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cap_openni2.cpp
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cap_openni2.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's 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.
//
// * The name of Intel Corporation may not 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 Intel Corporation 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.
//
//M*/
#include "precomp.hpp"
#include "cap_interface.hpp"
#include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
#ifdef HAVE_OPENNI2
#include <queue>
#ifndef i386
# define i386 0
#endif
#ifndef __arm__
# define __arm__ 0
#endif
#ifndef _ARC
# define _ARC 0
#endif
#ifndef __APPLE__
# define __APPLE__ 0
#endif
#define CV_STREAM_TIMEOUT 2000
#define CV_DEPTH_STREAM 0
#define CV_COLOR_STREAM 1
#define CV_IR_STREAM 2
#define CV_MAX_NUM_STREAMS 3
#include "OpenNI.h"
#include "PS1080.h"
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
static cv::Mutex initOpenNI2Mutex;
struct OpenNI2Initializer
{
public:
static void init()
{
cv::AutoLock al(initOpenNI2Mutex);
static OpenNI2Initializer initializer;
}
private:
OpenNI2Initializer()
{
// Initialize and configure the context.
openni::Status status = openni::OpenNI::initialize();
if (status != openni::STATUS_OK)
{
CV_Error(cv::Error::StsError, std::string("Failed to initialize:") + openni::OpenNI::getExtendedError());
}
}
~OpenNI2Initializer()
{
openni::OpenNI::shutdown();
}
};
class CvCapture_OpenNI2 : public CvCapture
{
public:
enum { DEVICE_DEFAULT=0, DEVICE_MS_KINECT=0, DEVICE_ASUS_XTION=1, DEVICE_ORBBEC_ASTRA=2, DEVICE_MAX=2 };
static const int INVALID_PIXEL_VAL = 0;
static const int INVALID_COORDINATE_VAL = 0;
static const int DEFAULT_MAX_BUFFER_SIZE = 2;
static const int DEFAULT_IS_CIRCLE_BUFFER = 0;
static const int DEFAULT_MAX_TIME_DURATION = 20;
CvCapture_OpenNI2(int index = 0);
CvCapture_OpenNI2(const char * filename);
virtual ~CvCapture_OpenNI2();
virtual double getProperty(int propIdx) const CV_OVERRIDE;
virtual bool setProperty(int probIdx, double propVal) CV_OVERRIDE;
virtual bool grabFrame() CV_OVERRIDE;
virtual IplImage* retrieveFrame(int outputType) CV_OVERRIDE;
virtual int getCaptureDomain() CV_OVERRIDE { return cv::CAP_OPENNI2; }
bool isOpened() const;
protected:
struct OutputMap
{
public:
cv::Mat mat;
IplImage* getIplImagePtr();
private:
IplImage iplHeader;
};
static const int outputMapsTypesCount = 8;
static openni::VideoMode defaultStreamOutputMode(int stream);
CvCapture_OpenNI2(int index, const char * filename);
IplImage* retrieveDepthMap();
IplImage* retrievePointCloudMap();
IplImage* retrieveDisparityMap();
IplImage* retrieveDisparityMap_32F();
IplImage* retrieveValidDepthMask();
IplImage* retrieveBGRImage();
IplImage* retrieveGrayImage();
IplImage* retrieveIrImage();
void toggleStream(int stream, bool toggle);
bool readCamerasParams();
double getDepthGeneratorProperty(int propIdx) const;
bool setDepthGeneratorProperty(int propIdx, double propVal);
double getImageGeneratorProperty(int propIdx) const;
bool setImageGeneratorProperty(int propIdx, double propVal);
double getIrGeneratorProperty(int propIdx) const;
bool setIrGeneratorProperty(int propIdx, double propVal);
double getCommonProperty(int propIdx) const;
bool setCommonProperty(int propIdx, double propVal);
