generic-library/opencv
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minor changes

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This commit is contained in:
Maria Dimashova 2011-01-31 08:24:30 +00:00
parent 9b556a5df9
commit 152fefe854
2 changed files with 15 additions and 43 deletions
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3
modules/highgui/include/opencv2/highgui/highgui_c.h
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@ -390,7 +390,8 @@ enum
OPENNI_IMAGE_GENERATOR = 1 << 31 OPENNI_IMAGE_GENERATOR = 1 << 31
}; };
// Properties of Kinect (additional to ones begining from CV_CAP_PROP_...) // Properties of cameras avalible through OpenNI interfaces
// (additional to ones begining from CV_CAP_PROP_...)
enum enum
{ {
OPENNI_OUTPUT_MODE = 20, OPENNI_OUTPUT_MODE = 20,

55
modules/highgui/src/cap_openni.cpp
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@ -106,9 +106,6 @@ protected:
static const int outputTypesCount = 7; static const int outputTypesCount = 7;
static const unsigned short badDepth = 0;
static const unsigned int badDisparity = 0;
IplImage* retrieveDepthMap(); IplImage* retrieveDepthMap();
IplImage* retrievePointCloudMap(); IplImage* retrievePointCloudMap();
IplImage* retrieveDisparityMap(); IplImage* retrieveDisparityMap();
@ -414,7 +411,7 @@ bool CvCapture_OpenNI::grabFrame()
return true; return true;
} }
inline void getDepthMapFromMetaData( const xn::DepthMetaData& depthMetaData, cv::Mat& depthMap, XnUInt64 noSampleValue, XnUInt64 shadowValue, unsigned short badDepth ) inline void getDepthMapFromMetaData( const xn::DepthMetaData& depthMetaData, cv::Mat& depthMap, XnUInt64 noSampleValue, XnUInt64 shadowValue )
{ {
int cols = depthMetaData.XRes(); int cols = depthMetaData.XRes();
int rows = depthMetaData.YRes(); int rows = depthMetaData.YRes();
@ -429,7 +426,7 @@ inline void getDepthMapFromMetaData( const xn::DepthMetaData& depthMetaData, cv:
cv::Mat badMask = (depthMap == noSampleValue) | (depthMap == shadowValue) | (depthMap == 0); cv::Mat badMask = (depthMap == noSampleValue) | (depthMap == shadowValue) | (depthMap == 0);
// mask the pixels with invalid depth // mask the pixels with invalid depth
depthMap.setTo( cv::Scalar::all( badDepth ), badMask ); depthMap.setTo( cv::Scalar::all( OPENNI_BAD_DEPTH_VAL ), badMask );
} }
IplImage* CvCapture_OpenNI::retrieveDepthMap() IplImage* CvCapture_OpenNI::retrieveDepthMap()
@ -437,7 +434,7 @@ IplImage* CvCapture_OpenNI::retrieveDepthMap()
if( depthMetaData.XRes() <= 0 || depthMetaData.YRes() <= 0 ) if( depthMetaData.XRes() <= 0 || depthMetaData.YRes() <= 0 )
return 0; return 0;
getDepthMapFromMetaData( depthMetaData, outputMaps[OPENNI_DEPTH_MAP].mat, noSampleValue, shadowValue, badDepth ); getDepthMapFromMetaData( depthMetaData, outputMaps[OPENNI_DEPTH_MAP].mat, noSampleValue, shadowValue );
return outputMaps[OPENNI_DEPTH_MAP].getIplImagePtr(); return outputMaps[OPENNI_DEPTH_MAP].getIplImagePtr();
} }
@ -448,21 +445,8 @@ IplImage* CvCapture_OpenNI::retrievePointCloudMap()
if( cols <= 0 || rows <= 0 ) if( cols <= 0 || rows <= 0 )
return 0; return 0;
#if 0
// X = (x - centerX) * depth / F[in pixels]
// Y = (y - centerY) * depth / F[in pixels]
// Z = depth
// Multiply by 0.001 to convert from mm in meters.
