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Merge pull request #24877 from zzuliys:feature/mac
Orbbec Camera supports MacOS，Gemini2 and Gemini2L support Y16 format #24877 note: 1.Gemini2 and Gemini2L must use the latest firmware -- https://github.com/orbbec/OrbbecFirmware; 2.Administrator privileges are necessary to run on MacOS.
This commit is contained in:
zzuliys
GitHub
parent
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commit
2b9d1a2ff8
18
3rdparty/orbbecsdk/orbbecsdk.cmake
vendored
Normal file
18
3rdparty/orbbecsdk/orbbecsdk.cmake
vendored
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@ -0,0 +1,18 @@
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function(download_orbbec_sdk root_var)
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set(ORBBECSDK_DOWNLOAD_DIR "${OpenCV_BINARY_DIR}/3rdparty/orbbecsdk")
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set(ORBBECSDK_FILE_HASH_CMAKE "2624c84837d3416fd8b3e95750e6e725")
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ocv_download(FILENAME "v1.9.4.tar.gz"
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HASH ${ORBBECSDK_FILE_HASH_CMAKE}
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URL "https://github.com/orbbec/OrbbecSDK/archive/refs/tags/v1.9.4/"
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DESTINATION_DIR ${ORBBECSDK_DOWNLOAD_DIR}
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ID OrbbecSDK
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STATUS res
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UNPACK RELATIVE_URL
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)
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if(${res})
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message(STATUS "orbbec sdk downloaded to: ${ORBBECSDK_DOWNLOAD_DIR}")
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set(${root_var} "${ORBBECSDK_DOWNLOAD_DIR}/OrbbecSDK-1.9.4" PARENT_SCOPE)
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else()
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message(FATAL_ERROR "Failed to download orbbec sdk")
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endif()
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endfunction()
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@ -478,9 +478,11 @@ OCV_OPTION(WITH_ONNX "Include Microsoft ONNX Runtime support" OFF
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OCV_OPTION(WITH_TIMVX "Include Tim-VX support" OFF
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VISIBLE_IF TRUE
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VERIFY HAVE_TIMVX)
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# attention: Astra2, Gemini2, and Gemini2L cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
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OCV_OPTION(WITH_OBSENSOR "Include obsensor support (Orbbec RGB-D modules: Astra+/Femto)" ON
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VISIBLE_IF (WIN32 AND NOT ARM AND NOT WINRT AND NOT MINGW) OR ( UNIX AND NOT APPLE AND NOT ANDROID)
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# Attention when OBSENSOR_USE_ORBBEC_SDK set to off:
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# Astra2 cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
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OCV_OPTION(OBSENSOR_USE_ORBBEC_SDK "Use Orbbec SDK as backend to support more camera models and platforms (force to ON on MacOS)" OFF)
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OCV_OPTION(WITH_OBSENSOR "Include obsensor support (Orbbec 3D Cameras)" ON
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VISIBLE_IF (WIN32 AND NOT ARM AND NOT WINRT AND NOT MINGW) OR ( UNIX AND NOT APPLE AND NOT ANDROID) OR (APPLE AND AARCH64 AND NOT IOS)
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VERIFY HAVE_OBSENSOR)
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OCV_OPTION(WITH_CANN "Include CANN support" OFF
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VISIBLE_IF TRUE
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@ -236,25 +236,31 @@ if(TARGET ocv.3rdparty.android_native_camera)
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endif()
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if(TARGET ocv.3rdparty.obsensor)
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list(APPEND videoio_srcs
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor_capture.cpp)
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list(APPEND videoio_hdrs
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor_capture.hpp
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_interface.hpp)
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if(HAVE_OBSENSOR_MSMF)
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if(OBSENSOR_USE_ORBBEC_SDK)
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list(APPEND videoio_srcs
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_msmf.cpp)
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list(APPEND videoio_hdrs
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.hpp
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_msmf.hpp)
