refactored OpenNI integration
This commit is contained in:
Maria Dimashova
parent
5c3495a079
commit
ad896ae640
@ -775,38 +775,12 @@ endif()
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############################### OpenNI ################################
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set(HAVE_OPENNI FALSE)
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set(HAVE_PRIME_SENSOR_FOR_OPENNI FALSE)
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set(HAVE_OPENNI_PRIME_SENSOR_MODULE FALSE)
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if(WITH_OPENNI)
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# find OpenNI library
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unset(OPENNI_LIBRARY CACHE)
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unset(PRIME_SENSOR_MODULES_FOR_OPENNI CACHE)
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find_library(OPENNI_LIBRARY "OpenNI" PATHS "/usr/lib" "c:/Program Files/OpenNI/Lib" DOC "OpenNI library")
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if(OPENNI_LIBRARY)
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set(HAVE_OPENNI TRUE)
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# set OpenNI include directory
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if(WIN32)
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set(OPENNI_INCLUDE_DIR "c:/Program Files/OpenNI/Include")
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elseif(UNIX OR APPLE)
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set(OPENNI_INCLUDE_DIR "/usr/include/ni")
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include(OpenCVFindOpenNI.cmake)
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endif()
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# the check: are PrimeSensor Modules for OpenNI installed?
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if(WIN32)
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find_file(PRIME_SENSOR_MODULES_FOR_OPENNI "XnCore.dll" PATHS "c:/Program Files/Prime Sense/Sensor/Bin" DOC "Core library of PrimeSensor Modules for OpenNI")
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elseif(UNIX OR APPLE)
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find_library(PRIME_SENSOR_MODULES_FOR_OPENNI "XnCore" PATHS "/usr/lib" DOC "Core library of PrimeSensor Modules for OpenNI")
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endif()
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if(PRIME_SENSOR_MODULES_FOR_OPENNI)
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set(HAVE_PRIME_SENSOR_FOR_OPENNI TRUE)
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endif()
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endif() #if(OPENNI_LIBRARY)
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endif() #if(WITH_OPENNI)
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############################## Eigen2 ##############################
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if(WITH_EIGEN2)
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@ -1383,11 +1357,11 @@ else()
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message(STATUS " OpenEXR: NO")
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endif()
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if(NOT HAVE_OPENNI OR HAVE_PRIME_SENSOR_FOR_OPENNI)
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if(NOT HAVE_OPENNI OR HAVE_OPENNI_PRIME_SENSOR_MODULE)
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message(STATUS " OpenNI: ${HAVE_OPENNI}")
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else()
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message(STATUS " OpenNI: ${HAVE_OPENNI} (WARNING: PrimeSensor Modules for OpenNI are not installed.)")
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endif() #if(NOT HAVE_OPENNI OR HAVE_PRIME_SENSOR_FOR_OPENNI)
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message(STATUS " OpenNI: ${HAVE_OPENNI} (WARNING: PrimeSensor Modules for OpenNI are not installed (not found in OPENNI_PRIME_SENSOR_MODULE_BIN_DIR).)")