// OpenNI context
openni::Device device;
bool isContextOpened;
// Data generators with its metadata
std::vector<openni::VideoStream> streams;
std::vector<openni::VideoFrameRef> streamFrames;
std::vector<cv::Mat> streamImages;
int maxBufferSize, maxTimeDuration; // for approx sync
bool isCircleBuffer;
//cv::Ptr<ApproximateSyncGrabber> approxSyncGrabber;
// Cameras settings:
// TODO find in OpenNI function to convert z->disparity and remove fields "baseline" and depthFocalLength_VGA
// Distance between IR projector and IR camera (in meters)
double baseline;
// Focal length for the IR camera in VGA resolution (in pixels)
int depthFocalLength_VGA;
// The value for shadow (occluded pixels)
int shadowValue;
// The value for pixels without a valid disparity measurement
int noSampleValue;
std::vector<OutputMap> outputMaps;
};
IplImage* CvCapture_OpenNI2::OutputMap::getIplImagePtr()
{
if( mat.empty() )
return 0;
iplHeader = cvIplImage(mat);
return &iplHeader;
}
bool CvCapture_OpenNI2::isOpened() const
{
return isContextOpened;
}
openni::VideoMode CvCapture_OpenNI2::defaultStreamOutputMode(int stream)
{
openni::VideoMode mode;
mode.setResolution(640, 480);
mode.setFps(30);
switch (stream)
{
case CV_DEPTH_STREAM:
mode.setPixelFormat(openni::PIXEL_FORMAT_DEPTH_1_MM);
break;
case CV_COLOR_STREAM:
mode.setPixelFormat(openni::PIXEL_FORMAT_RGB888);
break;
case CV_IR_STREAM:
mode.setPixelFormat(openni::PIXEL_FORMAT_GRAY16);
break;
}
return mode;
}
CvCapture_OpenNI2::CvCapture_OpenNI2(int index) :
CvCapture_OpenNI2(index, nullptr)
{ }
CvCapture_OpenNI2::CvCapture_OpenNI2(const char * filename) :
CvCapture_OpenNI2(-1, filename)
{ }
CvCapture_OpenNI2::CvCapture_OpenNI2(int index, const char * filename) :
device(),
isContextOpened(false),
streams(CV_MAX_NUM_STREAMS),
streamFrames(CV_MAX_NUM_STREAMS),
streamImages(CV_MAX_NUM_STREAMS),
maxBufferSize(DEFAULT_MAX_BUFFER_SIZE),
maxTimeDuration(DEFAULT_MAX_TIME_DURATION),
isCircleBuffer(DEFAULT_IS_CIRCLE_BUFFER),
baseline(0),
depthFocalLength_VGA(0),
shadowValue(0),
noSampleValue(0),
outputMaps(outputMapsTypesCount)
{
// Initialize and configure the context.
OpenNI2Initializer::init();
const char* deviceURI = openni::ANY_DEVICE;
bool needColor = true;
bool needIR = true;
if (index >= 0)
{
int deviceType = DEVICE_DEFAULT;
if (index >= 10)
{
deviceType = index / 10;
index %= 10;
}
// Asus XTION and Occipital Structure Sensor do not have an image generator
// Orbbec Astra cameras don't provide OpenNI interface for color stream reading
needColor = (deviceType != DEVICE_ASUS_XTION) && (deviceType != DEVICE_ORBBEC_ASTRA);
// find appropriate device URI
openni::Array<openni::DeviceInfo> ldevs;
if (index > 0)
{
openni::OpenNI::enumerateDevices(&ldevs);
if (index < ldevs.getSize())
deviceURI = ldevs[index].getUri();
else
{
CV_Error(cv::Error::StsError, "OpenCVKinect2: Device index exceeds the number of available OpenNI devices");
}
}
}
else
{
deviceURI = filename;
}
openni::Status status;
status = device.open(deviceURI);
if (status != openni::STATUS_OK)
{
CV_Error(cv::Error::StsError, std::string("OpenCVKinect2: Failed to open device: ") + openni::OpenNI::getExtendedError());
}
toggleStream(CV_DEPTH_STREAM, true);
if (needColor)
toggleStream(CV_COLOR_STREAM, true);
if (needIR)
toggleStream(CV_IR_STREAM, true);
