272 lines
10 KiB
C++
272 lines
10 KiB
C++
#include "opencv2/videoio/videoio.hpp"
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#include "opencv2/highgui/highgui.hpp"
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#include "opencv2/imgproc/imgproc.hpp"
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#include <iostream>
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using namespace cv;
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using namespace std;
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static void help()
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{
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cout << "\nThis program demonstrates usage of depth sensors (Kinect, XtionPRO,...).\n"
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"The user gets some of the supported output images.\n"
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"\nAll supported output map types:\n"
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"1.) Data given from depth generator\n"
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" CAP_OPENNI_DEPTH_MAP - depth values in mm (CV_16UC1)\n"
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" CAP_OPENNI_POINT_CLOUD_MAP - XYZ in meters (CV_32FC3)\n"
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" CAP_OPENNI_DISPARITY_MAP - disparity in pixels (CV_8UC1)\n"
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" CAP_OPENNI_DISPARITY_MAP_32F - disparity in pixels (CV_32FC1)\n"
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" CAP_OPENNI_VALID_DEPTH_MASK - mask of valid pixels (not ocluded, not shaded etc.) (CV_8UC1)\n"
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"2.) Data given from RGB image generator\n"
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" CAP_OPENNI_BGR_IMAGE - color image (CV_8UC3)\n"
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" CAP_OPENNI_GRAY_IMAGE - gray image (CV_8UC1)\n"
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<< endl;
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}
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static void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f, float S=1.f, float V=1.f )
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{
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CV_Assert( !gray.empty() );
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CV_Assert( gray.type() == CV_8UC1 );
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if( maxDisp <= 0 )
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{
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maxDisp = 0;
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minMaxLoc( gray, 0, &maxDisp );
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}
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rgb.create( gray.size(), CV_8UC3 );
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rgb = Scalar::all(0);
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if( maxDisp < 1 )
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return;
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for( int y = 0; y < gray.rows; y++ )
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{
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for( int x = 0; x < gray.cols; x++ )
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{
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uchar d = gray.at<uchar>(y,x);
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unsigned int H = ((uchar)maxDisp - d) * 240 / (uchar)maxDisp;
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unsigned int hi = (H/60) % 6;
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float f = H/60.f - H/60;
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float p = V * (1 - S);
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float q = V * (1 - f * S);
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float t = V * (1 - (1 - f) * S);
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Point3f res;
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if( hi == 0 ) //R = V, G = t, B = p
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res = Point3f( p, t, V );
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if( hi == 1 ) // R = q, G = V, B = p
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res = Point3f( p, V, q );
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if( hi == 2 ) // R = p, G = V, B = t
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res = Point3f( t, V, p );
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if( hi == 3 ) // R = p, G = q, B = V
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res = Point3f( V, q, p );
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if( hi == 4 ) // R = t, G = p, B = V
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res = Point3f( V, p, t );
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if( hi == 5 ) // R = V, G = p, B = q
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res = Point3f( q, p, V );
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uchar b = (uchar)(std::max(0.f, std::min (res.x, 1.f)) * 255.f);
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uchar g = (uchar)(std::max(0.f, std::min (res.y, 1.f)) * 255.f);
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uchar r = (uchar)(std::max(0.f, std::min (res.z, 1.f)) * 255.f);
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rgb.at<Point3_<uchar> >(y,x) = Point3_<uchar>(b, g, r);
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}
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}
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}
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static float getMaxDisparity( VideoCapture& capture )
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{
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const int minDistance = 400; // mm
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float b = (float)capture.get( CAP_OPENNI_DEPTH_GENERATOR_BASELINE ); // mm
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float F = (float)capture.get( CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ); // pixels
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return b * F / minDistance;
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}
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static void printCommandLineParams()
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{
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cout << "-cd= Colorized disparity? (0 or 1; 1 by default) Ignored if disparity map is not selected to show." << endl;
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cout << "-fmd= Fixed max disparity? (0 or 1; 0 by default) Ignored if disparity map is not colorized (-cd 0)." << endl;
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cout << "-mode= image mode: resolution and fps, supported three values: 0 - CAP_OPENNI_VGA_30HZ, 1 - CAP_OPENNI_SXGA_15HZ," << endl;
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cout << " 2 - CAP_OPENNI_SXGA_30HZ (0 by default). Ignored if rgb image or gray image are not selected to show." << endl;
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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;
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cout << " determine: is depth map, disparity map, valid pixels mask, rgb image, gray image need or not (correspondently)?" << endl ;
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cout << " By default -m=01010 i.e. disparity map and rgb image will be shown." << endl ;
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cout << "-r= Filename of .oni video file. The data will grabbed from it." << endl ;
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}
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static void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFixedMaxDisp, int& imageMode, bool retrievedImageFlags[],
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string& filename, bool& isFileReading )
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{
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filename.clear();
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cv::CommandLineParser parser(argc, argv, "{h help||}{cd|1|}{fmd|0|}{mode|0|}{m|01010|}{r||}");
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if (parser.has("h"))
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{
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help();
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printCommandLineParams();
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exit(0);
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}
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isColorizeDisp = (parser.get<int>("cd") != 0);
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isFixedMaxDisp = (parser.get<int>("fmd") != 0);
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imageMode = parser.get<int>("mode");
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int flags = parser.get<int>("m");
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isFileReading = parser.has("r");
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if (isFileReading)
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filename = parser.get<string>("r");
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if (!parser.check())
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{
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parser.printErrors();
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help();
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exit(-1);
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}
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if (flags % 100000 == 0)
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{
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cout << "No one output image is selected." << endl;
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exit(0);
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}
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for (int i = 0; i < 5; i++)
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{
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retrievedImageFlags[4 - i] = (flags % 10 != 0);
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flags /= 10;
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}
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}
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/*
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* To work with Kinect or XtionPRO the user must install OpenNI library and PrimeSensorModule for OpenNI and
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* configure OpenCV with WITH_OPENNI flag is ON (using CMake).
