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added ability to get and set some Kinect params

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This commit is contained in:
Maria Dimashova
2011-01-26 10:38:31 +00:00
parent ee74e2cf08
commit 508aaa41f8
3 changed files with 229 additions and 28 deletions
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52
samples/cpp/kinect_maps.cpp
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@@ -6,14 +6,20 @@
using namespace cv;
using namespace std;
void colorizeDisparity( const Mat& gray, Mat& rgb, float S=1.f, float V=1.f )
#define COLORIZED_DISP 1
#define IMAGE_GENERATOR_VGA_30HZ 1
#define FIXED_MAX_DISP 0
void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f, 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 );
if( maxDisp <= 0 )
{
maxDisp = 0;
minMaxLoc( gray, 0, &maxDisp );
}
rgb.create( gray.size(), CV_8UC3 );
for( int y = 0; y < gray.rows; y++ )
@@ -70,6 +76,18 @@ void help()
<< endl;
}
float getMaxDisparity( VideoCapture& capture )
{
#if FIXED_MAX_DISP
const int minDistance = 400; // mm
float b = capture.get( OPENNI_DEPTH_GENERATOR_BASELINE ); // mm
float F = capture.get( OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ); // pixels
return b * F / minDistance;
#else
return -1;
#endif
}
/*
* 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).
@@ -88,6 +106,24 @@ int main()
return -1;
}
#if IMAGE_GENERATOR_VGA_30HZ
capture.set( OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, OPENNI_VGA_30HZ ); // default
#else
capture.set( OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, OPENNI_SXGA_15HZ );
#endif
// Print some avalible Kinect settings.
cout << "Depth generator output mode:" << endl <<
"FRAME_WIDTH " << capture.get( CV_CAP_PROP_FRAME_WIDTH ) << endl <<
"FRAME_HEIGHT " << capture.get( CV_CAP_PROP_FRAME_HEIGHT ) << endl <<
"FRAME_MAX_DEPTH " << capture.get( OPENNI_FRAME_MAX_DEPTH ) << " mm" << endl <<
"FPS " << capture.get( CV_CAP_PROP_FPS ) << endl;
cout << "Image generator output mode:" << endl <<
"FRAME_WIDTH " << capture.get( OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_WIDTH ) << endl <<
"FRAME_HEIGHT " << capture.get( OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_HEIGHT ) << endl <<
"FPS " << capture.get( OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FPS ) << endl;
for(;;)
{
Mat depthMap;
@@ -112,14 +148,14 @@ int main()
if( capture.retrieve( disparityMap, OPENNI_DISPARITY_MAP ) )
{
#if 0 // original disparity
imshow( "original disparity map", disparityMap );
#else // colorized disparity for more visibility
#if COLORIZED_DISP // colorized disparity for more visibility
Mat colorDisparityMap;
colorizeDisparity( disparityMap, colorDisparityMap );
colorizeDisparity( disparityMap, colorDisparityMap, getMaxDisparity( capture ) );
Mat validColorDisparityMap;
colorDisparityMap.copyTo( validColorDisparityMap, disparityMap != OPENNI_BAD_DISP_VAL );
imshow( "colorized disparity map", validColorDisparityMap );
#else // original disparity
imshow( "original disparity map", disparityMap );
#endif
}