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Kinect2 support added to OpenNI2 backend (#11794)

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* Kinect2 support added to OpenNI2 backend

* more fixes for OpenNI2 backend

* whitespace fixed

* libfreenect2 support added

* const cast added

* mutable removed
This commit is contained in:
Rostislav Vasilikhin 2018-06-25 13:19:20 +03:00 committed by Vadim Pisarevsky
parent df38624e10
commit 18bc2a1a93
1 changed files with 203 additions and 171 deletions
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374
modules/videoio/src/cap_openni2.cpp
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@ -70,6 +70,35 @@
#include "PS1080.h" #include "PS1080.h"
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
static cv::Mutex initOpenNI2Mutex;
struct OpenNI2Initializer
{
public:
static void init()
{
cv::AutoLock al(initOpenNI2Mutex);
static OpenNI2Initializer initializer;
}
private:
OpenNI2Initializer()
{
// Initialize and configure the context.
openni::Status status = openni::OpenNI::initialize();
if (status != openni::STATUS_OK)
{
CV_Error(CV_StsError, std::string("Failed to initialize:") + openni::OpenNI::getExtendedError());
}
}
~OpenNI2Initializer()
{
openni::OpenNI::shutdown();
}
};
class CvCapture_OpenNI2 : public CvCapture class CvCapture_OpenNI2 : public CvCapture
{ {
public: public:
@ -107,6 +136,8 @@ protected:
static openni::VideoMode defaultStreamOutputMode(int stream); static openni::VideoMode defaultStreamOutputMode(int stream);
CvCapture_OpenNI2(int index, const char * filename);
IplImage* retrieveDepthMap(); IplImage* retrieveDepthMap();
IplImage* retrievePointCloudMap(); IplImage* retrievePointCloudMap();
IplImage* retrieveDisparityMap(); IplImage* retrieveDisparityMap();
@ -116,8 +147,8 @@ protected:
IplImage* retrieveGrayImage(); IplImage* retrieveGrayImage();
IplImage* retrieveIrImage(); IplImage* retrieveIrImage();
openni::Status toggleStream(int stream, bool toggle); void toggleStream(int stream, bool toggle);
bool readCamerasParams(); void readCamerasParams();
double getDepthGeneratorProperty(int propIdx) const; double getDepthGeneratorProperty(int propIdx) const;
bool setDepthGeneratorProperty(int propIdx, double propVal); bool setDepthGeneratorProperty(int propIdx, double propVal);
@ -131,12 +162,11 @@ protected:
// OpenNI context // OpenNI context
openni::Device device; openni::Device device;
bool isContextOpened; bool isContextOpened;
openni::Recorder recorder;
// Data generators with its metadata // Data generators with its metadata
openni::VideoStream streams[CV_MAX_NUM_STREAMS]; std::vector<openni::VideoStream> streams;
openni::VideoFrameRef streamFrames[CV_MAX_NUM_STREAMS]; std::vector<openni::VideoFrameRef> streamFrames;
cv::Mat streamImages[CV_MAX_NUM_STREAMS]; std::vector<cv::Mat> streamImages;
int maxBufferSize, maxTimeDuration; // for approx sync int maxBufferSize, maxTimeDuration; // for approx sync
bool isCircleBuffer; bool isCircleBuffer;
@ -191,80 +221,103 @@ openni::VideoMode CvCapture_OpenNI2::defaultStreamOutputMode(int stream)
return mode; return mode;
} }
CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
CvCapture_OpenNI2::CvCapture_OpenNI2(int index) :
CvCapture_OpenNI2(index, nullptr)
{ }
CvCapture_OpenNI2::CvCapture_OpenNI2(const char * filename) :
CvCapture_OpenNI2(-1, filename)
{ }
CvCapture_OpenNI2::CvCapture_OpenNI2(int index, const char * filename) :
device(),
isContextOpened(false),
streams(CV_MAX_NUM_STREAMS),
streamFrames(CV_MAX_NUM_STREAMS),
streamImages(CV_MAX_NUM_STREAMS),
maxBufferSize(DEFAULT_MAX_BUFFER_SIZE),
maxTimeDuration(DEFAULT_MAX_TIME_DURATION),
isCircleBuffer(DEFAULT_IS_CIRCLE_BUFFER),
baseline(0),
depthFocalLength_VGA(0),
shadowValue(0),
noSampleValue(0),
outputMaps(outputMapsTypesCount)
{ {
const char* deviceURI = openni::ANY_DEVICE;
openni::Status status;
int deviceType = DEVICE_DEFAULT;
noSampleValue = shadowValue = 0;
isContextOpened = false;
maxBufferSize = DEFAULT_MAX_BUFFER_SIZE;
isCircleBuffer = DEFAULT_IS_CIRCLE_BUFFER;
maxTimeDuration = DEFAULT_MAX_TIME_DURATION;
if( index >= 10 )
{
deviceType = index / 10;
index %= 10;
}
// Initialize and configure the context. // Initialize and configure the context.
