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Add set/get depth generator properties by default. Add documentation

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This commit is contained in:
Vladimir Bystricky 2013-12-17 12:00:40 +04:00
parent e8d2a9752b
commit 4088013251
5 changed files with 144 additions and 44 deletions
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80
doc/user_guide/ug_intelperc.rst Normal file
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@ -0,0 +1,80 @@
*******
HighGUI
*******
.. highlight:: cpp
Using Creative Senz3D and other Intel Perceptual Computing SDK compatible depth sensors
======================================================
Depth sensors compatible with Intel Perceptual Computing SDK are supported through ``VideoCapture`` class. Depth map, RGB image and some other formats of output can be retrieved by using familiar interface of ``VideoCapture``.
In order to use depth sensor with OpenCV you should do the following preliminary steps:
#.
Install Intel Perceptual Computing SDK (from here http://www.intel.com/software/perceptual).
#.
Configure OpenCV with Intel Perceptual Computing SDK support by setting ``WITH_INTELPERC`` flag in CMake. If Intel Perceptual Computing SDK is found in install folders OpenCV will be built with Intel Perceptual Computing SDK library (see a status ``INTELPERC`` in CMake log). If CMake process doesn't find Intel Perceptual Computing SDK installation folder automatically, the user should change corresponding CMake variables ``INTELPERC_LIB_DIR`` and ``INTELPERC_INCLUDE_DIR`` to the proper value.
#.
Build OpenCV.
VideoCapture can retrieve the following data:
#.
data given from depth generator:
* ``CV_CAP_INTELPERC_DEPTH_MAP`` - each pixel is a 16-bit integer. The value indicates the distance from an object to the camera's XY plane or the Cartesian depth. (CV_16UC1)
* ``CV_CAP_INTELPERC_UVDEPTH_MAP`` - each pixel contains two 32-bit floating point values in the range of 0-1, representing the mapping of depth coordinates to the color coordinates. (CV_32FC2)
* ``CV_CAP_INTELPERC_IR_MAP`` - each pixel is a 16-bit integer. The value indicates the intensity of the reflected laser beam. (CV_16UC1)
#.
data given from RGB image generator:
* ``CV_CAP_INTELPERC_IMAGE`` - color image. (CV_8UC3)
In order to get depth map from depth sensor use ``VideoCapture::operator >>``, e. g. ::
VideoCapture capture( CV_CAP_INTELPERC );
for(;;)
{
Mat depthMap;
capture >> depthMap;
if( waitKey( 30 ) >= 0 )
break;
}
For getting several data maps use ``VideoCapture::grab`` and ``VideoCapture::retrieve``, e.g. ::
VideoCapture capture(CV_CAP_INTELPERC);
for(;;)
{
Mat depthMap;
Mat image;
Mat irImage;
capture.grab();
capture.retrieve( depthMap, CV_CAP_INTELPERC_DEPTH_MAP );
capture.retrieve( image, CV_CAP_INTELPERC_IMAGE );
capture.retrieve( irImage, CV_CAP_INTELPERC_IR_MAP);
if( waitKey( 30 ) >= 0 )
break;
}
For setting and getting some property of sensor` data generators use ``VideoCapture::set`` and ``VideoCapture::get`` methods respectively, e.g. ::
VideoCapture capture( CV_CAP_INTELPERC );
capture.set( CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_PROFILE_IDX, 0 );
cout << "FPS " << capture.get( CV_CAP_INTELPERC_DEPTH_GENERATOR+CV_CAP_PROP_FPS ) << endl;
Since two types of sensor's data generators are supported (image generator and depth generator), there are two flags that should be used to set/get property of the needed generator:
* CV_CAP_INTELPERC_IMAGE_GENERATOR -- a flag for access to the image generator properties.
* CV_CAP_INTELPERC_DEPTH_GENERATOR -- a flag for access to the depth generator properties. This flag value is assumed by default if neither of the two possible values of the property is set.
For more information please refer to the example of usage intelperc_capture.cpp_ in ``opencv/samples/cpp`` folder.
