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Merge pull request #25410 from kaingwade:add_videocapture_depth_sample
Add videocapture_depth.cpp sample #25410 The PR is to combine the examples `videocapture_openni.cpp`, `videocapture_realsense.cpp` and `videocapture_obsensor.cpp` into `videocapture_depth.cpp`. Tested cameras and OS using this sample are listed below: | | Windows 10 | Ubuntu 22.04 | Mac M1 14.3 | |------------------------|--------------|--------------|---------------| | Orbbec Gemini 2 Series | ✓ | ✓ | ✓ | | RealSense D435, D455 | ✓ | ✓ | ✗ | | Kinect, XtionPRO | - | - | - | Note: - OpenNI based cameras (Kinect, XtionPRO) are not tested as I don't have them. - RealSense D435 and D455 don't work on Mac with OpenCV.
This commit is contained in:
WU Jia
GitHub
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#include "opencv2/videoio.hpp"
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#include "opencv2/highgui.hpp"
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#include "opencv2/imgproc.hpp"
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#include <iostream>
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using namespace cv;
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static void colorizeDisparity(const Mat& gray, Mat& rgb, double maxDisp=-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, nullptr, &maxDisp);
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}
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rgb = Mat::zeros(gray.size(), CV_8UC3);
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if(maxDisp < 1)
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return;
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Mat tmp;
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convertScaleAbs(gray, tmp, 255.f / maxDisp);
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applyColorMap(tmp, rgb, COLORMAP_JET);
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}
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static float getMaxDisparity(VideoCapture& capture, int minDistance)
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{
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float b = (float)capture.get(CAP_OPENNI_DEPTH_GENERATOR_BASELINE); // mm
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float F = (float)capture.get(CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH); // pixels
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return b * F / minDistance;
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}
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static void colorizeDepth(const Mat& depth, Mat& rgb)
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{
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CV_Assert(!depth.empty());
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normalize(depth, rgb, 0, 255, NORM_MINMAX, CV_8UC1);
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applyColorMap(rgb, rgb, COLORMAP_JET);
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}
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const char* keys = "{type t | | Camera Type: OpenNI, RealSense, Orbbec}"
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"{dist d | 400 | The minimum measurable distance in milimeter between the camera and the object}"
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"{help h | | Help}";
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const char* about =
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"\nThis example demostrates how to get data from 3D cameras via OpenCV.\n"
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"Currently OpenCV supports 3 types of 3D cameras:\n"
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"1. Depth sensors compatible with OpenNI (Kinect, XtionPRO). "
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"Users must install OpenNI library and PrimeSensorModule for OpenNI and configure OpenCV with WITH_OPENNI flag ON in CMake.\n"
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"2. Depth sensors compatible with Intel® RealSense SDK (RealSense). "
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"Users must install Intel RealSense SDK 2.0 and configure OpenCV with WITH_LIBREALSENSE flag ON in CMake.\n"
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"3. Orbbec UVC depth sensors. "
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"For the use of OpenNI based Orbbec cameras, please refer to the example openni_orbbec_astra.cpp\n";
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int main(int argc, char *argv[])
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{
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CommandLineParser parser(argc, argv, keys);
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parser.about(about);
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if(parser.has("help"))
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{
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parser.printMessage();
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return 0;
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}
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if (parser.has("type"))
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{
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int backend;
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int flagDepth, flagBGR, flagIR;
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bool hasDisparity = false;
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String camType = parser.get<String>("type");
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if (camType == "OpenNI")
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{
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backend = CAP_OPENNI2;
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flagDepth = CAP_OPENNI_DEPTH_MAP;
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flagBGR = CAP_OPENNI_BGR_IMAGE;
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flagIR = CAP_OPENNI_IR_IMAGE;
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hasDisparity = true;
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}
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else if (camType == "RealSense")
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{
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backend = CAP_INTELPERC;
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flagDepth = CAP_INTELPERC_DEPTH_MAP;
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flagBGR = CAP_INTELPERC_IMAGE;
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flagIR = CAP_INTELPERC_IR_MAP;
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}
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else if (camType == "Orbbec")
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{
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backend = CAP_OBSENSOR;
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flagDepth = CAP_OBSENSOR_DEPTH_MAP;
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flagBGR = CAP_OBSENSOR_BGR_IMAGE;
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flagIR = CAP_OBSENSOR_IR_IMAGE; // Note output IR stream is not implemented for now.
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}
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else
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{
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std::cerr << "Invalid input of camera type." << std::endl;
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return -1;
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}
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VideoCapture capture(backend);
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if(!capture.isOpened())
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{
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std::cerr << "Fail to open depth camera." << std::endl;
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return -1;
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}
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if (camType == "OpenNI")
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{
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capture.set(CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_VGA_30HZ);
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capture.set(CAP_OPENNI_DEPTH_GENERATOR_PRESENT, true);
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capture.set(CAP_OPENNI_IMAGE_GENERATOR_PRESENT, true);
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capture.set(CAP_OPENNI_IR_GENERATOR_PRESENT, true);
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}
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Mat depthMap;
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Mat bgrImage;
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Mat irImage;
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Mat disparityMap;
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for(;;)
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{
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if(capture.grab())
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{
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if(capture.retrieve(depthMap, flagDepth))
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{
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Mat colorDepthMap;
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colorizeDepth(depthMap, colorDepthMap);
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imshow("Colorized Depth Map", colorDepthMap);
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}
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if(capture.retrieve(bgrImage, flagBGR))
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imshow("RGB Image", bgrImage);
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if(capture.retrieve(irImage, flagIR))
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{
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if (camType == "OpenNI")
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{
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Mat ir8;
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irImage.convertTo(ir8, CV_8U, 256.0 / 3500, 0.0);
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imshow("Infrared Image", ir8);
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}
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else
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imshow("Infrared Image", irImage);
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}
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if (hasDisparity)
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{
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int minDist = parser.get<int>("dist"); // mm
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if(capture.retrieve(disparityMap, CAP_OPENNI_DISPARITY_MAP))
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{
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Mat colorDisparityMap;
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colorizeDisparity(disparityMap, colorDisparityMap, getMaxDisparity(capture, minDist));
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colorDisparityMap.setTo(Scalar(0, 0, 0), disparityMap == 0);
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imshow("Colorized Disparity Map", colorDisparityMap);
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}
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}
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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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}
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else
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{
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parser.printMessage();
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return 0;
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}
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return 0;
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}
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