status = openni::OpenNI::initialize(); OpenNI2Initializer::init();
if (status != openni::STATUS_OK) const char* deviceURI = openni::ANY_DEVICE;
bool needColor = true;
bool needIR = true;
if (index >= 0)
{ {
CV_Error(CV_StsError, cv::format("Failed to initialize:", openni::OpenNI::getExtendedError())); int deviceType = DEVICE_DEFAULT;
return; if (index >= 10)
} {
deviceType = index / 10;
// find appropriate device URI index %= 10;
openni::Array<openni::DeviceInfo> ldevs; }
if (index > 0) // Asus XTION and Occipital Structure Sensor do not have an image generator
{ needColor = (deviceType != DEVICE_ASUS_XTION);
openni::OpenNI::enumerateDevices(&ldevs);
deviceURI = ldevs[index].getUri(); // find appropriate device URI
openni::Array<openni::DeviceInfo> ldevs;
if (index > 0)
{
openni::OpenNI::enumerateDevices(&ldevs);
if (index < ldevs.getSize())
deviceURI = ldevs[index].getUri();
else
{
CV_Error(CV_StsError, "OpenCVKinect2: Device index exceeds the number of available OpenNI devices");
}
}
}
else
{
deviceURI = filename;
} }
openni::Status status;
status = device.open(deviceURI); status = device.open(deviceURI);
if( status != openni::STATUS_OK )
{
CV_Error(CV_StsError, cv::format("OpenCVKinect: Device open failed see: %s\n", openni::OpenNI::getExtendedError()));
openni::OpenNI::shutdown();
return;
}
status = toggleStream(CV_DEPTH_STREAM, true);
// Asus XTION and Occipital Structure Sensor do not have an image generator
if (deviceType != DEVICE_ASUS_XTION)
status = openni::Status(status | toggleStream(CV_COLOR_STREAM, true));
if (status != openni::STATUS_OK) if (status != openni::STATUS_OK)
{ {
openni::OpenNI::shutdown(); CV_Error(CV_StsError, std::string("OpenCVKinect2: Failed to open device: ") + openni::OpenNI::getExtendedError());
return;
} }
if (!readCamerasParams()) toggleStream(CV_DEPTH_STREAM, true);
{ if (needColor)
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Could not read cameras parameters\n")); toggleStream(CV_COLOR_STREAM, true);
return; if (needIR)
} toggleStream(CV_IR_STREAM, true);
outputMaps.resize( outputMapsTypesCount );
isContextOpened = true;
setProperty(CV_CAP_PROP_OPENNI_REGISTRATION, 1.0); setProperty(CV_CAP_PROP_OPENNI_REGISTRATION, 1.0);
// default for Kinect2 camera
setProperty(CV_CAP_PROP_OPENNI2_MIRROR, 0.0);
isContextOpened = true;
} }
openni::Status CvCapture_OpenNI2::toggleStream(int stream, bool toggle) CvCapture_OpenNI2::~CvCapture_OpenNI2()
{
for (size_t i = 0; i < streams.size(); ++i)
{
streamFrames[i].release();
streams[i].stop();
streams[i].destroy();
}
device.close();
}
void CvCapture_OpenNI2::toggleStream(int stream, bool toggle)
{ {
openni::Status status; openni::Status status;
// for logging // for logging
static const char* stream_names[CV_MAX_NUM_STREAMS] = { static const std::string stream_names[CV_MAX_NUM_STREAMS] = {
"depth", "depth",
"color", "color",
"IR" "IR"
@ -280,140 +333,92 @@ openni::Status CvCapture_OpenNI2::toggleStream(int stream, bool toggle)
{ {
// already opened // already opened
if (streams[stream].isValid()) if (streams[stream].isValid())
