added Kinect support (initial version without settings configuration yet) and sample on usage

2011-01-21 17:00:08 +00:00
parent b63b3df522
commit 3a04d08bf7
8 changed files with 723 additions and 3 deletions
--- a/samples/cpp/kinect_maps.cpp
+++ b/samples/cpp/kinect_maps.cpp
@@ -0,0 +1,141 @@
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/imgproc/imgproc.hpp"
+
+#include <iostream>
+
+using namespace cv;
+using namespace std;
+
+void colorizeDisparity( const Mat& gray, Mat& rgb, float S=1.f, float V=1.f )
+{
+    CV_Assert( !gray.empty() );
+    CV_Assert( gray.type() == CV_8UC1 );
+
+    // TODO do maxDisp constant (when camera properties will be accessible)
+    double maxDisp = 0;
+    minMaxLoc( gray, 0, &maxDisp );
+
+    rgb.create( gray.size(), CV_8UC3 );
+    for( int y = 0; y < gray.rows; y++ )
+    {
+        for( int x = 0; x < gray.cols; x++ )
+        {
+            uchar d = gray.at<uchar>(y,x);
+            unsigned int H = ((uchar)maxDisp - d) * 240 / (uchar)maxDisp;
+
+            unsigned int hi = (H/60) % 6;
+            float f = H/60.f - H/60;
+            float p = V * (1 - S);
+            float q = V * (1 - f * S);
+            float t = V * (1 - (1 - f) * S);
+
+            Point3f res;
+            
+            if( hi == 0 ) //R = V,	G = t,	B = p
+                res = Point3f( p, t, V );
+            if( hi == 1 ) // R = q,	G = V,	B = p
+                res = Point3f( p, V, q );
+            if( hi == 2 ) // R = p,	G = V,	B = t
+                res = Point3f( t, V, p );
+            if( hi == 3 ) // R = p,	G = q,	B = V
+                res = Point3f( V, q, p );
+            if( hi == 4 ) // R = t,	G = p,	B = V
+                res = Point3f( V, p, t );
+            if( hi == 5 ) // R = V,	G = p,	B = q
+                res = Point3f( q, p, V );
+
+            uchar b = (uchar)(std::max(0.f, std::min (res.x, 1.f)) * 255.f);
+            uchar g = (uchar)(std::max(0.f, std::min (res.y, 1.f)) * 255.f);
+            uchar r = (uchar)(std::max(0.f, std::min (res.z, 1.f)) * 255.f);
+
+            rgb.at<Point3_<uchar> >(y,x) = Point3_<uchar>(b, g, r);     
+        }
+    }
+}
+
+void help()
+{
+	cout << "\nThis program demonstrates usage of Kinect sensor.\n"
+			"The user gets some of the supported output images.\n" 
+            "\nAll supported output map types:\n"
+            "1.) Data given from depth generator\n"
+            "   OPENNI_DEPTH_MAP            - depth values in mm (CV_16UC1)\n"
+            "   OPENNI_POINT_CLOUD_MAP      - XYZ in meters (CV_32FC3)\n"
+            "   OPENNI_DISPARITY_MAP        - disparity in pixels (CV_8UC1)\n"
+            "   OPENNI_DISPARITY_MAP_32F    - disparity in pixels (CV_32FC1)\n"
+            "   OPENNI_VALID_DEPTH_MASK     - mask of valid pixels (not ocluded, not shaded etc.) (CV_8UC1)\n"
+            "2.) Data given from RGB image generator\n"
+            "   OPENNI_BGR_IMAGE            - color image (CV_8UC3)\n"
+            "   OPENNI_GRAY_IMAGE           - gray image (CV_8UC1)\n" 
+         << endl;
+}
+
+/*
+ * To work with Kinect the user must install OpenNI library and PrimeSensorModule for OpenNI and
+ * configure OpenCV with WITH_OPENNI flag is ON (using CMake).
+ */
+int main()
+{
+    help();
+
+    cout << "Kinect opening ..." << endl;
+    VideoCapture capture(0); // or CV_CAP_OPENNI
+    cout << "done." << endl;
+
+    if( !capture.isOpened() )
+    {
+        cout << "Can not open a capture object." << endl;
+        return -1;
+    }
+
+    for(;;)
+    {
+        Mat depthMap;
+        Mat validDepthMap;
+        Mat disparityMap;
+        Mat bgrImage;
+        Mat grayImage;
+
+        if( !capture.grab() )
+        {
+            cout << "Can not grab images." << endl;
+            return -1;
+        }
+        else
+        {
+            if( capture.retrieve( depthMap, OPENNI_DEPTH_MAP ) )
+            {
+                const float scaleFactor = 0.05f;
+                Mat show; depthMap.convertTo( show, CV_8UC1, scaleFactor );
+                imshow( "depth map", show );
+            }
+
+            if( capture.retrieve( disparityMap, OPENNI_DISPARITY_MAP ) )
+            {
+#if 0 // original disparity
+                imshow( "original disparity map", disparityMap );
+#else // colorized disparity for more visibility
+                Mat colorDisparityMap;
+                colorizeDisparity( disparityMap, colorDisparityMap );
+                Mat validColorDisparityMap;
+                colorDisparityMap.copyTo( validColorDisparityMap, disparityMap != OPENNI_BAD_DISP_VAL );
+                imshow( "colorized disparity map", validColorDisparityMap );
+#endif
+            }
+
+            if( capture.retrieve( validDepthMap, OPENNI_VALID_DEPTH_MASK ) )
+                imshow( "valid depth map", validDepthMap );
+
+            if( capture.retrieve( bgrImage, OPENNI_BGR_IMAGE ) )
+                imshow( "rgb image", bgrImage );
+
+            if( capture.retrieve( grayImage, OPENNI_GRAY_IMAGE ) )
+                imshow( "gray image", grayImage );
+        }
+
+        if( waitKey( 30 ) >= 0 )
+            break;
+    }
+
+    return 0;
+}