setProperty(CV_CAP_PROP_OPENNI_REGISTRATION, 1.0);
// default for Kinect2 camera
setProperty(CV_CAP_PROP_OPENNI2_MIRROR, 0.0);
isContextOpened = true;
CV_LOG_INFO(NULL, cv::format("Opened OpenNI camera: %s %s (%04x:%04x)",
device.getDeviceInfo().getVendor(), device.getDeviceInfo().getName(),
device.getDeviceInfo().getUsbVendorId(), device.getDeviceInfo().getUsbProductId())
);
}
CvCapture_OpenNI2::~CvCapture_OpenNI2()
{
for (size_t i = 0; i < streams.size(); ++i)
{
streamFrames[i].release();
streams[i].stop();
streams[i].destroy();
}
device.close();
}
void CvCapture_OpenNI2::toggleStream(int stream, bool toggle)
{
openni::Status status;
// for logging
static const std::string stream_names[CV_MAX_NUM_STREAMS] = {
"depth",
"color",
"IR"
};
static const openni::SensorType stream_sensor_types[CV_MAX_NUM_STREAMS] = {
openni::SENSOR_DEPTH,
openni::SENSOR_COLOR,
openni::SENSOR_IR
};
if (toggle) // want to open stream
{
// already opened
if (streams[stream].isValid())
return;
// open stream
status = streams[stream].create(device, stream_sensor_types[stream]);
if (status == openni::STATUS_OK)
{
// try to set up default stream mode (if available)
const openni::Array<openni::VideoMode>& vm = streams[stream].getSensorInfo().getSupportedVideoModes();
openni::VideoMode dm = defaultStreamOutputMode(stream);
for (int i = 0; i < vm.getSize(); i++)
{
if (vm[i].getPixelFormat() == dm.getPixelFormat() &&
vm[i].getResolutionX() == dm.getResolutionX() &&
vm[i].getResolutionY() == dm.getResolutionY() &&
vm[i].getFps() == dm.getFps())
{
status = streams[stream].setVideoMode(defaultStreamOutputMode(stream));
if (status != openni::STATUS_OK)
{
streams[stream].destroy();
CV_Error(cv::Error::StsError, std::string("OpenCVKinect2 : Couldn't set ") +
stream_names[stream] + std::string(" stream output mode: ") +
std::string(openni::OpenNI::getExtendedError()));
}
}
}
// start stream
status = streams[stream].start();
if (status != openni::STATUS_OK)
{
streams[stream].destroy();
CV_Error(cv::Error::StsError, std::string("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't start ") +
stream_names[stream] + std::string(" stream: ") +
std::string(openni::OpenNI::getExtendedError()));
}
}
else
{
CV_Error(cv::Error::StsError, std::string("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't find ") +
stream_names[stream] + " stream: " +
std::string(openni::OpenNI::getExtendedError()));
}
}
else if (streams[stream].isValid()) // want to close stream
{
//FIX for libfreenect2
//which stops the whole device when stopping only one stream
//streams[stream].stop();
//streams[stream].destroy();
}
}
bool CvCapture_OpenNI2::readCamerasParams()
{
double pixelSize = 0;
if (streams[CV_DEPTH_STREAM].getProperty<double>(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &pixelSize) != openni::STATUS_OK)
{
CV_LOG_ERROR(NULL, "CvCapture_OpenNI2::readCamerasParams : Could not read pixel size!" +
std::string(openni::OpenNI::getExtendedError()));
return false;
}
// pixel size @ VGA = pixel size @ SXGA x 2
pixelSize *= 2.0; // in mm
// focal length of IR camera in pixels for VGA resolution
unsigned long long zeroPlaneDistance; // in mm
if (streams[CV_DEPTH_STREAM].getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &zeroPlaneDistance) != openni::STATUS_OK)
{