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elseif(HAVE_OBSENSOR_V4L2)
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor_liborbbec.hpp
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor_liborbbec.cpp)
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else()
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list(APPEND videoio_srcs
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_v4l2.cpp)
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor_capture.cpp)
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list(APPEND videoio_hdrs
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.hpp
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_v4l2.hpp)
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor_capture.hpp
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_interface.hpp)
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if(HAVE_OBSENSOR_MSMF)
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list(APPEND videoio_srcs
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_msmf.cpp)
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list(APPEND videoio_hdrs
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.hpp
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_msmf.hpp)
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elseif(HAVE_OBSENSOR_V4L2)
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list(APPEND videoio_srcs
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_v4l2.cpp)
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list(APPEND videoio_hdrs
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.hpp
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${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_v4l2.hpp)
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endif()
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endif()
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list(APPEND tgts ocv.3rdparty.obsensor)
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endif()
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@ -1,28 +1,54 @@
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# --- obsensor ---
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if(NOT HAVE_OBSENSOR)
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if(WIN32)
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check_include_file(mfapi.h HAVE_MFAPI)
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check_include_file(vidcap.h HAVE_VIDCAP)
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if(HAVE_MFAPI AND HAVE_VIDCAP)
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set(HAVE_OBSENSOR TRUE)
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set(HAVE_OBSENSOR_MSMF TRUE)
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ocv_add_external_target(obsensor "" "" "HAVE_OBSENSOR;HAVE_OBSENSOR_MSMF")
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else()
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set(HAVE_OBSENSOR OFF)
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set(HAVE_OBSENSOR_MSMF OFF)
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if(NOT HAVE_MFAPI)
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MESSAGE(STATUS "Could not find mfapi.h. Turning HAVE_OBSENSOR OFF")
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endif()
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if(NOT HAVE_VIDCAP)
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MESSAGE(STATUS "Could not find vidcap.h. Turning HAVE_OBSENSOR OFF")
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if(APPLE)
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# force to use orbbec sdk on mac
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set(OBSENSOR_USE_ORBBEC_SDK ON)
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endif()
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if(OBSENSOR_USE_ORBBEC_SDK)
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include(${CMAKE_SOURCE_DIR}/3rdparty/orbbecsdk/orbbecsdk.cmake)
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download_orbbec_sdk(ORBBEC_SDK_ROOT_DIR)
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message(STATUS "ORBBEC_SDK_ROOT_DIR: ${ORBBEC_SDK_ROOT_DIR}")
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if(ORBBEC_SDK_ROOT_DIR)
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set(OrbbecSDK_DIR "${ORBBEC_SDK_ROOT_DIR}")
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find_package(OrbbecSDK REQUIRED)
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message(STATUS "OrbbecSDK_FOUND: ${OrbbecSDK_FOUND}")
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message(STATUS "OrbbecSDK_INCLUDE_DIRS: ${OrbbecSDK_INCLUDE_DIRS}")
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if(OrbbecSDK_FOUND)
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set(HAVE_OBSENSOR TRUE)
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set(HAVE_OBSENSOR_ORBBEC_SDK TRUE)
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ocv_add_external_target(obsensor "${OrbbecSDK_INCLUDE_DIRS}" "${OrbbecSDK_LIBRARY}" "HAVE_OBSENSOR;HAVE_OBSENSOR_ORBBEC_SDK")
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file(COPY ${OrbbecSDK_DLL_FILES} DESTINATION ${CMAKE_BINARY_DIR}/bin)