return openni::STATUS_OK; return;
// open stream // open stream
status = streams[stream].create(device, stream_sensor_types[stream]); status = streams[stream].create(device, stream_sensor_types[stream]);
if (status == openni::STATUS_OK) if (status == openni::STATUS_OK)
{ {
// set video mode // try to set up default stream mode (if available)
status = streams[stream].setVideoMode(defaultStreamOutputMode(stream)); // xn::DepthGenerator supports VGA only! (Jan 2011) const openni::Array<openni::VideoMode>& vm = streams[stream].getSensorInfo().getSupportedVideoModes();
if (status != openni::STATUS_OK) openni::VideoMode dm = defaultStreamOutputMode(stream);
for (int i = 0; i < vm.getSize(); i++)
{ {
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't set %s stream output mode: %s\n", if (vm[i].getPixelFormat() == dm.getPixelFormat() &&
stream_names[stream], vm[i].getResolutionX() == dm.getResolutionX() &&
openni::OpenNI::getExtendedError())); vm[i].getResolutionY() == dm.getResolutionY() &&
streams[stream].destroy(); vm[i].getFps() == dm.getFps())
return status; {
status = streams[stream].setVideoMode(defaultStreamOutputMode(stream));
if (status != openni::STATUS_OK)
{
streams[stream].destroy();
CV_Error(CV_StsError, std::string("OpenCVKinect2 : Couldn't set ") +
stream_names[stream] + std::string(" stream output mode: ") +
std::string(openni::OpenNI::getExtendedError()));
}
}
} }
// start stream // start stream
status = streams[stream].start(); status = streams[stream].start();
if (status != openni::STATUS_OK) if (status != openni::STATUS_OK)
{ {
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't start %s stream: %s\n",
stream_names[stream],
openni::OpenNI::getExtendedError()));
streams[stream].destroy(); streams[stream].destroy();
return status; CV_Error(CV_StsError, std::string("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't start ") +
stream_names[stream] + std::string(" stream: ") +
std::string(openni::OpenNI::getExtendedError()));
} }
} }
else else
{ {
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't find %s stream:: %s\n", CV_Error(CV_StsError, std::string("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't find ") +
stream_names[stream], stream_names[stream] + " stream: " +
openni::OpenNI::getExtendedError())); std::string(openni::OpenNI::getExtendedError()));
return status;
} }
} }
else if (streams[stream].isValid()) // want to close stream else if (streams[stream].isValid()) // want to close stream
{ {
streams[stream].stop(); //FIX for libfreenect2
streams[stream].destroy(); //which stops the whole device when stopping only one stream
}
return openni::STATUS_OK; //streams[stream].stop();
//streams[stream].destroy();
}
} }
CvCapture_OpenNI2::CvCapture_OpenNI2(const char * filename)
{
openni::Status status;
isContextOpened = false; void CvCapture_OpenNI2::readCamerasParams()
maxBufferSize = DEFAULT_MAX_BUFFER_SIZE;
isCircleBuffer = DEFAULT_IS_CIRCLE_BUFFER;
maxTimeDuration = DEFAULT_MAX_TIME_DURATION;
// Initialize and configure the context.
