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Merge pull request #22936 from hzcyf:orbbec_new_cam_support
videoio: add Orbbec Gemini 2 and Astra 2 camera support ### Test Result | OS | Compiler | Camera | Result | |-----|-----------|---------|--------| |Windows11| (VS2022)MSVC17.3|Orbbec Gemini 2|Pass| |Windows11| (VS2022)MSVC17.3|Orbbec Astra 2|Pass| |Ubuntu22.04|GCC9.2|Orbbec Gemini 2|Pass| |Ubuntu22.04|GCC9.2|Orbbec Astra 2|Pass| ### Pull Request Readiness Checklist - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] The feature is well documented and sample code can be built with the project CMake
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hzc
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@ -32,6 +32,11 @@
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namespace cv {
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namespace obsensor {
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#define OBSENSOR_CAM_VID 0x2bc5 // usb vid
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#define OBSENSOR_ASTRA2_PID 0x0660 // pid of Orbbec Astra 2 Camera
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#define OBSENSOR_GEMINI2_PID 0x0670 // pid of Orbbec Gemini 2 Camera
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enum StreamType
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{
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OBSENSOR_STREAM_IR = 1,
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@ -45,6 +50,7 @@ enum FrameFormat
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FRAME_FORMAT_YUYV = 0,
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FRAME_FORMAT_MJPG = 5,
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FRAME_FORMAT_Y16 = 8,
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FRAME_FORMAT_Y14 = 9,
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};
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enum PropertyId
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@ -93,6 +99,7 @@ public:
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virtual bool getProperty(int propId, uint8_t* recvData, uint32_t* recvDataSize) = 0;
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virtual StreamType streamType() const = 0;
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virtual uint16_t getPid() const =0;
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};
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// "StreamChannelGroup" mean a group of stream channels from same one physical device
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@ -474,13 +474,13 @@ STDMETHODIMP MSMFStreamChannel::OnReadSample(HRESULT hrStatus, DWORD dwStreamInd
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if (sample)
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{
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ComPtr<IMFMediaBuffer> buffer = nullptr;
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DWORD max_length, current_length;
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DWORD maxLength, currentLength;
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byte* byte_buffer = nullptr;
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HR_FAILED_EXEC(sample->GetBufferByIndex(0, &buffer), { return S_OK; });
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buffer->Lock(&byte_buffer, &max_length, ¤t_length);
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Frame fo = { currentProfile_.format, currentProfile_.width, currentProfile_.height, current_length, (uint8_t*)byte_buffer };
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buffer->Lock(&byte_buffer, &maxLength, ¤tLength);
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Frame fo = { currentProfile_.format, currentProfile_.width, currentProfile_.height, currentLength, (uint8_t*)byte_buffer };
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if (depthFrameProcessor_)
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{
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depthFrameProcessor_->process(&fo);
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@ -41,6 +41,11 @@ const uint8_t OB_EXT_CMD2[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0x56, 0x00
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const uint8_t OB_EXT_CMD3[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0x58, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
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const uint8_t OB_EXT_CMD4[16] = { 0x47, 0x4d, 0x02, 0x00, 0x03, 0x00, 0x60, 0x00, 0xed, 0x03, 0x00, 0x00 };
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const uint8_t OB_EXT_CMD5[16] = { 0x47, 0x4d, 0x02, 0x00, 0x03, 0x00, 0x62, 0x00, 0xe9, 0x03, 0x00, 0x00 };
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const uint8_t OB_EXT_CMD6[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0x7c, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00};
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const uint8_t OB_EXT_CMD7[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x12, 0x55, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
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const uint8_t OB_EXT_CMD8[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
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const uint8_t OB_EXT_CMD9[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x13, 0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
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const uint8_t OB_EXT_CMD10[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00 };
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#if defined(HAVE_OBSENSOR_V4L2)
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#define fourCc2Int(a, b, c, d) \
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@ -54,6 +59,7 @@ const std::map<uint32_t, FrameFormat> fourccToOBFormat = {
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{fourCc2Int('Y', 'U', 'Y', '2'), FRAME_FORMAT_YUYV},
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{fourCc2Int('M', 'J', 'P', 'G'), FRAME_FORMAT_MJPG},
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{fourCc2Int('Y', '1', '6', ' '), FRAME_FORMAT_Y16},
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{fourCc2Int('Y', '1', '4', ' '), FRAME_FORMAT_Y14},
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};
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StreamType parseUvcDeviceNameToStreamType(const std::string& devName)
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@ -187,6 +193,54 @@ void DepthFrameProcessor::process(Frame* frame)
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}
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}
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DepthFrameUnpacker::DepthFrameUnpacker(){
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outputDataBuf_ = new uint8_t[OUT_DATA_SIZE];