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endif()
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if(UNIX AND NOT APPLE)
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message(STATUS "")
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82
OpenCVFindOpenNI.cmake
Normal file
82
OpenCVFindOpenNI.cmake
Normal file
@ -0,0 +1,82 @@
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# Main variables:
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# OPENNI_LIBRARY and OPENNI_INCLUDES to link OpenCV modules with OpenNI
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# HAVE_OPENNI for conditional compilation OpenCV with/without OpenNI
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set(OPENNI_LIB_DESCR "Path to the directory of OpenNI libraries" CACHE INTERNAL "Description" )
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set(OPENNI_INCLUDE_DESCR "Path to the directory of OpenNI includes" CACHE INTERNAL "Description" )
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set(OPENNI_PRIME_SENSOR_MODULE_BIN_DESCR "Path to the directory of PrimeSensor Module binaries" CACHE INTERNAL "Description" )
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if(NOT "${OPENNI_LIB_DIR}" STREQUAL "${OPENNI_LIB_DIR_INTERNAL}")
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unset(OPENNI_LIBRARY CACHE)
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endif()
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if(NOT "${OPENNI_INCLUDE_DIR}" STREQUAL "${OPENNI_INCLUDE_DIR_INTERNAL}")
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unset(OPENNI_INCLUDES CACHE)
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endif()
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if(NOT "${OPENNI_PRIME_SENSOR_MODULE_BIN_DIR}" STREQUAL "${OPENNI_PRIME_SENSOR_MODULE_BIN_DIR}")
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unset(OPENNI_PRIME_SENSOR_MODULE CACHE)
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endif()
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if(NOT OPENNI_LIB_DIR OR OPENNI_LIB_DIR STREQUAL "")
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if(WIN32)
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set(OPENNI_LIB_DIR "c:/Program Files/OpenNI/Lib" CACHE PATH ${OPENNI_LIB_DESCR})
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elseif(UNIX OR APPLE)
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set(OPENNI_LIB_DIR "/usr/lib" CACHE PATH ${OPENNI_LIB_DESCR})
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endif()
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endif()
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if(NOT OPENNI_INCLUDE_DIR OR OPENNI_INCLUDE_DIR STREQUAL "")
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if(WIN32)
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set(OPENNI_INCLUDE_DIR "c:/Program Files/OpenNI/Include" CACHE PATH ${OPENNI_INCLUDE_DESCR})
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elseif(UNIX OR APPLE)
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set(OPENNI_INCLUDE_DIR "/usr/include/ni" CACHE PATH ${OPENNI_INCLUDE_DESCR})
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endif()
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endif()
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if(NOT OPENNI_PRIME_SENSOR_MODULE_BIN_DIR OR OPENNI_PRIME_SENSOR_MODULE_BIN_DIR STREQUAL "")
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if(WIN32)
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set(OPENNI_PRIME_SENSOR_MODULE_BIN_DIR "c:/Program Files/Prime Sense/Sensor/Bin" CACHE PATH ${OPENNI_PRIME_SENSOR_MODULE_BIN_DESCR})
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elseif(UNIX OR APPLE)
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set(OPENNI_PRIME_SENSOR_MODULE_BIN_DIR "/usr/lib" CACHE PATH ${OPENNI_PRIME_SENSOR_MODULE_BIN_DESCR})
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endif()
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endif()
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find_library(OPENNI_LIBRARY "OpenNI" PATHS ${OPENNI_LIB_DIR} DOC "OpenNI library" NO_DEFAULT_PATH)
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find_path(OPENNI_INCLUDES "XnCppWrapper.h" PATHS ${OPENNI_INCLUDE_DIR} DOC "OpenNI c++ interface header" NO_DEFAULT_PATH)
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if(OPENNI_LIBRARY AND OPENNI_INCLUDES)
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set(HAVE_OPENNI TRUE)
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# the check: are PrimeSensor Modules for OpenNI installed?