status = openni::OpenNI::initialize();
if (status != openni::STATUS_OK)
{
CV_Error(CV_StsError, cv::format("Failed to initialize:", openni::OpenNI::getExtendedError()));
return;
}
// Open file
status = device.open(filename);
if( status != openni::STATUS_OK )
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Failed to open input file (%s): %s\n", filename, openni::OpenNI::getExtendedError()));
return;
}
status = openni::Status(toggleStream(CV_DEPTH_STREAM, true) | toggleStream(CV_COLOR_STREAM, true));
if (status != openni::STATUS_OK)
{
openni::OpenNI::shutdown();
return;
}
if( !readCamerasParams() )
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Could not read cameras parameters\n"));
return;
}
outputMaps.resize( outputMapsTypesCount );
isContextOpened = true;
}
CvCapture_OpenNI2::~CvCapture_OpenNI2()
{
for (int i = 0; i < CV_MAX_NUM_STREAMS; ++i)
{
streamFrames[i].release();
streams[i].stop();
streams[i].destroy();
}
device.close();
openni::OpenNI::shutdown();
}
bool CvCapture_OpenNI2::readCamerasParams()
{ {
double pixelSize = 0; double pixelSize = 0;
if (streams[CV_DEPTH_STREAM].getProperty<double>(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &pixelSize) != openni::STATUS_OK) if (streams[CV_DEPTH_STREAM].getProperty<double>(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &pixelSize) != openni::STATUS_OK)
{ {
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::readCamerasParams : Could not read pixel size!\n")); CV_Error(CV_StsError, "CvCapture_OpenNI2::readCamerasParams : Could not read pixel size!" +
return false; std::string(openni::OpenNI::getExtendedError()));
} }
// pixel size @ VGA = pixel size @ SXGA x 2 // pixel size @ VGA = pixel size @ SXGA x 2
pixelSize *= 2.0; // in mm pixelSize *= 2.0; // in mm
// focal length of IR camera in pixels for VGA resolution // focal length of IR camera in pixels for VGA resolution
int zeroPlanDistance; // in mm unsigned long long zeroPlaneDistance; // in mm
if (streams[CV_DEPTH_STREAM].getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &zeroPlanDistance) != openni::STATUS_OK) if (streams[CV_DEPTH_STREAM].getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &zeroPlaneDistance) != openni::STATUS_OK)
{ {
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::readCamerasParams : Could not read virtual plane distance!\n")); CV_Error(CV_StsError, "CvCapture_OpenNI2::readCamerasParams : Could not read virtual plane distance!" +
return false; std::string(openni::OpenNI::getExtendedError()));
} }
if (streams[CV_DEPTH_STREAM].getProperty<double>(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, &baseline) != openni::STATUS_OK) if (streams[CV_DEPTH_STREAM].getProperty<double>(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, &baseline) != openni::STATUS_OK)
{ {
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::readCamerasParams : Could not read base line!\n")); CV_Error(CV_StsError, "CvCapture_OpenNI2::readCamerasParams : Could not read base line!" +
return false; std::string(openni::OpenNI::getExtendedError()));
} }
// baseline from cm -> mm // baseline from cm -> mm
baseline *= 10; baseline *= 10;
// focal length from mm -> pixels (valid for 640x480) // focal length from mm -> pixels (valid for 640x480)
depthFocalLength_VGA = (int)((double)zeroPlanDistance / (double)pixelSize); depthFocalLength_VGA = (int)((double)zeroPlaneDistance / (double)pixelSize);
return true;
} }
double CvCapture_OpenNI2::getProperty( int propIdx ) const double CvCapture_OpenNI2::getProperty( int propIdx ) const
@ -500,7 +505,7 @@ double CvCapture_OpenNI2::getCommonProperty( int propIdx ) const
break; break;
} }
default : default :
CV_Error( CV_StsBadArg, cv::format("Such parameter (propIdx=%d) isn't supported for getting.\n", propIdx) ); CV_Error( CV_StsBadArg, cv::format("Such parameter (propIdx=%d) isn't supported for getting.", propIdx) );
} }
return propValue; return propValue;
@ -525,14 +530,20 @@ bool CvCapture_OpenNI2::setCommonProperty( int propIdx, double propValue )
// There is a set of properties that correspond to depth generator by default // There is a set of properties that correspond to depth generator by default
// (is they are pass without particular generator flag). // (is they are pass without particular generator flag).