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file(COPY ${OrbbecSDK_DLL_FILES} DESTINATION ${CMAKE_BINARY_DIR}/lib)
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install(FILES ${OrbbecSDK_DLL_FILES} DESTINATION ${OPENCV_LIB_INSTALL_PATH})
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ocv_install_3rdparty_licenses(OrbbecSDK ${OrbbecSDK_DIR}/LICENSE.txt)
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endif()
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endif()
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elseif(UNIX)
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check_include_file(linux/videodev2.h HAVE_CAMV4L2_OBSENSOR)
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if(HAVE_CAMV4L2_OBSENSOR)
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set(HAVE_OBSENSOR TRUE)
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set(HAVE_OBSENSOR_V4L2 TRUE)
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ocv_add_external_target(obsensor "" "" "HAVE_OBSENSOR;HAVE_OBSENSOR_V4L2")
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else()
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if(WIN32)
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check_include_file(mfapi.h HAVE_MFAPI)
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check_include_file(vidcap.h HAVE_VIDCAP)
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if(HAVE_MFAPI AND HAVE_VIDCAP)
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set(HAVE_OBSENSOR TRUE)
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set(HAVE_OBSENSOR_MSMF TRUE)
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ocv_add_external_target(obsensor "" "" "HAVE_OBSENSOR;HAVE_OBSENSOR_MSMF")
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else()
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set(HAVE_OBSENSOR OFF)
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set(HAVE_OBSENSOR_MSMF OFF)
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if(NOT HAVE_MFAPI)
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MESSAGE(STATUS "Could not find mfapi.h. Turning HAVE_OBSENSOR OFF")
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endif()
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if(NOT HAVE_VIDCAP)
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MESSAGE(STATUS "Could not find vidcap.h. Turning HAVE_OBSENSOR OFF")
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endif()
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endif()
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elseif(UNIX)
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check_include_file(linux/videodev2.h HAVE_CAMV4L2_OBSENSOR)
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if(HAVE_CAMV4L2_OBSENSOR)
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set(HAVE_OBSENSOR TRUE)
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set(HAVE_OBSENSOR_V4L2 TRUE)
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ocv_add_external_target(obsensor "" "" "HAVE_OBSENSOR;HAVE_OBSENSOR_V4L2")
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endif()
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endif()
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endif()
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endif()
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@ -128,7 +128,7 @@ enum VideoCaptureAPIs {
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CAP_INTEL_MFX = 2300, //!< Intel MediaSDK
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CAP_XINE = 2400, //!< XINE engine (Linux)
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CAP_UEYE = 2500, //!< uEye Camera API
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CAP_OBSENSOR = 2600, //!< For Orbbec 3D-Sensor device/module (Astra+, Femto, Astra2, Gemini2, Gemini2L, Gemini2XL, Femto Mega) attention: Astra2, Gemini2, and Gemini2L cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
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CAP_OBSENSOR = 2600, //!< For Orbbec 3D-Sensor device/module (Astra+, Femto, Astra2, Gemini2, Gemini2L, Gemini2XL, Femto Mega) attention: Astra2 cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
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};
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@ -316,14 +316,14 @@ bool IUvcStreamChannel::getProperty(int propId, uint8_t* recvData, uint32_t* rec
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if(OBSENSOR_GEMINI2_PID == devInfo_.pid){
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// return default param
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CameraParam param;
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param.p0[0] = 516.652f;
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param.p0[1] = 516.692f;
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param.p0[2] = 322.988f;
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param.p0[3] = 235.787f;
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param.p1[0] = 516.652f;
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param.p1[1] = 516.692f;