.. _intelperc_capture.cpp: https://github.com/Itseez/opencv/tree/master/samples/cpp/intelperc_capture.cpp

1
doc/user_guide/user_guide.rst
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@ -9,3 +9,4 @@ OpenCV User Guide
ug_features2d.rst ug_features2d.rst
ug_highgui.rst ug_highgui.rst
ug_traincascade.rst ug_traincascade.rst
ug_intelperc.rst

6
modules/highgui/include/opencv2/highgui/highgui_c.h
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@ -480,9 +480,9 @@ enum
CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT = 11007, CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT = 11007,
// Intel PerC streams // Intel PerC streams
CV_CAP_INTELPERC_DEPTH_STREAM = 1 << 31, CV_CAP_INTELPERC_DEPTH_GENERATOR = 1 << 31,
CV_CAP_INTELPERC_IMAGE_STREAM = 1 << 30, CV_CAP_INTELPERC_IMAGE_GENERATOR = 1 << 30,
CV_CAP_INTELPERC_STREAMS_MASK = CV_CAP_INTELPERC_DEPTH_STREAM + CV_CAP_INTELPERC_IMAGE_STREAM, CV_CAP_INTELPERC_GENERATORS_MASK = CV_CAP_INTELPERC_DEPTH_GENERATOR + CV_CAP_INTELPERC_IMAGE_GENERATOR,
}; };
enum enum

31
modules/highgui/src/cap_intelperc.cpp
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@ -195,6 +195,11 @@ protected:
int m_frameIdx; int m_frameIdx;
pxcU64 m_timeStampStartNS; pxcU64 m_timeStampStartNS;
double m_timeStamp; double m_timeStamp;
virtual bool validProfile(const PXCCapture::VideoStream::ProfileInfo& /*pinfo*/)
{
return true;
}
void enumProfiles() void enumProfiles()
{ {
m_profiles.clear(); m_profiles.clear();
@ -207,6 +212,7 @@ protected:
sts = m_stream->QueryProfile(profidx, &pinfo); sts = m_stream->QueryProfile(profidx, &pinfo);
if (PXC_STATUS_NO_ERROR > sts) if (PXC_STATUS_NO_ERROR > sts)
break; break;
if (validProfile(pinfo))
m_profiles.push_back(pinfo); m_profiles.push_back(pinfo);
} }
} }
@ -552,6 +558,11 @@ public:
{ {
return m_frameUV.retrieveFrame(); return m_frameUV.retrieveFrame();
} }
protected:
virtual bool validProfile(const PXCCapture::VideoStream::ProfileInfo& pinfo)
{
return (PXCImage::COLOR_FORMAT_DEPTH == pinfo.imageInfo.format);
}
protected: protected:
FrameInternal m_frameDepth; FrameInternal m_frameDepth;
FrameInternal m_frameIR; FrameInternal m_frameIR;
@ -609,12 +620,16 @@ public:
virtual double getProperty(int propIdx) virtual double getProperty(int propIdx)
{ {
double propValue = 0; double propValue = 0;
int purePropIdx = propIdx & ~CV_CAP_INTELPERC_STREAMS_MASK; int purePropIdx = propIdx & ~CV_CAP_INTELPERC_GENERATORS_MASK;
if (CV_CAP_INTELPERC_IMAGE_STREAM == (propIdx & CV_CAP_INTELPERC_STREAMS_MASK)) if (CV_CAP_INTELPERC_IMAGE_GENERATOR == (propIdx & CV_CAP_INTELPERC_GENERATORS_MASK))
{ {
propValue = m_imageStream.getProperty(purePropIdx); propValue = m_imageStream.getProperty(purePropIdx);
} }
else if (CV_CAP_INTELPERC_DEPTH_STREAM == (propIdx & CV_CAP_INTELPERC_STREAMS_MASK)) else if (CV_CAP_INTELPERC_DEPTH_GENERATOR == (propIdx & CV_CAP_INTELPERC_GENERATORS_MASK))
{
propValue = m_depthStream.getProperty(purePropIdx);
}
else
{ {
propValue = m_depthStream.getProperty(purePropIdx); propValue = m_depthStream.getProperty(purePropIdx);
} }
@ -623,12 +638,16 @@ public:
virtual bool setProperty(int propIdx, double propVal) virtual bool setProperty(int propIdx, double propVal)
{ {
bool isSet = false; bool isSet = false;
int purePropIdx = propIdx & ~CV_CAP_INTELPERC_STREAMS_MASK; int purePropIdx = propIdx & ~CV_CAP_INTELPERC_GENERATORS_MASK;
if (CV_CAP_INTELPERC_IMAGE_STREAM == (propIdx & CV_CAP_INTELPERC_STREAMS_MASK)) if (CV_CAP_INTELPERC_IMAGE_GENERATOR == (propIdx & CV_CAP_INTELPERC_GENERATORS_MASK))
{ {
isSet = m_imageStream.setProperty(purePropIdx, propVal); isSet = m_imageStream.setProperty(purePropIdx, propVal);
} }
else if (CV_CAP_INTELPERC_DEPTH_STREAM == (propIdx & CV_CAP_INTELPERC_STREAMS_MASK)) else if (CV_CAP_INTELPERC_DEPTH_GENERATOR == (propIdx & CV_CAP_INTELPERC_GENERATORS_MASK))
{
isSet = m_depthStream.setProperty(purePropIdx, propVal);
}
else
{ {
isSet = m_depthStream.setProperty(purePropIdx, propVal); isSet = m_depthStream.setProperty(purePropIdx, propVal);
} }

68
samples/cpp/intelperc_capture.cpp
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@ -107,48 +107,48 @@ static void parseCMDLine(int argc, char* argv[])
static void printStreamProperties(VideoCapture &capture) static void printStreamProperties(VideoCapture &capture)
{ {
size_t profilesCount = (size_t)capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_INTELPERC_PROFILE_COUNT); size_t profilesCount = (size_t)capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_INTELPERC_PROFILE_COUNT);