float mult = 0.001f / depthFocalLength_VGA;
int centerX = cols >> 1;
int centerY = rows >> 1;
#endif
cv::Mat depth; cv::Mat depth;
getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue, badDepth ); getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue );
const float badPoint = 0; const float badPoint = 0;
cv::Mat XYZ( rows, cols, CV_32FC3, cv::Scalar::all(badPoint) ); cv::Mat XYZ( rows, cols, CV_32FC3, cv::Scalar::all(badPoint) );
@ -473,26 +457,16 @@ IplImage* CvCapture_OpenNI::retrievePointCloudMap()
{ {
unsigned short d = depth.at<unsigned short>(y, x); unsigned short d = depth.at<unsigned short>(y, x);
// Check for invalid measurements // Check for invalid measurements
if( d == badDepth ) // not valid if( d == OPENNI_BAD_DEPTH_VAL ) // not valid
continue; continue;
#if 0
// Fill in XYZ
cv::Point3f point3D;
point3D.x = (x - centerX) * d * mult;
point3D.y = (y - centerY) * d * mult;
point3D.z = d * 0.001f;
XYZ.at<cv::Point3f>(y,x) = point3D;
#else
XnPoint3D proj, real; XnPoint3D proj, real;
proj.X = x; proj.X = x;
proj.Y = y; proj.Y = y;
proj.Z = d; proj.Z = d;
depthGenerator.ConvertProjectiveToRealWorld(1, &proj, &real); depthGenerator.ConvertProjectiveToRealWorld(1, &proj, &real);
XYZ.at<cv::Point3f>(y,x) = cv::Point3f( real.X*0.001f, real.Y*0.001f, real.Z*0.001f); // from mm to meters XYZ.at<cv::Point3f>(y,x) = cv::Point3f( real.X*0.001f, real.Y*0.001f, real.Z*0.001f); // from mm to meters
#endif
} }
} }
@ -502,11 +476,10 @@ IplImage* CvCapture_OpenNI::retrievePointCloudMap()
} }
void computeDisparity_32F( const xn::DepthMetaData& depthMetaData, cv::Mat& disp, XnDouble baseline, XnUInt64 F, void computeDisparity_32F( const xn::DepthMetaData& depthMetaData, cv::Mat& disp, XnDouble baseline, XnUInt64 F,
XnUInt64 noSampleValue, XnUInt64 shadowValue, XnUInt64 noSampleValue, XnUInt64 shadowValue )
short badDepth, unsigned int badDisparity )
{ {
cv::Mat depth; cv::Mat depth;
getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue, badDepth ); getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue );
CV_Assert( depth.type() == CV_16UC1 ); CV_Assert( depth.type() == CV_16UC1 );
@ -515,13 +488,13 @@ void computeDisparity_32F( const xn::DepthMetaData& depthMetaData, cv::Mat& disp
float mult = baseline /*mm*/ * F /*pixels*/; float mult = baseline /*mm*/ * F /*pixels*/;
disp.create( depth.size(), CV_32FC1); disp.create( depth.size(), CV_32FC1);
disp = cv::Scalar::all(badDisparity); disp = cv::Scalar::all( OPENNI_BAD_DISP_VAL );
for( int y = 0; y < disp.rows; y++ ) for( int y = 0; y < disp.rows; y++ )
{ {
for( int x = 0; x < disp.cols; x++ ) for( int x = 0; x < disp.cols; x++ )
{ {
unsigned short curDepth = depth.at<unsigned short>(y,x); unsigned short curDepth = depth.at<unsigned short>(y,x);
if( curDepth != badDepth ) if( curDepth != OPENNI_BAD_DEPTH_VAL )
disp.at<float>(y,x) = mult / curDepth; disp.at<float>(y,x) = mult / curDepth;
} }
} }
@ -533,8 +506,7 @@ IplImage* CvCapture_OpenNI::retrieveDisparityMap()
return 0; return 0;
cv::Mat disp32; cv::Mat disp32;
computeDisparity_32F( depthMetaData, disp32, baseline, depthFocalLength_VGA, computeDisparity_32F( depthMetaData, disp32, baseline, depthFocalLength_VGA, noSampleValue, shadowValue );
noSampleValue, shadowValue, badDepth, badDisparity );
disp32.convertTo( outputMaps[OPENNI_DISPARITY_MAP].mat, CV_8UC1 ); disp32.convertTo( outputMaps[OPENNI_DISPARITY_MAP].mat, CV_8UC1 );
@ -546,8 +518,7 @@ IplImage* CvCapture_OpenNI::retrieveDisparityMap_32F()
if( depthMetaData.XRes() <= 0 || depthMetaData.YRes() <= 0 ) if( depthMetaData.XRes() <= 0 || depthMetaData.YRes() <= 0 )
return 0; return 0;
computeDisparity_32F( depthMetaData, outputMaps[OPENNI_DISPARITY_MAP_32F].mat, baseline, depthFocalLength_VGA, computeDisparity_32F( depthMetaData, outputMaps[OPENNI_DISPARITY_MAP_32F].mat, baseline, depthFocalLength_VGA, noSampleValue, shadowValue );
noSampleValue, shadowValue, badDepth, badDisparity );
return outputMaps[OPENNI_DISPARITY_MAP_32F].getIplImagePtr(); return outputMaps[OPENNI_DISPARITY_MAP_32F].getIplImagePtr();
} }
@ -558,9 +529,9 @@ IplImage* CvCapture_OpenNI::retrieveValidDepthMask()
return 0; return 0;
cv::Mat depth; cv::Mat depth;
getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue, badDepth ); getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue );
outputMaps[OPENNI_VALID_DEPTH_MASK].mat = depth != badDepth; outputMaps[OPENNI_VALID_DEPTH_MASK].mat = depth != OPENNI_BAD_DEPTH_VAL;
return outputMaps[OPENNI_VALID_DEPTH_MASK].getIplImagePtr(); return outputMaps[OPENNI_VALID_DEPTH_MASK].getIplImagePtr();
} }