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param.p1[2] = 322.988f;
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param.p1[3] = 235.787f;
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param.p0[0] = 519.342f;
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param.p0[1] = 519.043f;
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param.p0[2] = 319.41f;
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param.p0[3] = 240.839f;
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param.p1[0] = 519.342f;
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param.p1[1] = 519.043f;
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param.p1[2] = 319.41f;
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param.p1[3] = 240.839f;
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param.p6[0] = 640;
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param.p6[1] = 480;
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param.p7[0] = 640;
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@ -421,7 +421,7 @@ bool IUvcStreamChannel::getProperty(int propId, uint8_t* recvData, uint32_t* rec
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bool IUvcStreamChannel::initDepthFrameProcessor()
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{
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if(OBSENSOR_GEMINI2_PID == devInfo_.pid || OBSENSOR_ASTRA2_PID == devInfo_.pid || OBSENSOR_GEMINI2L_PID == devInfo_.pid){
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if( OBSENSOR_ASTRA2_PID == devInfo_.pid){
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uint8_t* rcvData;
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uint32_t rcvLen;
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@ -433,7 +433,19 @@ bool IUvcStreamChannel::initDepthFrameProcessor()
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depthFrameProcessor_ = makePtr<DepthFrameUnpacker>();
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return true;
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}else if(OBSENSOR_GEMINI2XL_PID == devInfo_.pid){
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}
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else if(OBSENSOR_GEMINI2_PID == devInfo_.pid || OBSENSOR_GEMINI2L_PID == devInfo_.pid){
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uint8_t* rcvData;
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uint32_t rcvLen;
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setXu(2, OB_EXT_CMD7, sizeof(OB_EXT_CMD7));
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getXu(2, &rcvData, &rcvLen);
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setXu(2, OB_EXT_CMD9, sizeof(OB_EXT_CMD9));
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getXu(2, &rcvData, &rcvLen);
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return true;
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}
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else if(OBSENSOR_GEMINI2XL_PID == devInfo_.pid){
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uint8_t* rcvData;
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uint32_t rcvLen;
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@ -445,7 +457,7 @@ bool IUvcStreamChannel::initDepthFrameProcessor()
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return true;
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}
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else if (streamType_ == OBSENSOR_STREAM_DEPTH && setXu(2, OB_EXT_CMD4, sizeof(OB_EXT_CMD4)))
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else if(streamType_ == OBSENSOR_STREAM_DEPTH && setXu(2, OB_EXT_CMD4, sizeof(OB_EXT_CMD4)))
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{
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uint8_t* rcvData;
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uint32_t rcvLen;
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@ -23,7 +23,8 @@
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#include "cap_obsensor_capture.hpp"
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#include "cap_obsensor/obsensor_stream_channel_interface.hpp"
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#ifdef HAVE_OBSENSOR
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#if defined(HAVE_OBSENSOR) && !defined(HAVE_OBSENSOR_ORBBEC_SDK)
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namespace cv {
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Ptr<IVideoCapture> create_obsensor_capture(int index)
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{
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@ -34,13 +35,13 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
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{
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static const obsensor::StreamProfile colorProfile = { 640, 480, 30, obsensor::FRAME_FORMAT_MJPG };
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static const obsensor::StreamProfile depthProfile = {640, 480, 30, obsensor::FRAME_FORMAT_Y16};
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static const obsensor::StreamProfile gemini2DepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y14};
