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refactored OpenNI integration

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This commit is contained in:
Maria Dimashova
2011-02-04 13:41:10 +00:00
parent 5c3495a079
commit ad896ae640
6 changed files with 321 additions and 193 deletions
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133
modules/highgui/src/cap_openni.cpp
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@@ -84,13 +84,15 @@ const std::string XMLConfig =
class CvCapture_OpenNI : public CvCapture
{
public:
static const int INVALID_PIXEL_VAL = 0;
CvCapture_OpenNI();
virtual ~CvCapture_OpenNI();
virtual double getProperty(int);
virtual bool setProperty(int, double);
virtual double getProperty(int propIdx);
virtual bool setProperty(int probIdx, double propVal);
virtual bool grabFrame();
virtual IplImage* retrieveFrame(int);
virtual IplImage* retrieveFrame(int outputType);
bool isOpened() const;
@@ -116,10 +118,10 @@ protected:
void readCamerasParams();
double getDepthGeneratorProperty(int);
bool setDepthGeneratorProperty(int, double);
double getImageGeneratorProperty(int);
bool setImageGeneratorProperty(int, double);
double getDepthGeneratorProperty(int propIdx);
bool setDepthGeneratorProperty(int propIdx, double propVal);
double getImageGeneratorProperty(int propIdx);
bool setImageGeneratorProperty(int propIdx, double propVal);
// OpenNI context
xn::Context context;
@@ -135,12 +137,12 @@ protected:
XnMapOutputMode imageOutputMode;
// Cameras settings:
#if 1
// TODO find in OpenNI function to convert z->disparity and remove fields "baseline" and depthFocalLength_VGA
// Distance between IR projector and IR camera (in meters)
XnDouble baseline;
// Focal length for the IR camera in VGA resolution (in pixels)
XnUInt64 depthFocalLength_VGA;
#endif
// The value for shadow (occluded pixels)
XnUInt64 shadowValue;
// The value for pixels without a valid disparity measurement
@@ -230,7 +232,6 @@ CvCapture_OpenNI::~CvCapture_OpenNI()
void CvCapture_OpenNI::readCamerasParams()
{
#if 1
XnDouble pixelSize = 0;
if( depthGenerator.GetRealProperty( "ZPPS", pixelSize ) != XN_STATUS_OK )
CV_Error( CV_StsError, "Could not read pixel size!" );
@@ -239,8 +240,8 @@ void CvCapture_OpenNI::readCamerasParams()
pixelSize *= 2.0; // in mm
// focal length of IR camera in pixels for VGA resolution
XnUInt64 zpd; // in mm
if( depthGenerator.GetIntProperty( "ZPD", zpd ) != XN_STATUS_OK )
XnUInt64 zeroPlanDistance; // in mm
if( depthGenerator.GetIntProperty( "ZPD", zeroPlanDistance ) != XN_STATUS_OK )
CV_Error( CV_StsError, "Could not read virtual plane distance!" );
if( depthGenerator.GetRealProperty( "LDDIS", baseline ) != XN_STATUS_OK )
@@ -250,14 +251,13 @@ void CvCapture_OpenNI::readCamerasParams()
baseline *= 10;
// focal length from mm -> pixels (valid for 640x480)
depthFocalLength_VGA = (XnUInt64)((double)zpd / (double)pixelSize);
#endif
depthFocalLength_VGA = (XnUInt64)((double)zeroPlanDistance / (double)pixelSize);
if( depthGenerator.GetIntProperty( "ShadowValue", shadowValue ) != XN_STATUS_OK )
CV_Error( CV_StsError, "Could not read shadow value!" );
CV_Error( CV_StsError, "Could not read property \"ShadowValue\"!" );
if( depthGenerator.GetIntProperty("NoSampleValue", noSampleValue ) != XN_STATUS_OK )
