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Print warning, but not throw exceptions in cv::VideoCapture for OpenNI2.

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This commit is contained in:
Alexander Smorkalov 2023-11-20 13:55:32 +03:00
parent a478757483
commit 23481b716b
1 changed files with 54 additions and 34 deletions
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88
modules/videoio/src/cap_openni2.cpp
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@ -150,7 +150,7 @@ protected:
IplImage* retrieveIrImage();
void toggleStream(int stream, bool toggle);
void readCamerasParams();
bool readCamerasParams();
double getDepthGeneratorProperty(int propIdx) const;
bool setDepthGeneratorProperty(int propIdx, double propVal);
@ -396,13 +396,14 @@ void CvCapture_OpenNI2::toggleStream(int stream, bool toggle)
}
void CvCapture_OpenNI2::readCamerasParams()
bool CvCapture_OpenNI2::readCamerasParams()
{
double pixelSize = 0;
if (streams[CV_DEPTH_STREAM].getProperty<double>(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &pixelSize) != openni::STATUS_OK)
{
CV_Error(CV_StsError, "CvCapture_OpenNI2::readCamerasParams : Could not read pixel size!" +
std::string(openni::OpenNI::getExtendedError()));
CV_LOG_ERROR(NULL, "CvCapture_OpenNI2::readCamerasParams : Could not read pixel size!" +
std::string(openni::OpenNI::getExtendedError()));
return false;
}
// pixel size @ VGA = pixel size @ SXGA x 2
@ -412,14 +413,16 @@ void CvCapture_OpenNI2::readCamerasParams()
unsigned long long zeroPlaneDistance; // in mm
if (streams[CV_DEPTH_STREAM].getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &zeroPlaneDistance) != openni::STATUS_OK)
{
CV_Error(CV_StsError, "CvCapture_OpenNI2::readCamerasParams : Could not read virtual plane distance!" +
std::string(openni::OpenNI::getExtendedError()));
CV_LOG_ERROR(NULL, "CvCapture_OpenNI2::readCamerasParams : Could not read virtual plane distance!" +
std::string(openni::OpenNI::getExtendedError()));
return false;
}
if (streams[CV_DEPTH_STREAM].getProperty<double>(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, &baseline) != openni::STATUS_OK)
{
CV_Error(CV_StsError, "CvCapture_OpenNI2::readCamerasParams : Could not read base line!" +
std::string(openni::OpenNI::getExtendedError()));
CV_LOG_ERROR(NULL, "CvCapture_OpenNI2::readCamerasParams : Could not read base line!" +
std::string(openni::OpenNI::getExtendedError()));
return false;
}
// baseline from cm -> mm
@ -427,6 +430,8 @@ void CvCapture_OpenNI2::readCamerasParams()
// focal length from mm -> pixels (valid for 640x480)
depthFocalLength_VGA = (int)((double)zeroPlaneDistance / (double)pixelSize);
return true;
}
double CvCapture_OpenNI2::getProperty( int propIdx ) const
@ -513,7 +518,7 @@ double CvCapture_OpenNI2::getCommonProperty( int propIdx ) const
break;
}
default :
CV_Error( CV_StsBadArg, cv::format("Such parameter (propIdx=%d) isn't supported for getting.", propIdx) );
CV_LOG_WARNING( NULL, cv::format("Such parameter (propIdx=%d) isn't supported for getting.", propIdx) );
}
return propValue;
@ -551,7 +556,7 @@ bool CvCapture_OpenNI2::setCommonProperty( int propIdx, double propValue )
break;
default:
CV_Error(CV_StsBadArg, cv::format("Such parameter (propIdx=%d) isn't supported for setting.", propIdx));
CV_LOG_WARNING(NULL, cv::format("Such parameter (propIdx=%d) isn't supported for setting.", propIdx));
}
return isSet;
@ -585,12 +590,14 @@ double CvCapture_OpenNI2::getDepthGeneratorProperty( int propIdx ) const
break;
case CV_CAP_PROP_OPENNI_BASELINE :
if(baseline <= 0)
const_cast<CvCapture_OpenNI2*>(this)->readCamerasParams();
if (!const_cast<CvCapture_OpenNI2*>(this)->readCamerasParams())
return 0;
propValue = baseline;
break;
case CV_CAP_PROP_OPENNI_FOCAL_LENGTH :
if(depthFocalLength_VGA <= 0)
const_cast<CvCapture_OpenNI2*>(this)->readCamerasParams();
if (!const_cast<CvCapture_OpenNI2*>(this)->readCamerasParams())
return 0;
propValue = (double)depthFocalLength_VGA;
break;
case CV_CAP_PROP_OPENNI_REGISTRATION :
@ -603,7 +610,7 @@ double CvCapture_OpenNI2::getDepthGeneratorProperty( int propIdx ) const
propValue = streamFrames[CV_DEPTH_STREAM].getFrameIndex();
break;
default :
CV_Error( CV_StsBadArg, cv::format("Depth generator does not support such parameter (propIdx=%d) for getting.", propIdx) );
CV_LOG_WARNING( NULL, cv::format("Depth generator does not support such parameter (propIdx=%d) for getting.", propIdx) );
}
return propValue;
@ -638,13 +645,17 @@ bool CvCapture_OpenNI2::setDepthGeneratorProperty( int propIdx, double propValue
{
openni::Status status = device.setImageRegistrationMode(mode);
if( status != openni::STATUS_OK )
CV_Error(CV_StsError, std::string("CvCapture_OpenNI2::setDepthGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
{
CV_LOG_ERROR(NULL, std::string("CvCapture_OpenNI2::setDepthGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