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if(WIN32)
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find_file(OPENNI_PRIME_SENSOR_MODULE "XnCore.dll" PATHS ${OPENNI_PRIME_SENSOR_MODULE_BIN_DIR} DOC "Core library of PrimeSensor Modules for OpenNI" NO_DEFAULT_PATH)
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elseif(UNIX OR APPLE)
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find_library(OPENNI_PRIME_SENSOR_MODULE "XnCore" PATHS ${OPENNI_PRIME_SENSOR_MODULE_BIN_DIR} DOC "Core library of PrimeSensor Modules for OpenNI" NO_DEFAULT_PATH)
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endif()
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if(OPENNI_PRIME_SENSOR_MODULE)
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set(HAVE_OPENNI_PRIME_SENSOR_MODULE TRUE)
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endif()
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endif() #if(OPENNI_LIBRARY AND OPENNI_INCLUDES)
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if(OPENNI_LIBRARY)
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set(OPENNI_LIB_DIR_INTERNAL "${OPENNI_LIB_DIR}" CACHE INTERNAL "This is the value of the last time OPENNI_LIB_DIR was set successfully." FORCE)
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else()
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set(OPENNI_LIB_DIR "${OPENNI_LIB_DIR}-NOTFOUND or does not have OpenNI libraries" CACHE PATH ${OPENNI_LIB_DESCR} FORCE)
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endif()
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if(OPENNI_INCLUDES)
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set(OPENNI_INCLUDE_DIR_INTERNAL "${OPENNI_INCLUDE_DIR}" CACHE INTERNAL "This is the value of the last time OPENNI_INCLUDE_DIR was set successfully." FORCE)
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else()
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set(OPENNI_INCLUDE_DIR "${OPENNI_INCLUDE_DIR}-NOTFOUND or does not have OpenNI includes" CACHE PATH ${OPENNI_INCLUDE_DESCR} FORCE)
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endif()
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if(OPENNI_PRIME_SENSOR_MODULE)
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set(OPENNI_PRIME_SENSOR_MODULE_BIN_DIR_INTERNAL "${OPENNI_PRIME_SENSOR_MODULE_BIN_DIR}" CACHE INTERNAL "This is the value of the last time OPENNI_PRIME_SENSOR_MODULE_BIN_DIR was set successfully." FORCE)
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else()
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set(OPENNI_PRIME_SENSOR_MODULE_BIN_DIR "${OPENNI_PRIME_SENSOR_MODULE_BIN_DIR}-NOTFOUND or does not have PrimeSensor Module binaries" CACHE PATH ${OPENNI_PRIME_SENSOR_MODULE_BIN_DESCR} FORCE)
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endif()
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mark_as_advanced(FORCE OPENNI_PRIME_SENSOR_MODULE)
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mark_as_advanced(FORCE OPENNI_LIBRARY)
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mark_as_advanced(FORCE OPENNI_INCLUDES)
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@ -13,8 +13,7 @@ output can be retrieved by using familiar interface of \texttt{VideoCapture}.\pa
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In order to use Kinect with OpenCV you should do the following preliminary steps:\newline
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1) Install OpenNI library and PrimeSensor Module for OpenNI from here \url{http://www.openni.org/downloadfiles}.
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The installation should be done to default folders listed in the instruc-
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tions of these products:
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The installation should be done to default folders listed in the instructions of these products:
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\begin{lstlisting}
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OpenNI:
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Linux & MacOSX:
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@ -25,12 +24,13 @@ OpenNI:
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Includes into: c:/Program Files/OpenNI/Include
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PrimeSensor Module:
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Linux & MacOSX:
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Libs into: /usr/lib
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Bins into: /usr/bin
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Windows:
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Libs into: c:/Program Files/Prime Sense/Sensor/Lib
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Bins into: c:/Program Files/Prime Sense/Sensor/Bin
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\end{lstlisting}
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If one or both products were installed to the other folders, the user should change corresponding CMake variables
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(\texttt{OPENNI\_LIB\_DIR}, \texttt{OPENNI\_INCLUDE\_DIR} or/and
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\texttt{OPENNI\_PRIME\_SENSOR\_MODULE\_BIN\_DIR}).\newline
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2) Configure OpenCV with OpenNI support by setting \texttt{WITH\_OPENNI} flag in CMake. If OpenNI
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is found in default install folders OpenCV will be built with OpenNI library regardless of whether
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PrimeSensor Module is found or not. If PrimeSensor Module was not found you will get a warning
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@ -334,7 +334,42 @@ enum
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CV_CAP_PROP_CONVERT_RGB =16,
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CV_CAP_PROP_WHITE_BALANCE =17,
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CV_CAP_PROP_RECTIFICATION =18,
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CV_CAP_PROP_MONOCROME =19
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CV_CAP_PROP_MONOCROME =19,
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// OpenNI map generators
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CV_CAP_OPENNI_DEPTH_GENERATOR = 0,
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CV_CAP_OPENNI_IMAGE_GENERATOR = 1 << 31,
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CV_CAP_OPENNI_GENERATORS_MASK = 1 << 31,
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// Properties of cameras avalible through OpenNI interfaces
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CV_CAP_PROP_OPENNI_OUTPUT_MODE = 20,
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CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH = 21, // in mm
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CV_CAP_PROP_OPENNI_BASELINE = 22, // in mm
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CV_CAP_PROP_OPENNI_FOCAL_LENGTH = 23, // in pixels
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CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_OPENNI_OUTPUT_MODE,
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CV_CAP_OPENNI_DEPTH_GENERATOR_BASELINE = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_BASELINE,
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CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_FOCAL_LENGTH
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};
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enum
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{
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// Data given from depth generator.
