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Merge pull request #13341 from UnaNancyOwen:fix_librealsense

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* videoio(librealsense): fix pipeline start with config

fix to apply pipeline settings by passing config to start.

* videoio(librealsense): add support get props

add support get some props.
This commit is contained in:
Tsukasa Sugiura 2018-12-06 02:12:25 +09:00 committed by Alexander Alekhin
parent ef42baf9f0
commit 09b3dcb6db
3 changed files with 144 additions and 6 deletions
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3
modules/videoio/include/opencv2/videoio.hpp
View File

@ -526,7 +526,8 @@ enum { CAP_PROP_INTELPERC_PROFILE_COUNT = 11001,
//! Intel Perceptual Streams //! Intel Perceptual Streams
enum { CAP_INTELPERC_DEPTH_GENERATOR = 1 << 29, enum { CAP_INTELPERC_DEPTH_GENERATOR = 1 << 29,
CAP_INTELPERC_IMAGE_GENERATOR = 1 << 28, CAP_INTELPERC_IMAGE_GENERATOR = 1 << 28,
CAP_INTELPERC_GENERATORS_MASK = CAP_INTELPERC_DEPTH_GENERATOR + CAP_INTELPERC_IMAGE_GENERATOR CAP_INTELPERC_IR_GENERATOR = 1 << 27,
CAP_INTELPERC_GENERATORS_MASK = CAP_INTELPERC_DEPTH_GENERATOR + CAP_INTELPERC_IMAGE_GENERATOR + CAP_INTELPERC_IR_GENERATOR
}; };
enum { CAP_INTELPERC_DEPTH_MAP = 0, //!< Each pixel is a 16-bit integer. The value indicates the distance from an object to the camera's XY plane or the Cartesian depth. enum { CAP_INTELPERC_DEPTH_MAP = 0, //!< Each pixel is a 16-bit integer. The value indicates the distance from an object to the camera's XY plane or the Cartesian depth.

142
modules/videoio/src/cap_librealsense.cpp
View File

@ -19,7 +19,7 @@ VideoCapture_LibRealsense::VideoCapture_LibRealsense(int) : mAlign(RS2_STREAM_CO
config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16); config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16);
config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8); config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8);
config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8); config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8);
mPipe.start(); mPipe.start(config);
} }
catch (const rs2::error&) catch (const rs2::error&)
{ {
@ -27,15 +27,147 @@ VideoCapture_LibRealsense::VideoCapture_LibRealsense(int) : mAlign(RS2_STREAM_CO
} }
VideoCapture_LibRealsense::~VideoCapture_LibRealsense(){} VideoCapture_LibRealsense::~VideoCapture_LibRealsense(){}
double VideoCapture_LibRealsense::getProperty(int prop) const double VideoCapture_LibRealsense::getProperty(int propIdx) const
{ {
double propValue = 0; double propValue = 0.0;
if (prop == CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE) const int purePropIdx = propIdx & ~CAP_INTELPERC_GENERATORS_MASK;
return mPipe.get_active_profile().get_device().first<rs2::depth_sensor>().get_depth_scale(); if((propIdx & CAP_INTELPERC_GENERATORS_MASK) == CAP_INTELPERC_IMAGE_GENERATOR)
{
propValue = getImageGeneratorProperty(purePropIdx);
}
else if((propIdx & CAP_INTELPERC_GENERATORS_MASK) == CAP_INTELPERC_DEPTH_GENERATOR)
{
propValue = getDepthGeneratorProperty(purePropIdx);
}
else if((propIdx & CAP_INTELPERC_GENERATORS_MASK) == CAP_INTELPERC_IR_GENERATOR)
{
propValue = getIrGeneratorProperty(purePropIdx);
}
else
{
propValue = getCommonProperty(purePropIdx);
}
return propValue; return propValue;
} }
double VideoCapture_LibRealsense::getImageGeneratorProperty(int propIdx) const
{
double propValue = 0.0;
const rs2::video_stream_profile profile = mPipe.get_active_profile().get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>();
if(!profile)
{
return propValue;
}
switch(propIdx)
{
case CAP_PROP_FRAME_WIDTH:
propValue = static_cast<double>(profile.width());
break;
case CAP_PROP_FRAME_HEIGHT:
propValue = static_cast<double>(profile.height());
break;
case CAP_PROP_FPS:
propValue = static_cast<double>(profile.fps());
break;
}
return propValue;
}
double VideoCapture_LibRealsense::getDepthGeneratorProperty(int propIdx) const
{
double propValue = 0.0;
const rs2::video_stream_profile profile = mPipe.get_active_profile().get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>();
const rs2::depth_sensor sensor = mPipe.get_active_profile().get_device().first<rs2::depth_sensor>();
if(!profile || !sensor)
{
return propValue;
}
switch(propIdx)
{
case CAP_PROP_FRAME_WIDTH:
propValue = static_cast<double>(profile.width());
break;
case CAP_PROP_FRAME_HEIGHT:
propValue = static_cast<double>(profile.height());
break;
case CAP_PROP_FPS:
propValue = static_cast<double>(profile.fps());
break;
case CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE:
propValue = static_cast<double>(sensor.get_depth_scale());
break;
case CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ:
propValue = static_cast<double>(profile.get_intrinsics().fx);
break;
case CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT:
propValue = static_cast<double>(profile.get_intrinsics().fy);
break;
}
return propValue;
}
double VideoCapture_LibRealsense::getIrGeneratorProperty(int propIdx) const
{
double propValue = 0.0;
const rs2::video_stream_profile profile = mPipe.get_active_profile().get_stream(RS2_STREAM_INFRARED).as<rs2::video_stream_profile>();
if(!profile)
{
return propValue;
}
switch(propIdx)
{
case CAP_PROP_FRAME_WIDTH:
propValue = static_cast<double>(profile.width());
break;
case CAP_PROP_FRAME_HEIGHT:
propValue = static_cast<double>(profile.height());
break;
case CAP_PROP_FPS:
propValue = static_cast<double>(profile.fps());
break;
}
return propValue;
}
double VideoCapture_LibRealsense::getCommonProperty(int propIdx) const
{
double propValue = 0.0;
const rs2::video_stream_profile profile = mPipe.get_active_profile().get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>();
const rs2::depth_sensor sensor = mPipe.get_active_profile().get_device().first<rs2::depth_sensor>();
if(!profile || !sensor)
{
return propValue;
}
switch(propIdx)
{
case CAP_PROP_FRAME_WIDTH:
case CAP_PROP_FRAME_HEIGHT:
case CAP_PROP_FPS:
propValue = getDepthGeneratorProperty(propIdx);
break;
case CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE:
propValue = static_cast<double>(sensor.get_depth_scale());
break;
case CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ:
propValue = static_cast<double>(profile.get_intrinsics().fx);
break;
case CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT:
propValue = static_cast<double>(profile.get_intrinsics().fy);
break;
}
return propValue;
}
bool VideoCapture_LibRealsense::setProperty(int, double) bool VideoCapture_LibRealsense::setProperty(int, double)
{ {
bool isSet = false; bool isSet = false;

5
modules/videoio/src/cap_librealsense.hpp
View File

@ -29,6 +29,11 @@ protected:
rs2::pipeline mPipe; rs2::pipeline mPipe;
rs2::frameset mData; rs2::frameset mData;
rs2::align mAlign; rs2::align mAlign;
double getDepthGeneratorProperty(int propIdx) const;
double getImageGeneratorProperty(int propIdx) const;
double getIrGeneratorProperty(int propIdx) const;
double getCommonProperty(int propIdx) const;
}; };
} }