( waitKey( 30 ) >= 0 ) |
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break; |
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} |
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return 0; |
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}
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