CV_Error( CV_StsError, "Could not read no sample value!" );
CV_Error( CV_StsError, "Could not read property \"NoSampleValue\"!" );
}
double CvCapture_OpenNI::getProperty( int propIdx )
@@ -266,13 +266,19 @@ double CvCapture_OpenNI::getProperty( int propIdx )
if( isOpened() )
{
if( propIdx & OPENNI_IMAGE_GENERATOR )
int purePropIdx = propIdx & ~CV_CAP_OPENNI_GENERATORS_MASK;
if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IMAGE_GENERATOR )
{
propValue = getImageGeneratorProperty( propIdx ^ OPENNI_IMAGE_GENERATOR );
propValue = getImageGeneratorProperty( purePropIdx );
}
else // depth generator (by default, OPENNI_DEPTH_GENERATOR == 0)
else if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_DEPTH_GENERATOR )
{
propValue = getDepthGeneratorProperty( propIdx /*^ OPENNI_DEPTH_GENERATOR*/ );
propValue = getDepthGeneratorProperty( purePropIdx );
}
else
{
CV_Error( CV_StsError, "Unsupported generator prefix!" );
}
}
@@ -284,13 +290,19 @@ bool CvCapture_OpenNI::setProperty( int propIdx, double propValue )
bool res = false;
if( isOpened() )
{
if( propIdx & OPENNI_IMAGE_GENERATOR )
int purePropIdx = propIdx & ~CV_CAP_OPENNI_GENERATORS_MASK;
if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IMAGE_GENERATOR )
{
res = setImageGeneratorProperty( propIdx ^ OPENNI_IMAGE_GENERATOR, propValue );
res = setImageGeneratorProperty( purePropIdx, propValue );
}
else // depth generator (by default, OPENNI_DEPTH_GENERATOR == 0)
else if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_DEPTH_GENERATOR )
{
res = setDepthGeneratorProperty( propIdx /*^ OPENNI_DEPTH_GENERATOR*/, propValue );
res = setDepthGeneratorProperty( purePropIdx, propValue );
}
else
{
CV_Error( CV_StsError, "Unsupported generator prefix!" );
}
}
@@ -313,13 +325,13 @@ double CvCapture_OpenNI::getDepthGeneratorProperty( int propIdx )
case CV_CAP_PROP_FPS :
res = depthOutputMode.nFPS;
break;
case OPENNI_FRAME_MAX_DEPTH :
case CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH :
res = depthGenerator.GetDeviceMaxDepth();
break;
case OPENNI_BASELINE :
case CV_CAP_PROP_OPENNI_BASELINE :
res = baseline;
break;
case OPENNI_FOCAL_LENGTH :
case CV_CAP_PROP_OPENNI_FOCAL_LENGTH :
res = depthFocalLength_VGA;
break;
default :
@@ -333,6 +345,7 @@ bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue
{
CV_Assert( depthGenerator.IsValid() );
CV_Error( CV_StsBadArg, "Depth generator does not support such parameter for setting.\n");
return false;
}
double CvCapture_OpenNI::getImageGeneratorProperty( int propIdx )
@@ -366,15 +379,15 @@ bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue
XnMapOutputMode newImageOutputMode = imageOutputMode;
switch( propIdx )
{
case OPENNI_OUTPUT_MODE :
case CV_CAP_PROP_OPENNI_OUTPUT_MODE :
switch( cvRound(propValue) )
{
case OPENNI_VGA_30HZ :
case CV_CAP_OPENNI_VGA_30HZ :
newImageOutputMode.nXRes = XN_VGA_X_RES;
newImageOutputMode.nYRes = XN_VGA_Y_RES;
newImageOutputMode.nFPS = 30;
break;
case OPENNI_SXGA_15HZ :
case CV_CAP_OPENNI_SXGA_15HZ :
newImageOutputMode.nXRes = XN_SXGA_X_RES;
newImageOutputMode.nYRes = XN_SXGA_Y_RES;
newImageOutputMode.nFPS = 15;
@@ -402,7 +415,7 @@ bool CvCapture_OpenNI::grabFrame()
if( !isOpened() )
return false;
XnStatus status = context.WaitAnyUpdateAll();
XnStatus status = context.WaitAndUpdateAll();
if( status != XN_STATUS_OK )
