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added support of Asus XtionPRO (thanks to Gustav Karlsson for his patches) #1657

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This commit is contained in:
Alexander Shishkov
2012-03-12 16:07:42 +00:00
parent 1252671c9d
commit 6051e27a09
3 changed files with 113 additions and 50 deletions
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55
samples/cpp/kinect_maps.cpp → samples/cpp/openni_capture.cpp
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@@ -8,7 +8,7 @@ using namespace std;
void help()
{
cout << "\nThis program demonstrates usage of Kinect sensor.\n"
cout << "\nThis program demonstrates usage of depth sensors(Kinect,XtionPRO,...).\n"
"The user gets some of the supported output images.\n"
"\nAll supported output map types:\n"
"1.) Data given from depth generator\n"
@@ -88,19 +88,19 @@ void printCommandLineParams()
{
cout << "-cd Colorized disparity? (0 or 1; 1 by default) Ignored if disparity map is not selected to show." << endl;
cout << "-fmd Fixed max disparity? (0 or 1; 0 by default) Ignored if disparity map is not colorized (-cd 0)." << endl;
cout << "-sxga SXGA resolution of image? (0 or 1; 0 by default) Ignored if rgb image or gray image are not selected to show." << endl;
cout << " If -sxga is 0 then vga resolution will be set by default." << endl;
cout << "-mode image mode: resolution and fps, supported three values: 0 - CV_CAP_OPENNI_VGA_30HZ, 1 - CV_CAP_OPENNI_SXGA_15HZ," << endl;
cout << " 2 - CV_CAP_OPENNI_SXGA_30HZ (0 by default). Ignored if rgb image or gray image are not selected to show." << endl;
cout << "-m Mask to set which output images are need. It is a string of size 5. Each element of this is '0' or '1' and" << endl;
cout << " determine: is depth map, disparity map, valid pixels mask, rgb image, gray image need or not (correspondently)?" << endl ;
cout << " By default -m 01010 i.e. disparity map and rgb image will be shown." << endl ;
}
void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFixedMaxDisp, bool& isSetSXGA, bool retrievedImageFlags[] )
void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFixedMaxDisp, int& imageMode, bool retrievedImageFlags[] )
{
// set defaut values
isColorizeDisp = true;
isFixedMaxDisp = false;
isSetSXGA = false;
imageMode = 0;
retrievedImageFlags[0] = false;
retrievedImageFlags[1] = true;
@@ -129,9 +129,9 @@ void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFix
{
isFixedMaxDisp = atoi(argv[++i]) == 0 ? false : true;
}
else if( !strcmp( argv[i], "-sxga" ) )
else if( !strcmp( argv[i], "-mode" ) )
{
isSetSXGA = atoi(argv[++i]) == 0 ? false : true;
imageMode = atoi(argv[++i]);
}
else if( !strcmp( argv[i], "-m" ) )
{
@@ -164,16 +164,17 @@ void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFix
}
/*
* To work with Kinect the user must install OpenNI library and PrimeSensorModule for OpenNI and
* To work with Kinect or XtionPRO the user must install OpenNI library and PrimeSensorModule for OpenNI and
* configure OpenCV with WITH_OPENNI flag is ON (using CMake).
*/
int main( int argc, char* argv[] )
{
bool isColorizeDisp, isFixedMaxDisp, isSetSXGA;
bool isColorizeDisp, isFixedMaxDisp;
int imageMode;
bool retrievedImageFlags[5];
parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, isSetSXGA, retrievedImageFlags );
parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, imageMode, retrievedImageFlags );
cout << "Kinect opening ..." << endl;
cout << "Device opening ..." << endl;
VideoCapture capture( CV_CAP_OPENNI );
cout << "done." << endl;
@@ -183,22 +184,42 @@ int main( int argc, char* argv[] )
return -1;
}
if( isSetSXGA )
capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_SXGA_15HZ );
else
capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ ); // default
bool modeRes;
switch ( imageMode )
{
case 0:
modeRes = capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ );
break;
case 1:
modeRes = capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_SXGA_15HZ );
break;
case 2:
modeRes = capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_SXGA_30HZ );
break;
default:
CV_Error( CV_StsBadArg, "Unsupported image mode property.\n");
}
if (!modeRes)
cout << "\nThis image mode is not supported by the device, the default value (CV_CAP_OPENNI_SXGA_15HZ) will be used.\n" << endl;
// Print some avalible Kinect settings.
// Print some avalible device settings.
cout << "\nDepth 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( CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH ) << " mm" << endl <<
"FPS " << capture.get( CV_CAP_PROP_FPS ) << endl;
bool isImageGeneratorPresent = capture.get( CV_CAP_OPENNI_PROP_IMAGE_GENERATOR_PRESENT ) > 0;
if (isImageGeneratorPresent)
cout << "\nImage generator output mode:" << endl <<
"FRAME_WIDTH " << capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_WIDTH ) << endl <<
"FRAME_HEIGHT " << capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_HEIGHT ) << endl <<
"FPS " << capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FPS ) << endl;
else
{
cout << "\nDevice doesn't contain image generator" << endl;
if (!retrievedImageFlags[0] && !retrievedImageFlags[1] && !retrievedImageFlags[2])
return 0;
}
for(;;)
{