CV_LOG_ERROR(NULL, "CvCapture_OpenNI2::readCamerasParams : Could not read virtual plane distance!" +
std::string(openni::OpenNI::getExtendedError()));
return false;
}
if (streams[CV_DEPTH_STREAM].getProperty<double>(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, &baseline) != openni::STATUS_OK)
{
CV_LOG_ERROR(NULL, "CvCapture_OpenNI2::readCamerasParams : Could not read base line!" +
std::string(openni::OpenNI::getExtendedError()));
return false;
}
// baseline from cm -> mm
baseline *= 10;
// focal length from mm -> pixels (valid for 640x480)
depthFocalLength_VGA = (int)((double)zeroPlaneDistance / (double)pixelSize);
return true;
}
double CvCapture_OpenNI2::getProperty( int propIdx ) const
{
double propValue = 0;
if( isOpened() )
{
int purePropIdx = propIdx & ~CV_CAP_OPENNI_GENERATORS_MASK;
if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IMAGE_GENERATOR )
{
propValue = getImageGeneratorProperty( purePropIdx );
}
else if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_DEPTH_GENERATOR )
{
propValue = getDepthGeneratorProperty( purePropIdx );
}
else if ((propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IR_GENERATOR)
{
propValue = getIrGeneratorProperty(purePropIdx);
}
else
{
propValue = getCommonProperty( purePropIdx );
}
}
return propValue;
}
bool CvCapture_OpenNI2::setProperty( int propIdx, double propValue )
{
bool isSet = false;
if( isOpened() )
{
int purePropIdx = propIdx & ~CV_CAP_OPENNI_GENERATORS_MASK;
if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IMAGE_GENERATOR )
{
isSet = setImageGeneratorProperty( purePropIdx, propValue );
}
else if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_DEPTH_GENERATOR )
{
isSet = setDepthGeneratorProperty( purePropIdx, propValue );
}
else if ((propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IR_GENERATOR)
{
isSet = setIrGeneratorProperty(purePropIdx, propValue);
}
else
{
isSet = setCommonProperty( purePropIdx, propValue );
}
}
return isSet;
}
double CvCapture_OpenNI2::getCommonProperty( int propIdx ) const
{
double propValue = 0;
switch( propIdx )
{
case CV_CAP_PROP_FRAME_WIDTH :
case CV_CAP_PROP_FRAME_HEIGHT :
case CV_CAP_PROP_FPS :
case CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH :
case CV_CAP_PROP_OPENNI_BASELINE :
case CV_CAP_PROP_OPENNI_FOCAL_LENGTH :
case CV_CAP_PROP_OPENNI_REGISTRATION :
propValue = getDepthGeneratorProperty( propIdx );
break;
case CV_CAP_PROP_OPENNI2_SYNC :
propValue = const_cast<CvCapture_OpenNI2 *>(this)->device.getDepthColorSyncEnabled();
break;
case CV_CAP_PROP_OPENNI2_MIRROR:
{
bool isMirroring = false;
for (int i = 0; i < CV_MAX_NUM_STREAMS; ++i)
isMirroring |= streams[i].getMirroringEnabled();
propValue = isMirroring ? 1.0 : 0.0;
break;
}
default :
CV_LOG_WARNING( NULL, cv::format("Such parameter (propIdx=%d) isn't supported for getting.", propIdx) );
}
return propValue;
}
bool CvCapture_OpenNI2::setCommonProperty( int propIdx, double propValue )
{
bool isSet = false;
switch( propIdx )
{
case CV_CAP_PROP_OPENNI2_MIRROR:
{
bool mirror = propValue > 0.0 ? true : false;
for (int i = 0; i < CV_MAX_NUM_STREAMS; ++i)
{
if (streams[i].isValid())
isSet |= streams[i].setMirroringEnabled(mirror) == openni::STATUS_OK;
}
}
break;
// There is a set of properties that correspond to depth generator by default
// (is they are pass without particular generator flag).