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}
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DepthFrameUnpacker::~DepthFrameUnpacker(){
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delete[] outputDataBuf_;
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}
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#define ON_BITS(count) ((1 << count) - 1)
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#define CREATE_MASK(count, offset) (ON_BITS(count) << offset)
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#define TAKE_BITS(source, count, offset) ((source & CREATE_MASK(count, offset)) >> offset)
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void DepthFrameUnpacker::process(Frame *frame){
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const uint8_t tarStep = 16;
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const uint8_t srcStep = 28;
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uint16_t *tar = (uint16_t *)outputDataBuf_;
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uint8_t *src = frame->data;
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uint32_t pixelSize = frame->width * frame->height;
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for(uint32_t i = 0; i < pixelSize; i += tarStep) {
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tar[0] = (TAKE_BITS(src[0], 8, 0) << 6) | TAKE_BITS(src[1], 6, 2);
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tar[1] = (TAKE_BITS(src[1], 2, 0) << 12) | (TAKE_BITS(src[2], 8, 0) << 4) | TAKE_BITS(src[3], 4, 4);
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tar[2] = (TAKE_BITS(src[3], 4, 0) << 10) | (TAKE_BITS(src[4], 8, 0) << 2) | TAKE_BITS(src[5], 2, 6);
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tar[3] = (TAKE_BITS(src[5], 6, 0) << 8) | TAKE_BITS(src[6], 8, 0);
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tar[4] = (TAKE_BITS(src[7], 8, 0) << 6) | TAKE_BITS(src[8], 6, 2);
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tar[5] = (TAKE_BITS(src[8], 2, 0) << 12) | (TAKE_BITS(src[9], 8, 0) << 4) | TAKE_BITS(src[10], 4, 4);
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tar[6] = (TAKE_BITS(src[10], 4, 0) << 10) | (TAKE_BITS(src[11], 8, 0) << 2) | TAKE_BITS(src[12], 2, 6);
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tar[7] = (TAKE_BITS(src[12], 6, 0) << 8) | TAKE_BITS(src[13], 8, 0);
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tar[8] = (TAKE_BITS(src[14], 8, 0) << 6) | TAKE_BITS(src[15], 6, 2);
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tar[9] = (TAKE_BITS(src[15], 2, 0) << 12) | (TAKE_BITS(src[16], 8, 0) << 4) | TAKE_BITS(src[17], 4, 4);
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tar[10] = (TAKE_BITS(src[17], 4, 0) << 10) | (TAKE_BITS(src[18], 8, 0) << 2) | TAKE_BITS(src[19], 2, 6);
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tar[11] = (TAKE_BITS(src[19], 6, 0) << 8) | TAKE_BITS(src[20], 8, 0);
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tar[12] = (TAKE_BITS(src[21], 8, 0) << 6) | TAKE_BITS(src[22], 6, 2);
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tar[13] = (TAKE_BITS(src[22], 2, 0) << 12) | (TAKE_BITS(src[23], 8, 0) << 4) | TAKE_BITS(src[24], 4, 4);
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tar[14] = (TAKE_BITS(src[24], 4, 0) << 10) | (TAKE_BITS(src[25], 8, 0) << 2) | TAKE_BITS(src[26], 2, 6);
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tar[15] = (TAKE_BITS(src[26], 6, 0) << 8) | TAKE_BITS(src[27], 8, 0);
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src += srcStep;
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tar += tarStep;
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}
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frame->data = outputDataBuf_;
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frame->format = FRAME_FORMAT_Y16;
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}
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IUvcStreamChannel::IUvcStreamChannel(const UvcDeviceInfo& devInfo) :
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devInfo_(devInfo),
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streamType_(parseUvcDeviceNameToStreamType(devInfo_.name))
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@ -198,6 +252,10 @@ StreamType IUvcStreamChannel::streamType() const {
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return streamType_;
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}
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uint16_t IUvcStreamChannel::getPid() const {
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return devInfo_.pid;
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};
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bool IUvcStreamChannel::setProperty(int propId, const uint8_t* /*data*/, uint32_t /*dataSize*/)
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{
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uint8_t* rcvData;
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@ -206,15 +264,28 @@ bool IUvcStreamChannel::setProperty(int propId, const uint8_t* /*data*/, uint32_
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switch (propId)
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{
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case DEPTH_TO_COLOR_ALIGN:
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// todo: value filling
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rst &= setXu(2, OB_EXT_CMD0, sizeof(OB_EXT_CMD0));
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rst &= getXu(2, &rcvData, &rcvLen);
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rst &= setXu(2, OB_EXT_CMD1, sizeof(OB_EXT_CMD1));
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rst &= getXu(2, &rcvData, &rcvLen);
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rst &= setXu(2, OB_EXT_CMD2, sizeof(OB_EXT_CMD2));
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rst &= getXu(2, &rcvData, &rcvLen);
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rst &= setXu(2, OB_EXT_CMD3, sizeof(OB_EXT_CMD3));
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rst &= getXu(2, &rcvData, &rcvLen);
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if(OBSENSOR_GEMINI2_PID == devInfo_.pid ){
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rst &= setXu(2, OB_EXT_CMD8, sizeof(OB_EXT_CMD8));
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rst &= getXu(2, &rcvData, &rcvLen);
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rst &= setXu(2, OB_EXT_CMD6, sizeof(OB_EXT_CMD6));
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rst &= getXu(2, &rcvData, &rcvLen);
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}
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else if(OBSENSOR_ASTRA2_PID == devInfo_.pid ){
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rst &= setXu(2, OB_EXT_CMD10, sizeof(OB_EXT_CMD8));
