mirror of
https://github.com/opencv/opencv.git
synced 2026-07-31 00:03:03 +04:00
Merge branch 4.x
This commit is contained in:
Alexander Smorkalov
Executable → Regular
+49
-26
@@ -1,20 +1,32 @@
|
||||
# svgfig.py copyright (C) 2008 Jim Pivarski <jpivarski@gmail.com>
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or
|
||||
# modify it under the terms of the GNU General Public License
|
||||
# as published by the Free Software Foundation; either version 2
|
||||
# of the License, or (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program; if not, write to the Free Software
|
||||
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA
|
||||
#
|
||||
# Full licence is in the file COPYING and at http://www.gnu.org/copyleft/gpl.html
|
||||
# BSD 3-Clause License
|
||||
|
||||
# Copyright (c) 2022, Jim Pivarski
|
||||
# All rights reserved.
|
||||
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions are met:
|
||||
|
||||
# 1. Redistributions of source code must retain the above copyright notice, this
|
||||
# list of conditions and the following disclaimer.
|
||||
|
||||
# 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
# this list of conditions and the following disclaimer in the documentation
|
||||
# and/or other materials provided with the distribution.
|
||||
|
||||
# 3. Neither the name of the copyright holder nor the names of its
|
||||
# contributors may be used to endorse or promote products derived from
|
||||
# this software without specific prior written permission.
|
||||
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
import re, codecs, os, platform, copy, itertools, math, cmath, random, sys, copy
|
||||
_epsilon = 1e-5
|
||||
@@ -29,16 +41,24 @@ try:
|
||||
except NameError:
|
||||
unicode = lambda s: str(s)
|
||||
|
||||
try:
|
||||
xrange # Python 2
|
||||
except NameError:
|
||||
xrange = range # Python 3
|
||||
if re.search("windows", platform.system(), re.I):
|
||||
try:
|
||||
import _winreg
|
||||
_default_directory = _winreg.QueryValueEx(_winreg.OpenKey(_winreg.HKEY_CURRENT_USER,
|
||||
r"Software\Microsoft\Windows\Current Version\Explorer\Shell Folders"), "Desktop")[0]
|
||||
# tmpdir = _winreg.QueryValueEx(_winreg.OpenKey(_winreg.HKEY_CURRENT_USER, "Environment"), "TEMP")[0]
|
||||
# if tmpdir[0:13] != "%USERPROFILE%":
|
||||
# tmpdir = os.path.expanduser("~") + tmpdir[13:]
|
||||
except:
|
||||
_default_directory = os.path.expanduser("~") + os.sep + "Desktop"
|
||||
|
||||
_default_fileName = "tmp.svg"
|
||||
|
||||
_hacks = {}
|
||||
_hacks["inkscape-text-vertical-shift"] = False
|
||||
|
||||
__version__ = "1.0.1"
|
||||
|
||||
|
||||
def rgb(r, g, b, maximum=1.):
|
||||
"""Create an SVG color string "#xxyyzz" from r, g, and b.
|
||||
@@ -437,9 +457,12 @@ class SVG:
|
||||
|
||||
return output
|
||||
|
||||
@staticmethod
|
||||
def interpret_fileName(fileName=None):
|
||||
return fileName or _default_fileName
|
||||
def interpret_fileName(self, fileName=None):
|
||||
if fileName is None:
|
||||
fileName = _default_fileName
|
||||
if re.search("windows", platform.system(), re.I) and not os.path.isabs(fileName):
|
||||
fileName = _default_directory + os.sep + fileName
|
||||
return fileName
|
||||
|
||||
def save(self, fileName=None, encoding="utf-8", compresslevel=None):
|
||||
"""Save to a file for viewing. Note that svg.save() overwrites the file named _default_fileName.
|
||||
@@ -591,7 +614,7 @@ def template(fileName, svg, replaceme="REPLACEME"):
|
||||
|
||||
def load(fileName):
|
||||
"""Loads an SVG image from a file."""
|
||||
return load_stream(open(fileName))
|
||||
return load_stream(file(fileName))
|
||||
|
||||
def load_stream(stream):
|
||||
"""Loads an SVG image from a stream (can be a string or a file object)."""