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CV_CAP_OPENNI_DEPTH_MAP = 0, // Depth values in mm (CV_16UC1)
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CV_CAP_OPENNI_POINT_CLOUD_MAP = 1, // XYZ in meters (CV_32FC3)
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CV_CAP_OPENNI_DISPARITY_MAP = 2, // Disparity in pixels (CV_8UC1)
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CV_CAP_OPENNI_DISPARITY_MAP_32F = 3, // Disparity in pixels (CV_32FC1)
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CV_CAP_OPENNI_VALID_DEPTH_MASK = 4, // CV_8UC1
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// Data given from RGB image generator.
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CV_CAP_OPENNI_BGR_IMAGE = 5,
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CV_CAP_OPENNI_GRAY_IMAGE = 6
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};
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// Supported output modes of OpenNI image generator
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enum
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{
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CV_CAP_OPENNI_VGA_30HZ = 0,
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CV_CAP_OPENNI_SXGA_15HZ = 1
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};
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/* retrieve or set capture properties */
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@ -369,50 +404,6 @@ CVAPI(int) cvWriteFrame( CvVideoWriter* writer, const IplImage* image );
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/* close video file writer */
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CVAPI(void) cvReleaseVideoWriter( CvVideoWriter** writer );
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enum
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{
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// Data given from depth generator.
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OPENNI_DEPTH_MAP = 0, // Depth values in mm (CV_16UC1)
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OPENNI_POINT_CLOUD_MAP = 1, // XYZ in meters (CV_32FC3)
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OPENNI_DISPARITY_MAP = 2, // Disparity in pixels (CV_8UC1)
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OPENNI_DISPARITY_MAP_32F = 3, // Disparity in pixels (CV_32FC1)
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OPENNI_VALID_DEPTH_MASK = 4, // CV_8UC1
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// Data given from RGB image generator.
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OPENNI_BGR_IMAGE = 5,
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OPENNI_GRAY_IMAGE = 6
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};
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// OpenNI map generators
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enum
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{
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OPENNI_DEPTH_GENERATOR = 0,
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OPENNI_IMAGE_GENERATOR = 1 << 31
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};
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// Properties of cameras avalible through OpenNI interfaces
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// (additional to ones begining from CV_CAP_PROP_...)
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enum
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{
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OPENNI_OUTPUT_MODE = 20,
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OPENNI_FRAME_MAX_DEPTH = 21, // in mm
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OPENNI_BASELINE = 22, // in mm
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OPENNI_FOCAL_LENGTH = 23, // in pixels
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OPENNI_IMAGE_GENERATOR_OUTPUT_MODE = OPENNI_IMAGE_GENERATOR + OPENNI_OUTPUT_MODE,
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OPENNI_DEPTH_GENERATOR_BASELINE = OPENNI_DEPTH_GENERATOR + OPENNI_BASELINE,
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OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH = OPENNI_DEPTH_GENERATOR + OPENNI_FOCAL_LENGTH
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};
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// Supported output modes of OpenNI image generator
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enum
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{
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OPENNI_VGA_30HZ = 0,
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OPENNI_SXGA_15HZ = 1
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};
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const int OPENNI_BAD_DEPTH_VAL = 0;
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const int OPENNI_BAD_DISP_VAL = 0;
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/****************************************************************************************\
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* Obsolete functions/synonyms *
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\****************************************************************************************/