case CV_CAP_PROP_OPENNI_REGISTRATION:
isSet = setDepthGeneratorProperty(propIdx, propValue);
break;
case CV_CAP_PROP_OPENNI2_SYNC:
isSet = device.setDepthColorSyncEnabled(propValue > 0.0) == openni::STATUS_OK;
break;
case CV_CAP_PROP_FRAME_WIDTH:
case CV_CAP_PROP_FRAME_HEIGHT:
case CV_CAP_PROP_AUTOFOCUS:
isSet = false;
break;
default:
CV_LOG_WARNING(NULL, cv::format("Such parameter (propIdx=%d) isn't supported for setting.", propIdx));
}
return isSet;
}
double CvCapture_OpenNI2::getDepthGeneratorProperty( int propIdx ) const
{
double propValue = 0;
if( !streams[CV_DEPTH_STREAM].isValid() )
return propValue;
openni::VideoMode mode;
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
propValue = streams[CV_DEPTH_STREAM].isValid();
break;
case CV_CAP_PROP_FRAME_WIDTH :
propValue = streams[CV_DEPTH_STREAM].getVideoMode().getResolutionX();
break;
case CV_CAP_PROP_FRAME_HEIGHT :
propValue = streams[CV_DEPTH_STREAM].getVideoMode().getResolutionY();
break;
case CV_CAP_PROP_FPS :
mode = streams[CV_DEPTH_STREAM].getVideoMode();
propValue = mode.getFps();
break;
case CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH :
propValue = streams[CV_DEPTH_STREAM].getMaxPixelValue();
break;
case CV_CAP_PROP_OPENNI_BASELINE :
if(baseline <= 0)
if (!const_cast<CvCapture_OpenNI2*>(this)->readCamerasParams())
return 0;
propValue = baseline;
break;
case CV_CAP_PROP_OPENNI_FOCAL_LENGTH :
if(depthFocalLength_VGA <= 0)
if (!const_cast<CvCapture_OpenNI2*>(this)->readCamerasParams())
return 0;
propValue = (double)depthFocalLength_VGA;
break;
case CV_CAP_PROP_OPENNI_REGISTRATION :
propValue = device.getImageRegistrationMode();
break;
case CV_CAP_PROP_POS_MSEC :
propValue = (double)streamFrames[CV_DEPTH_STREAM].getTimestamp();
break;
case CV_CAP_PROP_POS_FRAMES :
propValue = streamFrames[CV_DEPTH_STREAM].getFrameIndex();
break;
default :
CV_LOG_WARNING( NULL, cv::format("Depth generator does not support such parameter (propIdx=%d) for getting.", propIdx) );
}
return propValue;
}
bool CvCapture_OpenNI2::setDepthGeneratorProperty( int propIdx, double propValue )
{
bool isSet = false;
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
if (isContextOpened)
{
toggleStream(CV_DEPTH_STREAM, propValue > 0.0);
isSet = true;
}
break;
case CV_CAP_PROP_OPENNI_REGISTRATION:
{
CV_Assert(streams[CV_DEPTH_STREAM].isValid());
if( propValue != 0.0 ) // "on"
{
// if there isn't image generator (i.e. ASUS XtionPro doesn't have it)
// then the property isn't available
if ( streams[CV_COLOR_STREAM].isValid() )
{
openni::ImageRegistrationMode mode = propValue != 0.0 ? openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR : openni::IMAGE_REGISTRATION_OFF;
if( device.getImageRegistrationMode() != mode )
{
if (device.isImageRegistrationModeSupported(mode))
{
openni::Status status = device.setImageRegistrationMode(mode);
if( status != openni::STATUS_OK )
{
CV_LOG_ERROR(NULL, std::string("CvCapture_OpenNI2::setDepthGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