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static const obsensor::StreamProfile gemini2DepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y16};
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static const obsensor::StreamProfile astra2ColorProfile = {800, 600, 30, obsensor::FRAME_FORMAT_MJPG};
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static const obsensor::StreamProfile astra2DepthProfile = {800, 600, 30, obsensor::FRAME_FORMAT_Y14};
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static const obsensor::StreamProfile megaColorProfile = {1280, 720, 30, obsensor::FRAME_FORMAT_MJPG};
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static const obsensor::StreamProfile megaDepthProfile = {640, 576, 30, obsensor::FRAME_FORMAT_Y16};
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static const obsensor::StreamProfile gemini2lColorProfile = { 1280, 720, 30, obsensor::FRAME_FORMAT_MJPG};
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static const obsensor::StreamProfile gemini2lDepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y14};
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static const obsensor::StreamProfile gemini2lDepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y16};
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static const obsensor::StreamProfile gemini2XlColorProfile = { 1280, 800, 10, obsensor::FRAME_FORMAT_MJPG};
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static const obsensor::StreamProfile gemini2XlDepthProfile = {1280, 800, 10, obsensor::FRAME_FORMAT_Y16};
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@ -143,19 +144,22 @@ bool VideoCapture_obsensor::retrieveFrame(int outputType, OutputArray frame)
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if (!grabbedDepthFrame_.empty())
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{
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if(OBSENSOR_GEMINI2_PID == streamChannelGroup_.front()->getPid()){
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grabbedDepthFrame_ = grabbedDepthFrame_*0.8;
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const double DepthValueScaleGemini2 = 0.2;
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grabbedDepthFrame_ = grabbedDepthFrame_*DepthValueScaleGemini2;
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Rect rect(320, 160, 640, 480);
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grabbedDepthFrame_(rect).copyTo(frame);
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}
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else if(OBSENSOR_ASTRA2_PID == streamChannelGroup_.front()->getPid()){
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grabbedDepthFrame_ = grabbedDepthFrame_*0.8;
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const double DepthValueScaleAstra2 = 0.8;
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grabbedDepthFrame_ = grabbedDepthFrame_*DepthValueScaleAstra2;
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grabbedDepthFrame_.copyTo(frame);
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}
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else if(OBSENSOR_FEMTO_MEGA_PID == streamChannelGroup_.front()->getPid()){
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Rect rect(0, 0, 640, 360);
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grabbedDepthFrame_(rect).copyTo(frame);
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}else if(OBSENSOR_GEMINI2L_PID == streamChannelGroup_.front()->getPid()){
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grabbedDepthFrame_ = grabbedDepthFrame_*0.8;
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const double DepthValueScaleGemini2L = 0.2;
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grabbedDepthFrame_ = grabbedDepthFrame_*DepthValueScaleGemini2L;
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Rect rect(0, 40, 1280, 720);
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grabbedDepthFrame_(rect).copyTo(frame);
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}else if(OBSENSOR_GEMINI2XL_PID == streamChannelGroup_.front()->getPid()){
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@ -28,7 +28,8 @@
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#include "cap_obsensor/obsensor_stream_channel_interface.hpp"
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#ifdef HAVE_OBSENSOR
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#if defined(HAVE_OBSENSOR) && !defined(HAVE_OBSENSOR_ORBBEC_SDK)
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namespace cv {
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class VideoCapture_obsensor : public IVideoCapture
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{
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154
modules/videoio/src/cap_obsensor_liborbbec.cpp
Normal file
154
modules/videoio/src/cap_obsensor_liborbbec.cpp
Normal file
@ -0,0 +1,154 @@
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// This file is part of OpenCV project.
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||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html.