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@ -84,13 +84,15 @@ const std::string XMLConfig =
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class CvCapture_OpenNI : public CvCapture
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{
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public:
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static const int INVALID_PIXEL_VAL = 0;
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CvCapture_OpenNI();
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virtual ~CvCapture_OpenNI();
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virtual double getProperty(int);
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virtual bool setProperty(int, double);
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virtual double getProperty(int propIdx);
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virtual bool setProperty(int probIdx, double propVal);
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virtual bool grabFrame();
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virtual IplImage* retrieveFrame(int);
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virtual IplImage* retrieveFrame(int outputType);
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bool isOpened() const;
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@ -116,10 +118,10 @@ protected:
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void readCamerasParams();
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double getDepthGeneratorProperty(int);
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bool setDepthGeneratorProperty(int, double);
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double getImageGeneratorProperty(int);
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bool setImageGeneratorProperty(int, double);
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double getDepthGeneratorProperty(int propIdx);
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bool setDepthGeneratorProperty(int propIdx, double propVal);
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double getImageGeneratorProperty(int propIdx);
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bool setImageGeneratorProperty(int propIdx, double propVal);
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// OpenNI context
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xn::Context context;
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@ -135,12 +137,12 @@ protected:
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XnMapOutputMode imageOutputMode;
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// Cameras settings:
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#if 1
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// TODO find in OpenNI function to convert z->disparity and remove fields "baseline" and depthFocalLength_VGA
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// Distance between IR projector and IR camera (in meters)
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XnDouble baseline;
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// Focal length for the IR camera in VGA resolution (in pixels)
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XnUInt64 depthFocalLength_VGA;
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#endif
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// The value for shadow (occluded pixels)
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XnUInt64 shadowValue;
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// The value for pixels without a valid disparity measurement
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@ -230,7 +232,6 @@ CvCapture_OpenNI::~CvCapture_OpenNI()
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void CvCapture_OpenNI::readCamerasParams()
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{
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#if 1
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XnDouble pixelSize = 0;
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if( depthGenerator.GetRealProperty( "ZPPS", pixelSize ) != XN_STATUS_OK )
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CV_Error( CV_StsError, "Could not read pixel size!" );
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@ -239,8 +240,8 @@ void CvCapture_OpenNI::readCamerasParams()
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pixelSize *= 2.0; // in mm
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// focal length of IR camera in pixels for VGA resolution
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XnUInt64 zpd; // in mm
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if( depthGenerator.GetIntProperty( "ZPD", zpd ) != XN_STATUS_OK )
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XnUInt64 zeroPlanDistance; // in mm
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if( depthGenerator.GetIntProperty( "ZPD", zeroPlanDistance ) != XN_STATUS_OK )
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CV_Error( CV_StsError, "Could not read virtual plane distance!" );
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if( depthGenerator.GetRealProperty( "LDDIS", baseline ) != XN_STATUS_OK )