case CV_CAP_PROP_OPENNI_REGISTRATION: case CV_CAP_PROP_OPENNI_REGISTRATION:
isSet = setDepthGeneratorProperty( propIdx, propValue ); isSet = setDepthGeneratorProperty(propIdx, propValue);
break; break;
case CV_CAP_PROP_OPENNI2_SYNC: case CV_CAP_PROP_OPENNI2_SYNC:
isSet = device.setDepthColorSyncEnabled(propValue > 0.0) == openni::STATUS_OK; isSet = device.setDepthColorSyncEnabled(propValue > 0.0) == openni::STATUS_OK;
break; break;
case CV_CAP_PROP_FRAME_WIDTH:
case CV_CAP_PROP_FRAME_HEIGHT:
case CV_CAP_PROP_AUTOFOCUS:
isSet = false;
break;
default: default:
CV_Error( CV_StsBadArg, cv::format("Such parameter (propIdx=%d) isn't supported for setting.\n", propIdx) ); CV_Error(CV_StsBadArg, cv::format("Such parameter (propIdx=%d) isn't supported for setting.", propIdx));
} }
return isSet; return isSet;
@ -565,9 +576,13 @@ double CvCapture_OpenNI2::getDepthGeneratorProperty( int propIdx ) const
propValue = streams[CV_DEPTH_STREAM].getMaxPixelValue(); propValue = streams[CV_DEPTH_STREAM].getMaxPixelValue();
break; break;
case CV_CAP_PROP_OPENNI_BASELINE : case CV_CAP_PROP_OPENNI_BASELINE :
if(baseline <= 0)
const_cast<CvCapture_OpenNI2*>(this)->readCamerasParams();
propValue = baseline; propValue = baseline;
break; break;
case CV_CAP_PROP_OPENNI_FOCAL_LENGTH : case CV_CAP_PROP_OPENNI_FOCAL_LENGTH :
if(depthFocalLength_VGA <= 0)
const_cast<CvCapture_OpenNI2*>(this)->readCamerasParams();
propValue = (double)depthFocalLength_VGA; propValue = (double)depthFocalLength_VGA;
break; break;
case CV_CAP_PROP_OPENNI_REGISTRATION : case CV_CAP_PROP_OPENNI_REGISTRATION :
@ -580,7 +595,7 @@ double CvCapture_OpenNI2::getDepthGeneratorProperty( int propIdx ) const
propValue = streamFrames[CV_DEPTH_STREAM].getFrameIndex(); propValue = streamFrames[CV_DEPTH_STREAM].getFrameIndex();
break; break;
default : default :
CV_Error( CV_StsBadArg, cv::format("Depth generator does not support such parameter (propIdx=%d) for getting.\n", propIdx) ); CV_Error( CV_StsBadArg, cv::format("Depth generator does not support such parameter (propIdx=%d) for getting.", propIdx) );
} }
return propValue; return propValue;
@ -594,7 +609,10 @@ bool CvCapture_OpenNI2::setDepthGeneratorProperty( int propIdx, double propValue
{ {
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT: case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
if (isContextOpened) if (isContextOpened)
isSet = toggleStream(CV_DEPTH_STREAM, propValue > 0.0) == openni::STATUS_OK; {
toggleStream(CV_DEPTH_STREAM, propValue > 0.0);
isSet = true;
}
break; break;
case CV_CAP_PROP_OPENNI_REGISTRATION: case CV_CAP_PROP_OPENNI_REGISTRATION:
{ {
@ -612,12 +630,13 @@ bool CvCapture_OpenNI2::setDepthGeneratorProperty( int propIdx, double propValue
{ {
openni::Status status = device.setImageRegistrationMode(mode); openni::Status status = device.setImageRegistrationMode(mode);
if( status != openni::STATUS_OK ) if( status != openni::STATUS_OK )
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::setDepthGeneratorProperty : %s\n", openni::OpenNI::getExtendedError())); CV_Error(CV_StsError, std::string("CvCapture_OpenNI2::setDepthGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
else else
isSet = true; isSet = true;
} }
else else
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::setDepthGeneratorProperty : Unsupported viewpoint.\n")); CV_Error(CV_StsError, "CvCapture_OpenNI2::setDepthGeneratorProperty: Unsupported viewpoint.");
} }
else else
isSet = true; isSet = true;
@ -627,14 +646,15 @@ bool CvCapture_OpenNI2::setDepthGeneratorProperty( int propIdx, double propValue
{ {
openni::Status status = device.setImageRegistrationMode(openni::IMAGE_REGISTRATION_OFF); openni::Status status = device.setImageRegistrationMode(openni::IMAGE_REGISTRATION_OFF);