|
||||
|
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/*
|
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* Copyright(C) 2024 by ORBBEC Technology., Inc.
|
||||
* Authors:
|
||||
* Huang Zhenchang <yufeng@orbbec.com>
|
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* Yu Shuai <daiyin@orbbec.com>
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the "License");
|
||||
* you may not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS,
|
||||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "precomp.hpp"
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||||
|
||||
#if defined(HAVE_OBSENSOR) && defined(HAVE_OBSENSOR_ORBBEC_SDK)
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#include "libobsensor/ObSensor.hpp"
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#include "cap_obsensor_liborbbec.hpp"
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|
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namespace cv
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{
|
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Ptr<IVideoCapture> create_obsensor_capture(int index)
|
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{
|
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return makePtr<VideoCapture_obsensor>(index);
|
||||
}
|
||||
|
||||
VideoCapture_obsensor::VideoCapture_obsensor(int)
|
||||
{
|
||||
ob::Context::setLoggerToFile(OB_LOG_SEVERITY_OFF, "");
|
||||
config = std::make_shared<ob::Config>();
|
||||
pipe = std::make_shared<ob::Pipeline>();
|
||||
auto colorProfiles = pipe->getStreamProfileList(OB_SENSOR_COLOR);
|
||||
auto colorProfile = colorProfiles->getProfile(OB_PROFILE_DEFAULT);
|
||||
config->enableStream(colorProfile->as<ob::VideoStreamProfile>());
|
||||
|
||||
auto depthProfiles = pipe->getStreamProfileList(OB_SENSOR_DEPTH);
|
||||
auto depthProfile = depthProfiles->getProfile(OB_PROFILE_DEFAULT);
|
||||
config->enableStream(depthProfile->as<ob::VideoStreamProfile>());
|
||||
|
||||
config->setAlignMode(ALIGN_D2C_SW_MODE);
|
||||
|
||||
pipe->start(config, [&](std::shared_ptr<ob::FrameSet> frameset) {
|
||||
std::unique_lock<std::mutex> lk(videoFrameMutex);
|
||||
colorFrame = frameset->colorFrame();
|
||||
depthFrame = frameset->depthFrame();
|
||||
});
|
||||
|
||||
auto param = pipe->getCameraParam();
|
||||
camParam.p1[0] = param.rgbIntrinsic.fx;
|
||||
camParam.p1[1] = param.rgbIntrinsic.fy;
|
||||
camParam.p1[2] = param.rgbIntrinsic.cx;
|
||||
camParam.p1[3] = param.rgbIntrinsic.cy;
|
||||
}
|
||||
|
||||
VideoCapture_obsensor::~VideoCapture_obsensor(){
|
||||
pipe->stop();
|
||||
}
|
||||
|
||||
double VideoCapture_obsensor::getProperty(int propIdx) const
|
||||
{
|
||||
double rst = 0.0;
|
||||
propIdx = propIdx & (~CAP_OBSENSOR_GENERATORS_MASK);
|
||||
switch (propIdx)
|
||||
{
|
||||
case CAP_PROP_OBSENSOR_INTRINSIC_FX:
|
||||
rst = camParam.p1[0];
|
||||
break;
|
||||
case CAP_PROP_OBSENSOR_INTRINSIC_FY:
|
||||
rst = camParam.p1[1];
|
||||
break;
|
||||
case CAP_PROP_OBSENSOR_INTRINSIC_CX:
|
||||
rst = camParam.p1[2];
|
||||
break;
|
||||
case CAP_PROP_OBSENSOR_INTRINSIC_CY:
|
||||
rst = camParam.p1[3];
|
||||
break;
|
||||
}
|
||||
return rst;
|
||||
}
|
||||
|
||||
bool VideoCapture_obsensor::setProperty(int, double)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
bool VideoCapture_obsensor::grabFrame()
|
||||
{
|
||||
std::unique_lock<std::mutex> lk(videoFrameMutex);
|
||||
grabbedColorFrame = colorFrame;
|
||||
grabbedDepthFrame = depthFrame;
|
||||
|
||||
return grabbedColorFrame || grabbedDepthFrame;
|
||||
}
|
||||
|
||||
bool VideoCapture_obsensor::retrieveFrame(int outputType, cv::OutputArray frame)
|
||||
{
|
||||
switch (outputType)
|
||||
{
|
||||
case CAP_OBSENSOR_BGR_IMAGE:
|
||||
if(grabbedColorFrame != nullptr){
|
||||
auto format = grabbedColorFrame->format();
|
||||
if(format != OB_FORMAT_MJPEG){
|
||||
CV_LOG_WARNING(NULL, "Unsupported color frame format");
|
||||
return false;
|
||||
}
|
||||
auto mjpgMat = Mat(1, grabbedColorFrame->dataSize() , CV_8UC1, grabbedColorFrame->data()).clone();
|
||||
auto bgrMat = imdecode(mjpgMat, IMREAD_COLOR);
|
||||
if(bgrMat.empty()){
|
||||
CV_LOG_WARNING(NULL, "Failed to decode color frame");
|
||||
return false;
|
||||
}
|
||||
bgrMat.copyTo(frame);
|
||||
return true;
|
||||
}
|
||||
break;
|
||||
case CAP_OBSENSOR_DEPTH_MAP:
|
||||
if(grabbedDepthFrame != nullptr){
|
||||
auto format = grabbedDepthFrame->format();
|
||||
if(format != OB_FORMAT_Y16){
|
||||
CV_LOG_WARNING(NULL, "Unsupported depth frame format");
|
||||
return false;
|
||||
}
|
||||
Mat(grabbedDepthFrame->height(), grabbedDepthFrame->width(), CV_16UC1, grabbedDepthFrame->data()).copyTo(frame);
|
||||
return true;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
int VideoCapture_obsensor::getCaptureDomain()
|
||||
{
|
||||
return CAP_OBSENSOR;
|
||||
}
|
||||
|
||||
bool VideoCapture_obsensor::isOpened() const
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
#endif
|
||||
74
modules/videoio/src/cap_obsensor_liborbbec.hpp
Normal file
74
modules/videoio/src/cap_obsensor_liborbbec.hpp
Normal file
@ -0,0 +1,74 @@
|
||||
// This file is part of OpenCV project.