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@ -250,14 +251,13 @@ void CvCapture_OpenNI::readCamerasParams()
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baseline *= 10;
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// focal length from mm -> pixels (valid for 640x480)
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depthFocalLength_VGA = (XnUInt64)((double)zpd / (double)pixelSize);
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#endif
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depthFocalLength_VGA = (XnUInt64)((double)zeroPlanDistance / (double)pixelSize);
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if( depthGenerator.GetIntProperty( "ShadowValue", shadowValue ) != XN_STATUS_OK )
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CV_Error( CV_StsError, "Could not read shadow value!" );
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CV_Error( CV_StsError, "Could not read property \"ShadowValue\"!" );
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if( depthGenerator.GetIntProperty("NoSampleValue", noSampleValue ) != XN_STATUS_OK )
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CV_Error( CV_StsError, "Could not read no sample value!" );
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CV_Error( CV_StsError, "Could not read property \"NoSampleValue\"!" );
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}
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double CvCapture_OpenNI::getProperty( int propIdx )
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@ -266,13 +266,19 @@ double CvCapture_OpenNI::getProperty( int propIdx )
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if( isOpened() )
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{
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if( propIdx & OPENNI_IMAGE_GENERATOR )
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int purePropIdx = propIdx & ~CV_CAP_OPENNI_GENERATORS_MASK;
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if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IMAGE_GENERATOR )
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{
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propValue = getImageGeneratorProperty( propIdx ^ OPENNI_IMAGE_GENERATOR );
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propValue = getImageGeneratorProperty( purePropIdx );
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}
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else // depth generator (by default, OPENNI_DEPTH_GENERATOR == 0)
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else if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_DEPTH_GENERATOR )
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{
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propValue = getDepthGeneratorProperty( propIdx /*^ OPENNI_DEPTH_GENERATOR*/ );
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propValue = getDepthGeneratorProperty( purePropIdx );
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}
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else
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{
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CV_Error( CV_StsError, "Unsupported generator prefix!" );
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}
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}
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@ -284,13 +290,19 @@ bool CvCapture_OpenNI::setProperty( int propIdx, double propValue )
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bool res = false;
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if( isOpened() )
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{
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if( propIdx & OPENNI_IMAGE_GENERATOR )
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int purePropIdx = propIdx & ~CV_CAP_OPENNI_GENERATORS_MASK;
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if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IMAGE_GENERATOR )
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{
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res = setImageGeneratorProperty( propIdx ^ OPENNI_IMAGE_GENERATOR, propValue );
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res = setImageGeneratorProperty( purePropIdx, propValue );
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}
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else // depth generator (by default, OPENNI_DEPTH_GENERATOR == 0)
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else if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_DEPTH_GENERATOR )
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{
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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();
|
||||
}
|
||||
|
||||
@ -6,9 +6,22 @@
|
||||
using namespace cv;
|
||||
using namespace std;
|
||||
|
||||
#define COLORIZED_DISP 1
|
||||
#define IMAGE_GENERATOR_VGA_30HZ 1
|
||||
#define FIXED_MAX_DISP 0
|
||||
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;
|
||||
}
|
||||
|
||||
void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f, float S=1.f, float V=1.f )
|
||||
{
|
||||
@ -59,45 +72,98 @@ void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f, float S=