cout << "Image stream." << endl; cout << "Image stream." << endl;
cout << " Brightness = " << capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_BRIGHTNESS) << endl; cout << " Brightness = " << capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_BRIGHTNESS) << endl;
cout << " Contrast = " << capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_CONTRAST) << endl; cout << " Contrast = " << capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_CONTRAST) << endl;
cout << " Saturation = " << capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_SATURATION) << endl; cout << " Saturation = " << capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_SATURATION) << endl;
cout << " Hue = " << capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_HUE) << endl; cout << " Hue = " << capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_HUE) << endl;
cout << " Gamma = " << capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_GAMMA) << endl; cout << " Gamma = " << capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_GAMMA) << endl;
cout << " Sharpness = " << capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_SHARPNESS) << endl; cout << " Sharpness = " << capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_SHARPNESS) << endl;
cout << " Gain = " << capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_GAIN) << endl; cout << " Gain = " << capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_GAIN) << endl;
cout << " Backligh = " << capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_BACKLIGHT) << endl; cout << " Backligh = " << capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_BACKLIGHT) << endl;
cout << "Image streams profiles:" << endl; cout << "Image streams profiles:" << endl;
for (size_t i = 0; i < profilesCount; i++) for (size_t i = 0; i < profilesCount; i++)
{ {
capture.set(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_INTELPERC_PROFILE_IDX, (double)i); capture.set(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_INTELPERC_PROFILE_IDX, (double)i);
cout << " Profile[" << i << "]: "; cout << " Profile[" << i << "]: ";
cout << "width = " << cout << "width = " <<
(int)capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_FRAME_WIDTH); (int)capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_FRAME_WIDTH);
cout << ", height = " << cout << ", height = " <<
(int)capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_FRAME_HEIGHT); (int)capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_FRAME_HEIGHT);
cout << ", fps = " << cout << ", fps = " <<
capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_FPS); capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_FPS);
cout << endl; cout << endl;
} }
profilesCount = (size_t)capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_INTELPERC_PROFILE_COUNT); profilesCount = (size_t)capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_PROFILE_COUNT);
cout << "Depth stream." << endl; cout << "Depth stream." << endl;
cout << " Low confidence value = " << capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE) << endl; cout << " Low confidence value = " << capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE) << endl;
cout << " Saturation value = " << capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE) << endl; cout << " Saturation value = " << capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE) << endl;
cout << " Confidence threshold = " << capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD) << endl; cout << " Confidence threshold = " << capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD) << endl;
cout << " Focal length = (" << capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ) << ", " cout << " Focal length = (" << capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ) << ", "
<< capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT) << ")" << endl; << capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT) << ")" << endl;
cout << "Depth streams profiles:" << endl; cout << "Depth streams profiles:" << endl;
for (size_t i = 0; i < profilesCount; i++) for (size_t i = 0; i < profilesCount; i++)
{ {
capture.set(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_INTELPERC_PROFILE_IDX, (double)i); capture.set(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_PROFILE_IDX, (double)i);
cout << " Profile[" << i << "]: "; cout << " Profile[" << i << "]: ";
cout << "width = " << cout << "width = " <<
