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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2024-01-15 17:23:10 +03:00
parent 788c7252dc dad8af6b17
commit c739117a7c
531 changed files with 20900 additions and 12934 deletions
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samples/cpp/videocapture_obsensor.cpp
+12 -3
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@@ -1,3 +1,7 @@
/**
* attention: Astra2, Gemini2, and Gemini2L cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
*/
#include <opencv2/videoio.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
@@ -21,6 +25,11 @@ int main()
Mat image;
Mat depthMap;
Mat adjDepthMap;
// Minimum depth value
const double minVal = 300;
// Maximum depth value
const double maxVal = 5000;
while (true)
{
// Grab depth map like this:
@@ -36,7 +45,7 @@ int main()
if (obsensorCapture.retrieve(depthMap, CAP_OBSENSOR_DEPTH_MAP))
{
normalize(depthMap, adjDepthMap, 0, 255, NORM_MINMAX, CV_8UC1);
depthMap.convertTo(adjDepthMap, CV_8U, 255.0 / (maxVal - minVal), -minVal * 255.0 / (maxVal - minVal));
applyColorMap(adjDepthMap, adjDepthMap, COLORMAP_JET);
imshow("DEPTH", adjDepthMap);
}
@@ -45,7 +54,7 @@ int main()
static const float alpha = 0.6f;
if (!image.empty() && !depthMap.empty())
{
normalize(depthMap, adjDepthMap, 0, 255, NORM_MINMAX, CV_8UC1);
depthMap.convertTo(adjDepthMap, CV_8U, 255.0 / (maxVal - minVal), -minVal * 255.0 / (maxVal - minVal));
cv::resize(adjDepthMap, adjDepthMap, cv::Size(image.cols, image.rows));
for (int i = 0; i < image.rows; i++)
{
@@ -71,4 +80,4 @@ int main()
break;
}
return 0;
}
}