|
||||
}
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
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
|
||||
float b = capture.get( CV_CAP_OPENNI_DEPTH_GENERATOR_BASELINE ); // mm
|
||||
float F = capture.get( CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ); // pixels
|
||||
return b * F / minDistance;
|
||||
#else
|
||||
return -1;
|
||||
#endif
|
||||
}
|
||||
|
||||
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 << "-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[] )
|
||||
{
|
||||
// set defaut values
|
||||
isColorizeDisp = true;
|
||||
isSetSXGA = false;
|
||||
retrievedImageFlags[0] = false;
|
||||
retrievedImageFlags[1] = true;
|
||||
retrievedImageFlags[2] = false;
|
||||
retrievedImageFlags[3] = true;
|
||||
retrievedImageFlags[4] = false;
|
||||
|
||||
if( argc == 1 )
|
||||
{
|
||||
help();
|
||||
}
|
||||
else
|
||||
{
|
||||
for( int i = 1; i < argc; i++ )
|
||||
{
|
||||
if( !strcmp( argv[i], "--help" ) )
|
||||
{
|
||||
printCommandLineParams();
|
||||
exit(0);
|
||||
}
|
||||
else if( !strcmp( argv[i], "-cd" ) )
|
||||
{
|
||||
isColorizeDisp = atoi(argv[++i]) == 0 ? false : true;
|
||||
}
|
||||
else if( !strcmp( argv[i], "-fmd" ) )
|
||||
{
|
||||
isFixedMaxDisp = atoi(argv[++i]) == 0 ? false : true;
|
||||
}
|
||||
else if( !strcmp( argv[i], "-sxga" ) )
|
||||
{
|
||||
isSetSXGA = atoi(argv[++i]) == 0 ? false : true;
|
||||
}
|
||||
else if( !strcmp( argv[i], "-m" ) )
|
||||
{
|
||||
string mask( argv[++i] );
|
||||
if( mask.size() != 5)
|
||||
CV_Error( CV_StsBadArg, "Incorrect length of -m argument string" );
|
||||
int val = atoi(mask.c_str());
|
||||
|
||||
int l = 100000, r = 10000, sum = 0;
|
||||
for( int i = 0; i < 5; i++ )
|
||||
{
|
||||
retrievedImageFlags[i] = ((val % l) / r ) == 0 ? false : true;
|
||||
l /= 10; r /= 10;
|
||||
if( retrievedImageFlags[i] ) sum++;
|
||||
}
|
||||
|
||||
if( sum == 0 )
|
||||
{
|
||||
cout << "No one output image is selected." << endl;
|
||||
exit(0);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* 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()
|
||||
int main( int argc, char* argv[] )
|
||||
{
|
||||
help();
|
||||
bool isColorizeDisp, isFixedMaxDisp, isSetSXGA;
|
||||
bool retrievedImageFlags[5];
|
||||
parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, isSetSXGA, retrievedImageFlags );
|
||||
|
||||
cout << "Kinect opening ..." << endl;
|
||||
VideoCapture capture(0); // or CV_CAP_OPENNI
|
||||
VideoCapture capture( CV_CAP_OPENNI );
|
||||
cout << "done." << endl;
|
||||
|
||||
if( !capture.isOpened() )
|
||||
@ -106,23 +172,22 @@ 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
|
||||
if( isSetSXGA )
|
||||
capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_SXGA_15HZ );
|
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else
|
||||
capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ ); // default
|
||||
|
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// Print some avalible Kinect 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( OPENNI_FRAME_MAX_DEPTH ) << " mm" << endl <<
|
||||
"FRAME_MAX_DEPTH " << capture.get( CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH ) << " mm" << endl <<
|
||||
"FPS " << capture.get( CV_CAP_PROP_FPS ) << endl;
|
||||
|
||||
cout << "\nImage 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;
|
||||
"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;
|
||||
|
||||
for(;;)
|
||||
{
|
||||
@ -139,33 +204,36 @@ int main()
|
||||
}
|
||||
else
|
||||
{
|
||||
if( capture.retrieve( depthMap, OPENNI_DEPTH_MAP ) )
|
||||
if( retrievedImageFlags[0] && capture.retrieve( depthMap, CV_CAP_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( retrievedImageFlags[1] && capture.retrieve( disparityMap, CV_CAP_OPENNI_DISPARITY_MAP ) )
|
||||
{
|
||||
if( isColorizeDisp )
|
||||
{
|
||||
#if COLORIZED_DISP // colorized disparity for more visibility
|
||||
Mat colorDisparityMap;
|
||||
colorizeDisparity( disparityMap, colorDisparityMap, getMaxDisparity( capture ) );
|
||||
colorizeDisparity( disparityMap, colorDisparityMap, isFixedMaxDisp ? getMaxDisparity(capture) : -1 );
|
||||
Mat validColorDisparityMap;
|
||||
colorDisparityMap.copyTo( validColorDisparityMap, disparityMap != OPENNI_BAD_DISP_VAL );
|
||||
colorDisparityMap.copyTo( validColorDisparityMap, disparityMap != 0 );
|
||||
imshow( "colorized disparity map", validColorDisparityMap );
|
||||
#else // original disparity
|
||||
}
|
||||
else
|
||||
{
|
||||
imshow( "original disparity map", disparityMap );
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
if( capture.retrieve( validDepthMap, OPENNI_VALID_DEPTH_MASK ) )
|
||||
if( retrievedImageFlags[2] && capture.retrieve( validDepthMap, CV_CAP_OPENNI_VALID_DEPTH_MASK ) )
|
||||
imshow( "valid depth mask", validDepthMap );
|
||||
|
||||
if( capture.retrieve( bgrImage, OPENNI_BGR_IMAGE ) )
|
||||
if( retrievedImageFlags[3] && capture.retrieve( bgrImage, CV_CAP_OPENNI_BGR_IMAGE ) )
|
||||
imshow( "rgb image", bgrImage );
|
||||
|
||||
if( capture.retrieve( grayImage, OPENNI_GRAY_IMAGE ) )
|
||||
if( retrievedImageFlags[4] && capture.retrieve( grayImage, CV_CAP_OPENNI_GRAY_IMAGE ) )
|
||||
imshow( "gray image", grayImage );
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user