return false;
@@ -426,7 +439,7 @@ inline void getDepthMapFromMetaData( const xn::DepthMetaData& depthMetaData, cv:
cv::Mat badMask = (depthMap == noSampleValue) | (depthMap == shadowValue) | (depthMap == 0);
// mask the pixels with invalid depth
depthMap.setTo( cv::Scalar::all( OPENNI_BAD_DEPTH_VAL ), badMask );
depthMap.setTo( cv::Scalar::all( CvCapture_OpenNI::INVALID_PIXEL_VAL ), badMask );
}
IplImage* CvCapture_OpenNI::retrieveDepthMap()
@@ -434,9 +447,9 @@ IplImage* CvCapture_OpenNI::retrieveDepthMap()
if( depthMetaData.XRes() <= 0 || depthMetaData.YRes() <= 0 )
return 0;
getDepthMapFromMetaData( depthMetaData, outputMaps[OPENNI_DEPTH_MAP].mat, noSampleValue, shadowValue );
getDepthMapFromMetaData( depthMetaData, outputMaps[CV_CAP_OPENNI_DEPTH_MAP].mat, noSampleValue, shadowValue );
return outputMaps[OPENNI_DEPTH_MAP].getIplImagePtr();
return outputMaps[CV_CAP_OPENNI_DEPTH_MAP].getIplImagePtr();
}
IplImage* CvCapture_OpenNI::retrievePointCloudMap()
@@ -449,7 +462,7 @@ IplImage* CvCapture_OpenNI::retrievePointCloudMap()
getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue );
const float badPoint = 0;
cv::Mat XYZ( rows, cols, CV_32FC3, cv::Scalar::all(badPoint) );
cv::Mat pointCloud_XYZ( rows, cols, CV_32FC3, cv::Scalar::all(badPoint) );
for( int y = 0; y < rows; y++ )
{
@@ -458,7 +471,7 @@ IplImage* CvCapture_OpenNI::retrievePointCloudMap()
unsigned short d = depth.at<unsigned short>(y, x);
// Check for invalid measurements
if( d == OPENNI_BAD_DEPTH_VAL ) // not valid
if( d == CvCapture_OpenNI::INVALID_PIXEL_VAL ) // not valid
continue;
XnPoint3D proj, real;
@@ -466,13 +479,13 @@ IplImage* CvCapture_OpenNI::retrievePointCloudMap()
proj.Y = y;
proj.Z = d;
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
pointCloud_XYZ.at<cv::Point3f>(y,x) = cv::Point3f( real.X*0.001f, real.Y*0.001f, real.Z*0.001f); // from mm to meters
}
}
outputMaps[OPENNI_POINT_CLOUD_MAP].mat = XYZ;
outputMaps[CV_CAP_OPENNI_POINT_CLOUD_MAP].mat = pointCloud_XYZ;
return outputMaps[OPENNI_POINT_CLOUD_MAP].getIplImagePtr();
return outputMaps[CV_CAP_OPENNI_POINT_CLOUD_MAP].getIplImagePtr();
}
void computeDisparity_32F( const xn::DepthMetaData& depthMetaData, cv::Mat& disp, XnDouble baseline, XnUInt64 F,
@@ -488,13 +501,13 @@ void computeDisparity_32F( const xn::DepthMetaData& depthMetaData, cv::Mat& disp
float mult = baseline /*mm*/ * F /*pixels*/;
disp.create( depth.size(), CV_32FC1);
disp = cv::Scalar::all( OPENNI_BAD_DISP_VAL );
disp = cv::Scalar::all( CvCapture_OpenNI::INVALID_PIXEL_VAL );
for( int y = 0; y < disp.rows; y++ )
{
for( int x = 0; x < disp.cols; x++ )
{
unsigned short curDepth = depth.at<unsigned short>(y,x);
if( curDepth != OPENNI_BAD_DEPTH_VAL )
if( curDepth != CvCapture_OpenNI::INVALID_PIXEL_VAL )
disp.at<float>(y,x) = mult / curDepth;
}
}
@@ -508,9 +521,9 @@ IplImage* CvCapture_OpenNI::retrieveDisparityMap()
cv::Mat disp32;
computeDisparity_32F( depthMetaData, disp32, baseline, depthFocalLength_VGA, noSampleValue, shadowValue );
disp32.convertTo( outputMaps[OPENNI_DISPARITY_MAP].mat, CV_8UC1 );
disp32.convertTo( outputMaps[CV_CAP_OPENNI_DISPARITY_MAP].mat, CV_8UC1 );
return outputMaps[OPENNI_DISPARITY_MAP].getIplImagePtr();
return outputMaps[CV_CAP_OPENNI_DISPARITY_MAP].getIplImagePtr();
}