|
||||
@@ -1848,7 +1871,7 @@ class Poly:
|
||||
piecewise-linear segments joining the (x,y) points
|
||||
"bezier"/"B" d=[(x, y, c1x, c1y, c2x, c2y), ...]
|
||||
Bezier curve with two control points (control points
|
||||
precede (x,y), as in SVG paths). If (c1x,c1y) and
|
||||
preceed (x,y), as in SVG paths). If (c1x,c1y) and
|
||||
(c2x,c2y) both equal (x,y), you get a linear
|
||||
interpolation ("lines")
|
||||
"velocity"/"V" d=[(x, y, vx, vy), ...]
|
||||
|
||||
@@ -46,12 +46,12 @@ assert template is not None, "file could not be read, check with os.path.exists(
|
||||
w, h = template.shape[::-1]
|
||||
|
||||
# All the 6 methods for comparison in a list
|
||||
methods = ['cv.TM_CCOEFF', 'cv.TM_CCOEFF_NORMED', 'cv.TM_CCORR',
|
||||
'cv.TM_CCORR_NORMED', 'cv.TM_SQDIFF', 'cv.TM_SQDIFF_NORMED']
|
||||
methods = ['TM_CCOEFF', 'TM_CCOEFF_NORMED', 'TM_CCORR',
|
||||
'TM_CCORR_NORMED', 'TM_SQDIFF', 'TM_SQDIFF_NORMED']
|
||||
|
||||
for meth in methods:
|
||||
img = img2.copy()
|
||||
method = eval(meth)
|
||||
method = getattr(cv, meth)
|
||||
|
||||
# Apply template Matching
|
||||
res = cv.matchTemplate(img,template,method)
|
||||
|
||||
@@ -3,7 +3,7 @@ Using Creative Senz3D and other Intel RealSense SDK compatible depth sensors {#t
|
||||
|
||||
@tableofcontents
|
||||
|
||||
@prev_tutorial{tutorial_orbbec_astra}
|
||||
@prev_tutorial{tutorial_orbbec_astra_openni}
|
||||
@next_tutorial{tutorial_wayland_ubuntu}
|
||||
|
||||
|
||||
|
||||
@@ -4,7 +4,7 @@ Using Kinect and other OpenNI compatible depth sensors {#tutorial_kinect_openni}
|
||||
@tableofcontents
|
||||
|
||||
@prev_tutorial{tutorial_video_write}
|
||||
@next_tutorial{tutorial_orbbec_astra}
|
||||
@next_tutorial{tutorial_orbbec_astra_openni}
|
||||
|
||||
|
||||
Depth sensors compatible with OpenNI (Kinect, XtionPRO, ...) are supported through VideoCapture
|
||||
|
||||
+15
-9
@@ -1,4 +1,4 @@
|
||||
Using Orbbec Astra 3D cameras {#tutorial_orbbec_astra}
|
||||
Using Orbbec Astra 3D cameras {#tutorial_orbbec_astra_openni}
|
||||
======================================================
|
||||
|
||||
@tableofcontents
|
||||
@@ -9,7 +9,7 @@ Using Orbbec Astra 3D cameras {#tutorial_orbbec_astra}
|
||||
|
||||
### Introduction
|
||||
|
||||
This tutorial is devoted to the Astra Series of Orbbec 3D cameras (https://orbbec3d.com/index/Product/info.html?cate=38&id=36).
|
||||
This tutorial is devoted to the Astra Series of Orbbec 3D cameras (https://www.orbbec.com/products/structured-light-camera/astra-series/).
|
||||
That cameras have a depth sensor in addition to a common color sensor. The depth sensors can be read using
|
||||
the open source OpenNI API with @ref cv::VideoCapture class. The video stream is provided through the regular
|
||||
camera interface.
|
||||
@@ -18,7 +18,7 @@ camera interface.
|
||||
|
||||
In order to use the Astra camera's depth sensor with OpenCV you should do the following steps:
|
||||
|
||||
-# Download the latest version of Orbbec OpenNI SDK (from here <https://orbbec3d.com/index/download.html>).
|
||||
-# Download the latest version of Orbbec OpenNI SDK (from here <https://www.orbbec.com/developers/openni-sdk/>).
|
||||
Unzip the archive, choose the build according to your operating system and follow installation
|
||||
steps provided in the Readme file.