if( status != openni::STATUS_OK ) if( status != openni::STATUS_OK )
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::setDepthGeneratorProperty : %s\n", openni::OpenNI::getExtendedError())); CV_Error(CV_StsError, std::string("CvCapture_OpenNI2::setDepthGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
else else
isSet = true; isSet = true;
} }
} }
break; break;
default: default:
CV_Error( CV_StsBadArg, cv::format("Depth generator does not support such parameter (propIdx=%d) for setting.\n", propIdx) ); CV_Error( CV_StsBadArg, cv::format("Depth generator does not support such parameter (propIdx=%d) for setting.", propIdx) );
} }
return isSet; return isSet;
@ -668,7 +688,7 @@ double CvCapture_OpenNI2::getImageGeneratorProperty( int propIdx ) const
propValue = (double)streamFrames[CV_COLOR_STREAM].getFrameIndex(); propValue = (double)streamFrames[CV_COLOR_STREAM].getFrameIndex();
break; break;
default : default :
CV_Error( CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for getting.\n", propIdx) ); CV_Error( CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for getting.", propIdx) );
} }
return propValue; return propValue;
@ -682,7 +702,10 @@ bool CvCapture_OpenNI2::setImageGeneratorProperty(int propIdx, double propValue)
{ {
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT: case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
if (isContextOpened) if (isContextOpened)
isSet = toggleStream(CV_COLOR_STREAM, propValue > 0.0) == openni::STATUS_OK; {
toggleStream(CV_COLOR_STREAM, propValue > 0.0);
isSet = true;
}
break; break;
case CV_CAP_PROP_OPENNI_OUTPUT_MODE : case CV_CAP_PROP_OPENNI_OUTPUT_MODE :
{ {
@ -713,18 +736,19 @@ bool CvCapture_OpenNI2::setImageGeneratorProperty(int propIdx, double propValue)
mode.setFps(60); mode.setFps(60);
break; break;
default : default :
CV_Error( CV_StsBadArg, "Unsupported image generator output mode.\n"); CV_Error( CV_StsBadArg, "Unsupported image generator output mode.");
} }
openni::Status status = streams[CV_COLOR_STREAM].setVideoMode( mode ); openni::Status status = streams[CV_COLOR_STREAM].setVideoMode( mode );
if( status != openni::STATUS_OK ) if( status != openni::STATUS_OK )
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::setImageGeneratorProperty : %s\n", openni::OpenNI::getExtendedError())); CV_Error(CV_StsError, std::string("CvCapture_OpenNI2::setImageGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
else else
isSet = true; isSet = true;
break; break;
} }
default: default:
CV_Error( CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for setting.\n", propIdx) ); CV_Error( CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for setting.", propIdx) );
} }
return isSet; return isSet;
@ -758,7 +782,7 @@ double CvCapture_OpenNI2::getIrGeneratorProperty(int propIdx) const
propValue = (double)streamFrames[CV_IR_STREAM].getFrameIndex(); propValue = (double)streamFrames[CV_IR_STREAM].getFrameIndex();
break; break;
default: default:
CV_Error(CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for getting.\n", propIdx)); CV_Error(CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for getting.", propIdx));
} }
return propValue; return propValue;
@ -772,7 +796,10 @@ bool CvCapture_OpenNI2::setIrGeneratorProperty(int propIdx, double propValue)
{ {
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT: case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT:
if (isContextOpened) if (isContextOpened)
isSet = toggleStream(CV_IR_STREAM, propValue > 0.0) == openni::STATUS_OK; {
toggleStream(CV_IR_STREAM, propValue > 0.0);
isSet = true;
}
break; break;