(int)capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_FRAME_WIDTH); (int)capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_FRAME_WIDTH);
cout << ", height = " << cout << ", height = " <<
(int)capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_FRAME_HEIGHT); (int)capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_FRAME_HEIGHT);
cout << ", fps = " << cout << ", fps = " <<
capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_FPS); capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_FPS);
cout << endl; cout << endl;
} }
} }
@ -227,8 +227,8 @@ static void imshowIR(const char *winname, Mat &ir)
} }
static void imshowDepth(const char *winname, Mat &depth, VideoCapture &capture) static void imshowDepth(const char *winname, Mat &depth, VideoCapture &capture)
{ {
short lowValue = (short)capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE); short lowValue = (short)capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE);
short saturationValue = (short)capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE); short saturationValue = (short)capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE);
Mat image; Mat image;
if (g_showClosedPoint) if (g_showClosedPoint)
@ -302,7 +302,7 @@ int _tmain(int argc, char* argv[])
if (-1 != g_imageStreamProfileIdx) if (-1 != g_imageStreamProfileIdx)
{ {
if (!capture.set(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_INTELPERC_PROFILE_IDX, (double)g_imageStreamProfileIdx)) if (!capture.set(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_INTELPERC_PROFILE_IDX, (double)g_imageStreamProfileIdx))
{ {
cerr << "Can not setup a image stream." << endl; cerr << "Can not setup a image stream." << endl;
return -1; return -1;
@ -310,7 +310,7 @@ int _tmain(int argc, char* argv[])
} }
if (-1 != g_depthStreamProfileIdx) if (-1 != g_depthStreamProfileIdx)
{ {
if (!capture.set(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_INTELPERC_PROFILE_IDX, (double)g_depthStreamProfileIdx)) if (!capture.set(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_PROFILE_IDX, (double)g_depthStreamProfileIdx))
{ {
cerr << "Can not setup a depth stream." << endl; cerr << "Can not setup a depth stream." << endl;
return -1; return -1;
@ -318,7 +318,7 @@ int _tmain(int argc, char* argv[])
} }
else if (g_irStreamShow) else if (g_irStreamShow)
{ {
if (!capture.set(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_INTELPERC_PROFILE_IDX, 0.0)) if (!capture.set(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_PROFILE_IDX, 0.0))
{ {
cerr << "Can not setup a IR stream." << endl; cerr << "Can not setup a IR stream." << endl;
return -1; return -1;
@ -332,9 +332,9 @@ int _tmain(int argc, char* argv[])
//Setup additional properies only after set profile of the stream //Setup additional properies only after set profile of the stream
if ( (-10000.0 < g_imageBrightness) && (g_imageBrightness < 10000.0)) if ( (-10000.0 < g_imageBrightness) && (g_imageBrightness < 10000.0))
capture.set(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_BRIGHTNESS, g_imageBrightness); capture.set(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_BRIGHTNESS, g_imageBrightness);
if ( (0 < g_imageContrast) && (g_imageContrast < 10000.0)) if ( (0 < g_imageContrast) && (g_imageContrast < 10000.0))
capture.set(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_BRIGHTNESS, g_imageContrast); capture.set(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_BRIGHTNESS, g_imageContrast);
int frame = 0; int frame = 0;
for(;;frame++) for(;;frame++)
@ -365,10 +365,10 @@ int _tmain(int argc, char* argv[])
if (g_printTiming) if (g_printTiming)
{ {
cout << "Image frame: " << capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_POS_FRAMES) cout << "Image frame: " << capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_POS_FRAMES)
<< ", Depth(IR) frame: " << capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_POS_FRAMES) << endl; << ", Depth(IR) frame: " << capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_POS_FRAMES) << endl;
cout << "Image frame: " << capture.get(CV_CAP_INTELPERC_IMAGE_STREAM | CV_CAP_PROP_POS_MSEC) cout << "Image frame: " << capture.get(CV_CAP_INTELPERC_IMAGE_GENERATOR | CV_CAP_PROP_POS_MSEC)
<< ", Depth(IR) frame: " << capture.get(CV_CAP_INTELPERC_DEPTH_STREAM | CV_CAP_PROP_POS_MSEC) << endl; << ", Depth(IR) frame: " << capture.get(CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_POS_MSEC) << endl;
} }
if( waitKey(30) >= 0 ) if( waitKey(30) >= 0 )
break; break;