}
else
isSet = true;
}
else
{
CV_LOG_ERROR(NULL, "CvCapture_OpenNI2::setDepthGeneratorProperty: Unsupported viewpoint.");
}
}
else
isSet = true;
}
}
else // "off"
{
openni::Status status = device.setImageRegistrationMode(openni::IMAGE_REGISTRATION_OFF);
if( status != openni::STATUS_OK )
{
CV_LOG_ERROR(NULL, std::string("CvCapture_OpenNI2::setDepthGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
}
else
isSet = true;
}
}
break;
default:
CV_LOG_WARNING( NULL, cv::format("OpenNI2: Depth generator does not support such parameter (propIdx=%d) for setting.", propIdx) );
}
return isSet;
}
double CvCapture_OpenNI2::getImageGeneratorProperty( int propIdx ) const
{
double propValue = 0.;
if( !streams[CV_COLOR_STREAM].isValid() )
return propValue;
openni::VideoMode mode;
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
propValue = streams[CV_COLOR_STREAM].isValid();
break;
case CV_CAP_PROP_FRAME_WIDTH :
propValue = streams[CV_COLOR_STREAM].getVideoMode().getResolutionX();
break;
case CV_CAP_PROP_FRAME_HEIGHT :
propValue = streams[CV_COLOR_STREAM].getVideoMode().getResolutionY();
break;
case CV_CAP_PROP_FPS :
propValue = streams[CV_COLOR_STREAM].getVideoMode().getFps();
break;
case CV_CAP_PROP_POS_MSEC :
propValue = (double)streamFrames[CV_COLOR_STREAM].getTimestamp();
break;
case CV_CAP_PROP_POS_FRAMES :
propValue = (double)streamFrames[CV_COLOR_STREAM].getFrameIndex();
break;
default :
CV_LOG_WARNING( NULL, cv::format("OpenNI2: Image generator does not support such parameter (propIdx=%d) for getting.", propIdx) );
}
return propValue;
}
bool CvCapture_OpenNI2::setImageGeneratorProperty(int propIdx, double propValue)
{
bool isSet = false;
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
if (isContextOpened)
{
toggleStream(CV_COLOR_STREAM, propValue > 0.0);
isSet = true;
}
break;
case CV_CAP_PROP_OPENNI_OUTPUT_MODE :
{
if (!streams[CV_COLOR_STREAM].isValid())
return isSet;
openni::VideoMode mode = streams[CV_COLOR_STREAM].getVideoMode();
switch( cvRound(propValue) )
{
case CV_CAP_OPENNI_VGA_30HZ :
mode.setResolution(640,480);
mode.setFps(30);
break;
case CV_CAP_OPENNI_SXGA_15HZ :
mode.setResolution(1280, 960);
mode.setFps(15);
break;
case CV_CAP_OPENNI_SXGA_30HZ :
mode.setResolution(1280, 960);
mode.setFps(30);
break;
case CV_CAP_OPENNI_QVGA_30HZ :
mode.setResolution(320, 240);
mode.setFps(30);
break;
case CV_CAP_OPENNI_QVGA_60HZ :
mode.setResolution(320, 240);
mode.setFps(60);
break;
default :
CV_LOG_WARNING( NULL, "Unsupported image generator output mode.");
return false;
}
openni::Status status = streams[CV_COLOR_STREAM].setVideoMode( mode );
if( status != openni::STATUS_OK )
{
CV_LOG_ERROR(NULL, std::string("CvCapture_OpenNI2::setImageGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
}
else
isSet = true;
break;
}
default:
CV_LOG_WARNING( NULL, cv::format("Image generator does not support such parameter (propIdx=%d) for setting.", propIdx) );
}
return isSet;
}
double CvCapture_OpenNI2::getIrGeneratorProperty(int propIdx) const