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*/
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int main( int argc, char* argv[] )
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{
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bool isColorizeDisp, isFixedMaxDisp;
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int imageMode;
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bool retrievedImageFlags[5];
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string filename;
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bool isVideoReading;
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parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, imageMode, retrievedImageFlags, filename, isVideoReading );
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cout << "Device opening ..." << endl;
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VideoCapture capture;
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if( isVideoReading )
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capture.open( filename );
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else
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{
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capture.open( CAP_OPENNI2 );
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if( !capture.isOpened() )
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capture.open( CAP_OPENNI );
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}
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cout << "done." << endl;
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if( !capture.isOpened() )
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{
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cout << "Can not open a capture object." << endl;
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return -1;
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}
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if( !isVideoReading )
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{
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bool modeRes=false;
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switch ( imageMode )
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{
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case 0:
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modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_VGA_30HZ );
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break;
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case 1:
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modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_SXGA_15HZ );
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break;
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case 2:
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modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_SXGA_30HZ );
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break;
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//The following modes are only supported by the Xtion Pro Live
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case 3:
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modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_QVGA_30HZ );
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break;
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case 4:
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modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_QVGA_60HZ );
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break;
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default:
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CV_Error( Error::StsBadArg, "Unsupported image mode property.\n");
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}
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if (!modeRes)
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cout << "\nThis image mode is not supported by the device, the default value (CV_CAP_OPENNI_SXGA_15HZ) will be used.\n" << endl;
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}
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// Print some avalible device settings.
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cout << "\nDepth generator output mode:" << endl <<
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"FRAME_WIDTH " << capture.get( CAP_PROP_FRAME_WIDTH ) << endl <<
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"FRAME_HEIGHT " << capture.get( CAP_PROP_FRAME_HEIGHT ) << endl <<
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"FRAME_MAX_DEPTH " << capture.get( CAP_PROP_OPENNI_FRAME_MAX_DEPTH ) << " mm" << endl <<
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"FPS " << capture.get( CAP_PROP_FPS ) << endl <<
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"REGISTRATION " << capture.get( CAP_PROP_OPENNI_REGISTRATION ) << endl;
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if( capture.get( CAP_OPENNI_IMAGE_GENERATOR_PRESENT ) )
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{
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cout <<
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"\nImage generator output mode:" << endl <<
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"FRAME_WIDTH " << capture.get( CAP_OPENNI_IMAGE_GENERATOR+CAP_PROP_FRAME_WIDTH ) << endl <<
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"FRAME_HEIGHT " << capture.get( CAP_OPENNI_IMAGE_GENERATOR+CAP_PROP_FRAME_HEIGHT ) << endl <<
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"FPS " << capture.get( CAP_OPENNI_IMAGE_GENERATOR+CAP_PROP_FPS ) << endl;
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}
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else
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{
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cout << "\nDevice doesn't contain image generator." << endl;
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if (!retrievedImageFlags[0] && !retrievedImageFlags[1] && !retrievedImageFlags[2])
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return 0;
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}
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for(;;)
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{
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Mat depthMap;
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Mat validDepthMap;
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Mat disparityMap;
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Mat bgrImage;
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Mat grayImage;
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if( !capture.grab() )
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{
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cout << "Can not grab images." << endl;
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return -1;
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}
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else
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{
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if( retrievedImageFlags[0] && capture.retrieve( depthMap, CAP_OPENNI_DEPTH_MAP ) )
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{
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const float scaleFactor = 0.05f;
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Mat show; depthMap.convertTo( show, CV_8UC1, scaleFactor );
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imshow( "depth map", show );
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}
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if( retrievedImageFlags[1] && capture.retrieve( disparityMap, CAP_OPENNI_DISPARITY_MAP ) )
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{
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if( isColorizeDisp )
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{
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Mat colorDisparityMap;
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colorizeDisparity( disparityMap, colorDisparityMap, isFixedMaxDisp ? getMaxDisparity(capture) : -1 );
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Mat validColorDisparityMap;
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colorDisparityMap.copyTo( validColorDisparityMap, disparityMap != 0 );
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imshow( "colorized disparity map", validColorDisparityMap );
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}
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else
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{
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imshow( "original disparity map", disparityMap );
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}
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}
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if( retrievedImageFlags[2] && capture.retrieve( validDepthMap, CAP_OPENNI_VALID_DEPTH_MASK ) )
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imshow( "valid depth mask", validDepthMap );
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if( retrievedImageFlags[3] && capture.retrieve( bgrImage, CAP_OPENNI_BGR_IMAGE ) )
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imshow( "rgb image", bgrImage );
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if( retrievedImageFlags[4] && capture.retrieve( grayImage, CAP_OPENNI_GRAY_IMAGE ) )
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imshow( "gray image", grayImage );
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}
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if( waitKey( 30 ) >= 0 )
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break;
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}
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return 0;
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}
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