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html.
|
||||
|
||||
/*
|
||||
* Copyright(C) 2024 by ORBBEC Technology., Inc.
|
||||
* Authors:
|
||||
* Huang Zhenchang <yufeng@orbbec.com>
|
||||
* Yu Shuai <daiyin@orbbec.com>
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the "License");
|
||||
* you may not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS,
|
||||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#ifndef _CAP_LIBORBBEC_HPP_
|
||||
#define _CAP_LIBORBBEC_HPP_
|
||||
|
||||
#if defined(HAVE_OBSENSOR) && defined(HAVE_OBSENSOR_ORBBEC_SDK)
|
||||
|
||||
#include <libobsensor/ObSensor.hpp>
|
||||
#include <mutex>
|
||||
|
||||
namespace cv
|
||||
{
|
||||
|
||||
struct CameraParam
|
||||
{
|
||||
float p0[4];
|
||||
float p1[4];
|
||||
float p2[9];
|
||||
float p3[3];
|
||||
float p4[5];
|
||||
float p5[5];
|
||||
uint32_t p6[2];
|
||||
uint32_t p7[2];
|
||||
};
|
||||
|
||||
class VideoCapture_obsensor : public IVideoCapture
|
||||
{
|
||||
public:
|
||||
VideoCapture_obsensor(int index);
|
||||
virtual ~VideoCapture_obsensor();
|
||||
|
||||
virtual double getProperty(int propIdx) const CV_OVERRIDE;
|
||||
virtual bool setProperty(int propIdx, double propVal) CV_OVERRIDE;
|
||||
|
||||
virtual bool grabFrame() CV_OVERRIDE;
|
||||
virtual bool retrieveFrame(int outputType, OutputArray frame) CV_OVERRIDE;
|
||||
virtual int getCaptureDomain() CV_OVERRIDE;
|
||||
virtual bool isOpened() const CV_OVERRIDE;
|
||||
|
||||
protected:
|
||||
std::mutex videoFrameMutex;
|
||||
std::shared_ptr<ob::VideoFrame> colorFrame;
|
||||
std::shared_ptr<ob::VideoFrame> depthFrame;
|
||||
std::shared_ptr<ob::VideoFrame> grabbedColorFrame;
|
||||
std::shared_ptr<ob::VideoFrame> grabbedDepthFrame;
|
||||
std::shared_ptr<ob::Pipeline> pipe;
|
||||
std::shared_ptr<ob::Config> config;
|
||||
CameraParam camParam;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
#endif
|
||||
@ -1,5 +1,5 @@
|
||||
/**
|
||||
* attention: Astra2, Gemini2, and Gemini2L cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
|
||||
* attention: Astra2 cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
|
||||
*/
|
||||
|
||||
#include <opencv2/videoio.hpp>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user