{
double propValue = 0.;
if (!streams[CV_IR_STREAM].isValid())
return propValue;
openni::VideoMode mode;
switch (propIdx)
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
propValue = streams[CV_IR_STREAM].isValid();
break;
case CV_CAP_PROP_FRAME_WIDTH:
propValue = streams[CV_IR_STREAM].getVideoMode().getResolutionX();
break;
case CV_CAP_PROP_FRAME_HEIGHT:
propValue = streams[CV_IR_STREAM].getVideoMode().getResolutionY();
break;
case CV_CAP_PROP_FPS:
propValue = streams[CV_IR_STREAM].getVideoMode().getFps();
break;
case CV_CAP_PROP_POS_MSEC:
propValue = (double)streamFrames[CV_IR_STREAM].getTimestamp();
break;
case CV_CAP_PROP_POS_FRAMES:
propValue = (double)streamFrames[CV_IR_STREAM].getFrameIndex();
break;
default:
CV_LOG_WARNING(NULL, cv::format("Image generator does not support such parameter (propIdx=%d) for getting.", propIdx));
}
return propValue;
}
bool CvCapture_OpenNI2::setIrGeneratorProperty(int propIdx, double propValue)
{
bool isSet = false;
switch (propIdx)
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
if (isContextOpened)
{
toggleStream(CV_IR_STREAM, propValue > 0.0);
isSet = true;
}
break;
case CV_CAP_PROP_OPENNI_OUTPUT_MODE:
{
if (!streams[CV_IR_STREAM].isValid())
return isSet;
openni::VideoMode mode = streams[CV_IR_STREAM].getVideoMode();
switch (cvRound(propValue))
{
case CV_CAP_OPENNI_VGA_30HZ:
mode.setResolution(640, 480);
mode.setFps(30);
break;
case CV_CAP_OPENNI_SXGA_15HZ:
mode.setResolution(1280, 960);
mode.setFps(15);
break;
case CV_CAP_OPENNI_SXGA_30HZ:
mode.setResolution(1280, 960);
mode.setFps(30);
break;
case CV_CAP_OPENNI_QVGA_30HZ:
mode.setResolution(320, 240);
mode.setFps(30);
break;
case CV_CAP_OPENNI_QVGA_60HZ:
mode.setResolution(320, 240);
mode.setFps(60);
break;
default:
CV_LOG_WARNING(NULL, "Unsupported image generator output mode.");
}
openni::Status status = streams[CV_IR_STREAM].setVideoMode(mode);
if (status != openni::STATUS_OK)
{
CV_LOG_ERROR(NULL, std::string("CvCapture_OpenNI2::setImageGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
}
else
isSet = true;
break;
}
default:
CV_LOG_WARNING(NULL, cv::format("Image generator does not support such parameter (propIdx=%d) for setting.", propIdx));
}
return isSet;
}
bool CvCapture_OpenNI2::grabFrame()
{
if( !isOpened() )
return false;
bool isGrabbed = false;
int numActiveStreams = 0;
openni::VideoStream* streamPtrs[CV_MAX_NUM_STREAMS];
for (int i = 0; i < CV_MAX_NUM_STREAMS; ++i) {
streamPtrs[numActiveStreams++] = &streams[i];
}
int currentStream;
openni::Status status = openni::OpenNI::waitForAnyStream(streamPtrs, numActiveStreams, ¤tStream, CV_STREAM_TIMEOUT);
if( status != openni::STATUS_OK )
return false;
for (int i = 0; i < CV_MAX_NUM_STREAMS; ++i)
{
if (streams[i].isValid())
streams[i].readFrame(&streamFrames[i]);
}
isGrabbed = true;
return isGrabbed;
}
inline void getDepthMapFromMetaData(const openni::VideoFrameRef& depthMetaData, cv::Mat& depthMap, int noSampleValue, int shadowValue)
{