case CV_CAP_PROP_OPENNI_OUTPUT_MODE: case CV_CAP_PROP_OPENNI_OUTPUT_MODE:
{ {
@ -803,18 +830,19 @@ bool CvCapture_OpenNI2::setIrGeneratorProperty(int propIdx, double propValue)
mode.setFps(60); mode.setFps(60);
break; break;
default: default:
CV_Error(CV_StsBadArg, "Unsupported image generator output mode.\n"); CV_Error(CV_StsBadArg, "Unsupported image generator output mode.");
} }
openni::Status status = streams[CV_IR_STREAM].setVideoMode(mode); openni::Status status = streams[CV_IR_STREAM].setVideoMode(mode);
if (status != openni::STATUS_OK) if (status != openni::STATUS_OK)
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::setImageGeneratorProperty : %s\n", openni::OpenNI::getExtendedError())); CV_Error(CV_StsError, std::string("CvCapture_OpenNI2::setImageGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
else else
isSet = true; isSet = true;
break; break;
} }
default: default:
CV_Error(CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for setting.\n", propIdx)); CV_Error(CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for setting.", propIdx));
} }
return isSet; return isSet;
@ -931,10 +959,12 @@ IplImage* CvCapture_OpenNI2::retrieveDisparityMap()
if (!streamFrames[CV_DEPTH_STREAM].isValid()) if (!streamFrames[CV_DEPTH_STREAM].isValid())
return 0; return 0;
readCamerasParams();
cv::Mat disp32; cv::Mat disp32;
computeDisparity_32F(streamFrames[CV_DEPTH_STREAM], disp32, baseline, depthFocalLength_VGA, noSampleValue, shadowValue); computeDisparity_32F(streamFrames[CV_DEPTH_STREAM], disp32, baseline, depthFocalLength_VGA, noSampleValue, shadowValue);
disp32.convertTo( outputMaps[CV_CAP_OPENNI_DISPARITY_MAP].mat, CV_8UC1 ); disp32.convertTo(outputMaps[CV_CAP_OPENNI_DISPARITY_MAP].mat, CV_8UC1);
return outputMaps[CV_CAP_OPENNI_DISPARITY_MAP].getIplImagePtr(); return outputMaps[CV_CAP_OPENNI_DISPARITY_MAP].getIplImagePtr();
} }
@ -944,6 +974,8 @@ IplImage* CvCapture_OpenNI2::retrieveDisparityMap_32F()
if (!streamFrames[CV_DEPTH_STREAM].isValid()) if (!streamFrames[CV_DEPTH_STREAM].isValid())
return 0; return 0;
readCamerasParams();
computeDisparity_32F(streamFrames[CV_DEPTH_STREAM], outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].mat, baseline, depthFocalLength_VGA, noSampleValue, shadowValue); computeDisparity_32F(streamFrames[CV_DEPTH_STREAM], outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].mat, baseline, depthFocalLength_VGA, noSampleValue, shadowValue);
return outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].getIplImagePtr(); return outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].getIplImagePtr();
@ -966,7 +998,7 @@ inline void getBGRImageFromMetaData( const openni::VideoFrameRef& imageMetaData,
{ {
cv::Mat bufferImage; cv::Mat bufferImage;
if( imageMetaData.getVideoMode().getPixelFormat() != openni::PIXEL_FORMAT_RGB888 ) if( imageMetaData.getVideoMode().getPixelFormat() != openni::PIXEL_FORMAT_RGB888 )
CV_Error( CV_StsUnsupportedFormat, "Unsupported format of grabbed image\n" ); CV_Error( CV_StsUnsupportedFormat, "Unsupported format of grabbed image." );
bgrImage.create(imageMetaData.getHeight(), imageMetaData.getWidth(), CV_8UC3); bgrImage.create(imageMetaData.getHeight(), imageMetaData.getWidth(), CV_8UC3);
bufferImage.create(imageMetaData.getHeight(), imageMetaData.getWidth(), CV_8UC3); bufferImage.create(imageMetaData.getHeight(), imageMetaData.getWidth(), CV_8UC3);
@ -989,7 +1021,7 @@ inline void getGrayImageFromMetaData(const openni::VideoFrameRef& imageMetaData,
} }
else else
{ {
CV_Error(CV_StsUnsupportedFormat, "Unsupported format of grabbed image\n"); CV_Error(CV_StsUnsupportedFormat, "Unsupported format of grabbed image.");
} }
} }