|
||||
|
||||
@@ -70,6 +70,12 @@ In order to use the Astra camera's depth sensor with OpenCV you should do the fo
|
||||
echo "exit"
|
||||
@endcode
|
||||
|
||||
@note The last tried version `2.3.0.86_202210111154_4c8f5aa4_beta6` does not work correctly with
|
||||
modern Linux, even after libusb rebuild as recommended by the instruction. The last know good
|
||||
configuration is version 2.3.0.63 (tested with Ubuntu 18.04 amd64). It's not provided officialy
|
||||
with the downloading page, but published by Orbbec technical suport on Orbbec community forum
|
||||
[here](https://3dclub.orbbec3d.com/t/universal-download-thread-for-astra-series-cameras/622).
|
||||
|
||||
-# 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:
|
||||
@@ -106,7 +112,7 @@ can be read using the OpenNI interface with @ref cv::VideoCapture class. The vid
|
||||
not available through OpenNI API and is only provided via the regular camera interface.
|
||||
So, 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
|
||||
@snippetlineno samples/cpp/tutorial_code/videoio/openni_orbbec_astra/openni_orbbec_astra.cpp Open streams
|
||||
|
||||
The first object will use the OpenNI2 API to retrieve depth data. The second one uses the
|
||||
Video4Linux2 interface to access the color sensor. Note that the example above assumes that
|
||||
@@ -119,12 +125,12 @@ For this example, we’ll configure width and height of both streams to VGA reso
|
||||
the maximum resolution available for both sensors, and we’d like both stream parameters to be the
|
||||
same for easier color-to-depth data registration:
|
||||
|
||||
@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Setup streams
|
||||
@snippetlineno samples/cpp/tutorial_code/videoio/openni_orbbec_astra/openni_orbbec_astra.cpp Setup streams
|
||||
|
||||
For setting and retrieving 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
|
||||
@snippetlineno samples/cpp/tutorial_code/videoio/openni_orbbec_astra/openni_orbbec_astra.cpp Get properties
|
||||
|
||||
The following properties of cameras available through OpenNI interface are supported for the depth
|
||||
generator:
|
||||
@@ -156,7 +162,7 @@ As there are two video sources that should be read simultaneously, it’s necess
|
||||
threads to avoid blocking. 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
|
||||
@snippetlineno samples/cpp/tutorial_code/videoio/openni_orbbec_astra/openni_orbbec_astra.cpp Read streams
|
||||
|
||||
VideoCapture can retrieve the following data:
|
||||
|
||||
@@ -177,7 +183,7 @@ two video streams may become out of sync even when both streams are set up for t
|
||||
A post-synchronization procedure can be applied to the streams to combine depth and color frames into
|
||||
pairs. The sample code below demonstrates this procedure:
|
||||
|
||||
@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Pair frames
|
||||
@snippetlineno samples/cpp/tutorial_code/videoio/openni_orbbec_astra/openni_orbbec_astra.cpp Pair frames
|
||||
|
||||
In the code snippet above the execution is blocked until there are some frames in both frame lists.
|
||||
When there are new frames, their timestamps are being checked -- if they differ more than a half of
|
||||
@@ -194,5 +200,5 @@ but the depth data makes it easy.
|
||||
|
||||
|
||||
The complete implementation can be found in
|
||||
[orbbec_astra.cpp](https://github.com/opencv/opencv/tree/5.x/samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp)
|
||||
[openni_orbbec_astra.cpp](https://github.com/opencv/opencv/tree/5.x/samples/cpp/tutorial_code/videoio/openni_orbbec_astra/openni_orbbec_astra.cpp)
|
||||
in `samples/cpp/tutorial_code/videoio` directory.
|
||||
@@ -6,6 +6,6 @@ Application utils (highgui, imgcodecs, videoio modules) {#tutorial_table_of_cont
|
||||
- @subpage tutorial_video_input_psnr_ssim
|
||||
- @subpage tutorial_video_write
|
||||
- @subpage tutorial_kinect_openni
|
||||
- @subpage tutorial_orbbec_astra
|
||||
- @subpage tutorial_orbbec_astra_openni
|
||||
- @subpage tutorial_intelperc
|
||||
- @subpage tutorial_wayland_ubuntu
|
||||
|
||||
Reference in New Issue
Block a user