IplImage* CvCapture_OpenNI::retrieveDisparityMap_32F()
@@ -518,9 +531,9 @@ IplImage* CvCapture_OpenNI::retrieveDisparityMap_32F()
if( depthMetaData.XRes() <= 0 || depthMetaData.YRes() <= 0 )
return 0;
computeDisparity_32F( depthMetaData, outputMaps[OPENNI_DISPARITY_MAP_32F].mat, baseline, depthFocalLength_VGA, noSampleValue, shadowValue );
computeDisparity_32F( depthMetaData, outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].mat, baseline, depthFocalLength_VGA, noSampleValue, shadowValue );
return outputMaps[OPENNI_DISPARITY_MAP_32F].getIplImagePtr();
return outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].getIplImagePtr();
}
IplImage* CvCapture_OpenNI::retrieveValidDepthMask()
@@ -531,9 +544,9 @@ IplImage* CvCapture_OpenNI::retrieveValidDepthMask()
cv::Mat depth;
getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue );
outputMaps[OPENNI_VALID_DEPTH_MASK].mat = depth != OPENNI_BAD_DEPTH_VAL;
outputMaps[CV_CAP_OPENNI_VALID_DEPTH_MASK].mat = depth != CvCapture_OpenNI::INVALID_PIXEL_VAL;
return outputMaps[OPENNI_VALID_DEPTH_MASK].getIplImagePtr();
return outputMaps[CV_CAP_OPENNI_VALID_DEPTH_MASK].getIplImagePtr();
}
inline void getBGRImageFromMetaData( const xn::ImageMetaData& imageMetaData, cv::Mat& bgrImage )
@@ -555,9 +568,9 @@ IplImage* CvCapture_OpenNI::retrieveBGRImage()
if( imageMetaData.XRes() <= 0 || imageMetaData.YRes() <= 0 )
return 0;
getBGRImageFromMetaData( imageMetaData, outputMaps[OPENNI_BGR_IMAGE].mat );
getBGRImageFromMetaData( imageMetaData, outputMaps[CV_CAP_OPENNI_BGR_IMAGE].mat );
return outputMaps[OPENNI_BGR_IMAGE].getIplImagePtr();
return outputMaps[CV_CAP_OPENNI_BGR_IMAGE].getIplImagePtr();
}
IplImage* CvCapture_OpenNI::retrieveGrayImage()
@@ -569,41 +582,41 @@ IplImage* CvCapture_OpenNI::retrieveGrayImage()
cv::Mat rgbImage;
getBGRImageFromMetaData( imageMetaData, rgbImage );
cv::cvtColor( rgbImage, outputMaps[OPENNI_GRAY_IMAGE].mat, CV_BGR2GRAY );
cv::cvtColor( rgbImage, outputMaps[CV_CAP_OPENNI_GRAY_IMAGE].mat, CV_BGR2GRAY );
return outputMaps[OPENNI_GRAY_IMAGE].getIplImagePtr();
return outputMaps[CV_CAP_OPENNI_GRAY_IMAGE].getIplImagePtr();
}
IplImage* CvCapture_OpenNI::retrieveFrame( int dataType )
IplImage* CvCapture_OpenNI::retrieveFrame( int outputType )
{
IplImage* image = 0;
CV_Assert( dataType < outputTypesCount && dataType >= 0);
CV_Assert( outputType < outputTypesCount && outputType >= 0);
if( dataType == OPENNI_DEPTH_MAP )
if( outputType == CV_CAP_OPENNI_DEPTH_MAP )
{
image = retrieveDepthMap();
}
else if( dataType == OPENNI_POINT_CLOUD_MAP )
else if( outputType == CV_CAP_OPENNI_POINT_CLOUD_MAP )
{
image = retrievePointCloudMap();
}
else if( dataType == OPENNI_DISPARITY_MAP )
else if( outputType == CV_CAP_OPENNI_DISPARITY_MAP )
{
image = retrieveDisparityMap();
}
else if( dataType == OPENNI_DISPARITY_MAP_32F )
else if( outputType == CV_CAP_OPENNI_DISPARITY_MAP_32F )
{
image = retrieveDisparityMap_32F();
}
else if( dataType == OPENNI_VALID_DEPTH_MASK )
else if( outputType == CV_CAP_OPENNI_VALID_DEPTH_MASK )
{
image = retrieveValidDepthMask();
}
else if( dataType == OPENNI_BGR_IMAGE )
else if( outputType == CV_CAP_OPENNI_BGR_IMAGE )
{
image = retrieveBGRImage();
}
else if( dataType == OPENNI_GRAY_IMAGE )
else if( outputType == CV_CAP_OPENNI_GRAY_IMAGE )
{
image = retrieveGrayImage();
}