}
else
isSet = true;
}
else
CV_Error(CV_StsError, "CvCapture_OpenNI2::setDepthGeneratorProperty: Unsupported viewpoint.");
{
CV_LOG_ERROR(NULL, "CvCapture_OpenNI2::setDepthGeneratorProperty: Unsupported viewpoint.");
}
}
else
isSet = true;
@ -654,15 +665,17 @@ bool CvCapture_OpenNI2::setDepthGeneratorProperty( int propIdx, double propValue
{
openni::Status status = device.setImageRegistrationMode(openni::IMAGE_REGISTRATION_OFF);
if( status != openni::STATUS_OK )
CV_Error(CV_StsError, std::string("CvCapture_OpenNI2::setDepthGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
{
CV_LOG_ERROR(NULL, std::string("CvCapture_OpenNI2::setDepthGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
}
else
isSet = true;
}
}
break;
default:
CV_Error( CV_StsBadArg, cv::format("Depth generator does not support such parameter (propIdx=%d) for setting.", propIdx) );
CV_LOG_WARNING( NULL, cv::format("OpenNI2: Depth generator does not support such parameter (propIdx=%d) for setting.", propIdx) );
}
return isSet;
@ -696,7 +709,7 @@ double CvCapture_OpenNI2::getImageGeneratorProperty( int propIdx ) const
propValue = (double)streamFrames[CV_COLOR_STREAM].getFrameIndex();
break;
default :
CV_Error( CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for getting.", propIdx) );
CV_LOG_WARNING( NULL, cv::format("OpenNI2: Image generator does not support such parameter (propIdx=%d) for getting.", propIdx) );
}
return propValue;
@ -744,19 +757,22 @@ bool CvCapture_OpenNI2::setImageGeneratorProperty(int propIdx, double propValue)
mode.setFps(60);
break;
default :
CV_Error( CV_StsBadArg, "Unsupported image generator output mode.");
CV_LOG_WARNING( NULL, "Unsupported image generator output mode.");
return false;
}
openni::Status status = streams[CV_COLOR_STREAM].setVideoMode( mode );
if( status != openni::STATUS_OK )
CV_Error(CV_StsError, std::string("CvCapture_OpenNI2::setImageGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
{
CV_LOG_ERROR(NULL, std::string("CvCapture_OpenNI2::setImageGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
}
else
isSet = true;
break;
}
default:
CV_Error( CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for setting.", propIdx) );
CV_LOG_WARNING( NULL, cv::format("Image generator does not support such parameter (propIdx=%d) for setting.", propIdx) );
}
return isSet;
@ -790,7 +806,7 @@ double CvCapture_OpenNI2::getIrGeneratorProperty(int propIdx) const
propValue = (double)streamFrames[CV_IR_STREAM].getFrameIndex();
break;
default:
CV_Error(CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for getting.", propIdx));
CV_LOG_WARNING(NULL, cv::format("Image generator does not support such parameter (propIdx=%d) for getting.", propIdx));
}
return propValue;
@ -838,19 +854,21 @@ bool CvCapture_OpenNI2::setIrGeneratorProperty(int propIdx, double propValue)
mode.setFps(60);
break;
default:
CV_Error(CV_StsBadArg, "Unsupported image generator output mode.");
CV_LOG_WARNING(NULL, "Unsupported image generator output mode.");
}
openni::Status status = streams[CV_IR_STREAM].setVideoMode(mode);
if (status != openni::STATUS_OK)
CV_Error(CV_StsError, std::string("CvCapture_OpenNI2::setImageGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
{
CV_LOG_ERROR(NULL, std::string("CvCapture_OpenNI2::setImageGeneratorProperty: ") +
std::string(openni::OpenNI::getExtendedError()));
}
else
isSet = true;
break;
}
default:
CV_Error(CV_StsBadArg, cv::format("Image generator does not support such parameter (propIdx=%d) for setting.", propIdx));
CV_LOG_WARNING(NULL, cv::format("Image generator does not support such parameter (propIdx=%d) for setting.", propIdx));
}
return isSet;
@ -965,9 +983,10 @@ static void computeDisparity_32F( const openni::VideoFrameRef& depthMetaData, cv
IplImage* CvCapture_OpenNI2::retrieveDisparityMap()
{
if (!streamFrames[CV_DEPTH_STREAM].isValid())
return 0;
return nullptr;
readCamerasParams();
if (!readCamerasParams())
return nullptr;
cv::Mat disp32;
computeDisparity_32F(streamFrames[CV_DEPTH_STREAM], disp32, baseline, depthFocalLength_VGA, noSampleValue, shadowValue);
@ -980,9 +999,10 @@ IplImage* CvCapture_OpenNI2::retrieveDisparityMap()
IplImage* CvCapture_OpenNI2::retrieveDisparityMap_32F()
{
if (!streamFrames[CV_DEPTH_STREAM].isValid())
return 0;
return nullptr;
readCamerasParams();
if (!readCamerasParams())
return nullptr;
computeDisparity_32F(streamFrames[CV_DEPTH_STREAM], outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].mat, baseline, depthFocalLength_VGA, noSampleValue, shadowValue);
@ -992,7 +1012,7 @@ IplImage* CvCapture_OpenNI2::retrieveDisparityMap_32F()
IplImage* CvCapture_OpenNI2::retrieveValidDepthMask()
{
if (!streamFrames[CV_DEPTH_STREAM].isValid())
return 0;
return nullptr;
cv::Mat d;
getDepthMapFromMetaData(streamFrames[CV_DEPTH_STREAM], d, noSampleValue, shadowValue);