depthMap.create(depthMetaData.getHeight(), depthMetaData.getWidth(), CV_16UC1);
depthMap.data = (uchar*)depthMetaData.getData();
cv::Mat badMask = (depthMap == (double)noSampleValue) | (depthMap == (double)shadowValue) | (depthMap == 0);
// mask the pixels with invalid depth
depthMap.setTo( cv::Scalar::all( CvCapture_OpenNI2::INVALID_PIXEL_VAL ), badMask );
}
IplImage* CvCapture_OpenNI2::retrieveDepthMap()
{
if( !streamFrames[CV_DEPTH_STREAM].isValid() )
return 0;
getDepthMapFromMetaData(streamFrames[CV_DEPTH_STREAM], outputMaps[CV_CAP_OPENNI_DEPTH_MAP].mat, noSampleValue, shadowValue );
return outputMaps[CV_CAP_OPENNI_DEPTH_MAP].getIplImagePtr();
}
IplImage* CvCapture_OpenNI2::retrievePointCloudMap()
{
if( !streamFrames[CV_DEPTH_STREAM].isValid() )
return 0;
cv::Mat depthImg;
getDepthMapFromMetaData(streamFrames[CV_DEPTH_STREAM], depthImg, noSampleValue, shadowValue);
const int badPoint = INVALID_PIXEL_VAL;
const float badCoord = INVALID_COORDINATE_VAL;
int cols = streamFrames[CV_DEPTH_STREAM].getWidth(), rows = streamFrames[CV_DEPTH_STREAM].getHeight();
cv::Mat pointCloud_XYZ( rows, cols, CV_32FC3, cv::Scalar::all(badPoint) );
float worldX, worldY, worldZ;
for( int y = 0; y < rows; y++ )
{
for (int x = 0; x < cols; x++)
{
openni::CoordinateConverter::convertDepthToWorld(streams[CV_DEPTH_STREAM], x, y, depthImg.at<unsigned short>(y, x), &worldX, &worldY, &worldZ);
if (depthImg.at<unsigned short>(y, x) == badPoint) // not valid
pointCloud_XYZ.at<cv::Point3f>(y, x) = cv::Point3f(badCoord, badCoord, badCoord);
else
{
pointCloud_XYZ.at<cv::Point3f>(y, x) = cv::Point3f(worldX*0.001f, worldY*0.001f, worldZ*0.001f); // from mm to meters
}
}
}
outputMaps[CV_CAP_OPENNI_POINT_CLOUD_MAP].mat = pointCloud_XYZ;
return outputMaps[CV_CAP_OPENNI_POINT_CLOUD_MAP].getIplImagePtr();
}
static void computeDisparity_32F( const openni::VideoFrameRef& depthMetaData, cv::Mat& disp, double baseline, int F, int noSampleValue, int shadowValue)
{
cv::Mat depth;
getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue );
CV_Assert( depth.type() == CV_16UC1 );
// disparity = baseline * F / z;
float mult = (float)(baseline /*mm*/ * F /*pixels*/);
disp.create( depth.size(), CV_32FC1);
disp = cv::Scalar::all( CvCapture_OpenNI2::INVALID_PIXEL_VAL );
for( int y = 0; y < disp.rows; y++ )
{
for( int x = 0; x < disp.cols; x++ )
{
unsigned short curDepth = depth.at<unsigned short>(y,x);
if( curDepth != CvCapture_OpenNI2::INVALID_PIXEL_VAL )
disp.at<float>(y,x) = mult / curDepth;
}
}
}
IplImage* CvCapture_OpenNI2::retrieveDisparityMap()
{
if (!streamFrames[CV_DEPTH_STREAM].isValid())
return nullptr;
if (!readCamerasParams())
return nullptr;
cv::Mat disp32;
computeDisparity_32F(streamFrames[CV_DEPTH_STREAM], disp32, baseline, depthFocalLength_VGA, noSampleValue, shadowValue);
disp32.convertTo(outputMaps[CV_CAP_OPENNI_DISPARITY_MAP].mat, CV_8UC1);
return outputMaps[CV_CAP_OPENNI_DISPARITY_MAP].getIplImagePtr();
}
IplImage* CvCapture_OpenNI2::retrieveDisparityMap_32F()
{