mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2025-06-07 09:25:45 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge pull request #23237 from hzcyf:feature/orbbec_femto_mega_support

Browse Source
This commit is contained in:
Alexander Alekhin 2023-03-01 07:13:21 +00:00
commit 0052d46b8e
4 changed files with 40 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
modules/videoio/src/cap_obsensor/obsensor_stream_channel_interface.hpp
View File

@ -36,6 +36,7 @@ namespace obsensor {
#define OBSENSOR_CAM_VID 0x2bc5 // usb vid
#define OBSENSOR_ASTRA2_PID 0x0660 // pid of Orbbec Astra 2 Camera
#define OBSENSOR_GEMINI2_PID 0x0670 // pid of Orbbec Gemini 2 Camera
#define OBSENSOR_FEMTO_MEGA_PID 0x0669 // pid of Orbbec Femto Mega Camera
enum StreamType
{

2
modules/videoio/src/cap_obsensor/obsensor_stream_channel_msmf.cpp
View File

@ -499,7 +499,7 @@ STDMETHODIMP MSMFStreamChannel::OnEvent(DWORD /*sidx*/, IMFMediaEvent* /*event*/
STDMETHODIMP MSMFStreamChannel::OnFlush(DWORD)
{
if (streamState_ == STREAM_STARTING)
if (streamState_ != STREAM_STOPED)
{
std::unique_lock<std::mutex> lock(streamStateMutex_);
streamState_ = STREAM_STOPED;

18
modules/videoio/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
View File

@ -338,6 +338,24 @@ bool IUvcStreamChannel::getProperty(int propId, uint8_t* recvData, uint32_t* rec
*recvDataSize = sizeof(CameraParam);
memcpy(recvData, &param, *recvDataSize);
}
else if(OBSENSOR_FEMTO_MEGA_PID == devInfo_.pid){
// return default param
CameraParam param;
param.p0[0] = 748.370f;
param.p0[1] = 748.296f;
param.p0[2] = 634.670f;
param.p0[3] = 341.196f;
param.p1[0] = 374.185f;
param.p1[1] = 374.148f;
param.p1[2] = 317.335f;
param.p1[3] = 170.598f;
param.p6[0] = 1280;
param.p6[1] = 720;
param.p7[0] = 640;
param.p7[1] = 360;
*recvDataSize = sizeof(CameraParam);
memcpy(recvData, &param, *recvDataSize);
}
else{
rst &= setXu(2, OB_EXT_CMD5, sizeof(OB_EXT_CMD5));
rst &= getXu(2, &rcvData, &rcvLen);

26
modules/videoio/src/cap_obsensor_capture.cpp
View File

@ -34,8 +34,10 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
{
static const obsensor::StreamProfile colorProfile = { 640, 480, 30, obsensor::FRAME_FORMAT_MJPG };
static const obsensor::StreamProfile depthProfile = {640, 480, 30, obsensor::FRAME_FORMAT_Y16};
static const obsensor::StreamProfile gemini2depthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y14};
static const obsensor::StreamProfile astra2depthProfile = {640, 480, 30, obsensor::FRAME_FORMAT_Y14};
static const obsensor::StreamProfile gemini2DepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y14};
static const obsensor::StreamProfile astra2DepthProfile = {640, 480, 30, obsensor::FRAME_FORMAT_Y14};
static const obsensor::StreamProfile megaColorProfile = {1280, 720, 30, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile megaDepthProfile = {640, 576, 30, obsensor::FRAME_FORMAT_Y16};
streamChannelGroup_ = obsensor::getStreamChannelGroup(index);
if (!streamChannelGroup_.empty())
@ -46,11 +48,17 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
switch (streamType)
{
case obsensor::OBSENSOR_STREAM_COLOR:
channel->start(colorProfile, [&](obsensor::Frame* frame) {
{
auto profile = colorProfile;
if(OBSENSOR_FEMTO_MEGA_PID == channel->getPid()){
profile = megaColorProfile;
}
channel->start(profile, [&](obsensor::Frame* frame) {
std::unique_lock<std::mutex> lk(frameMutex_);
colorFrame_ = Mat(1, frame->dataSize, CV_8UC1, frame->data).clone();
frameCv_.notify_all();
});
}
break;
case obsensor::OBSENSOR_STREAM_DEPTH:
{
@ -59,11 +67,13 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
obsensor::StreamProfile profile = depthProfile;
if(OBSENSOR_GEMINI2_PID == channel->getPid()){
profile = gemini2depthProfile;
profile = gemini2DepthProfile;
}
else if(OBSENSOR_ASTRA2_PID == channel->getPid()){
profile = astra2depthProfile;
profile = astra2DepthProfile;
}
else if(OBSENSOR_FEMTO_MEGA_PID == channel->getPid()){
profile = megaDepthProfile;
}
channel->start(profile, [&](obsensor::Frame* frame) {
@ -127,6 +137,10 @@ bool VideoCapture_obsensor::retrieveFrame(int outputType, OutputArray frame)
grabbedDepthFrame_ = grabbedDepthFrame_*0.8;
grabbedDepthFrame_.copyTo(frame);
}
else if(OBSENSOR_FEMTO_MEGA_PID == streamChannelGroup_.front()->getPid()){
Rect rect(0, 0, 640, 360);
grabbedDepthFrame_(rect).copyTo(frame);
}
else{
grabbedDepthFrame_.copyTo(frame);
}