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rst &= getXu(2, &rcvData, &rcvLen);
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rst &= setXu(2, OB_EXT_CMD6, sizeof(OB_EXT_CMD6));
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rst &= getXu(2, &rcvData, &rcvLen);
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}
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else{
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rst &= setXu(2, OB_EXT_CMD0, sizeof(OB_EXT_CMD0));
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rst &= getXu(2, &rcvData, &rcvLen);
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rst &= setXu(2, OB_EXT_CMD1, sizeof(OB_EXT_CMD1));
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rst &= getXu(2, &rcvData, &rcvLen);
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rst &= setXu(2, OB_EXT_CMD2, sizeof(OB_EXT_CMD2));
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rst &= getXu(2, &rcvData, &rcvLen);
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rst &= setXu(2, OB_EXT_CMD3, sizeof(OB_EXT_CMD3));
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rst &= getXu(2, &rcvData, &rcvLen);
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}
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break;
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default:
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rst = false;
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@ -231,12 +302,50 @@ bool IUvcStreamChannel::getProperty(int propId, uint8_t* recvData, uint32_t* rec
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switch (propId)
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{
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case CAMERA_PARAM:
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rst &= setXu(2, OB_EXT_CMD5, sizeof(OB_EXT_CMD5));
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rst &= getXu(2, &rcvData, &rcvLen);
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if (rst && OB_EXT_CMD5[6] == rcvData[6] && rcvData[8] == 0 && rcvData[9] == 0)
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{
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memcpy(recvData, rcvData + 10, rcvLen - 10);
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*recvDataSize = rcvLen - 10;
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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.p6[0] = 640;
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param.p6[1] = 480;
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param.p7[0] = 640;
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param.p7[1] = 480;
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*recvDataSize = sizeof(CameraParam);
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memcpy(recvData, ¶m, *recvDataSize);
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}
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else if(OBSENSOR_ASTRA2_PID == devInfo_.pid){
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// return default param
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CameraParam param;
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param.p0[0] = 558.151f;
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param.p0[1] = 558.003f;
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param.p0[2] = 312.546f;
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param.p0[3] = 241.169f;
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param.p1[0] = 558.151f;
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param.p1[1] = 558.003f;
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param.p1[2] = 312.546f;
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param.p1[3] = 241.169f;
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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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param.p7[1] = 480;
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*recvDataSize = sizeof(CameraParam);
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memcpy(recvData, ¶m, *recvDataSize);
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}
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else{
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rst &= setXu(2, OB_EXT_CMD5, sizeof(OB_EXT_CMD5));
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rst &= getXu(2, &rcvData, &rcvLen);
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if (rst && OB_EXT_CMD5[6] == rcvData[6] && rcvData[8] == 0 && rcvData[9] == 0)
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{
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memcpy(recvData, rcvData + 10, rcvLen - 10);
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*recvDataSize = rcvLen - 10;
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}
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}
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break;
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default:
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@ -249,7 +358,20 @@ 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 (streamType_ == OBSENSOR_STREAM_DEPTH && setXu(2, OB_EXT_CMD4, sizeof(OB_EXT_CMD4)))
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if(OBSENSOR_GEMINI2_PID == devInfo_.pid || OBSENSOR_ASTRA2_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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depthFrameProcessor_ = makePtr<DepthFrameUnpacker>();
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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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{
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uint8_t* rcvData;
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uint32_t rcvLen;
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@ -26,8 +26,6 @@
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#ifdef HAVE_OBSENSOR
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namespace cv {
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namespace obsensor {
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#define OBSENSOR_CAM_VID 0x2bc5 // usb vid
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#define XU_MAX_DATA_LENGTH 1024
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#define XU_UNIT_ID 4
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@ -60,17 +58,34 @@ struct OBExtensionParam {
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float ps;
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};
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class DepthFrameProcessor {
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class IFrameProcessor{
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public:
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virtual void process(Frame* frame) = 0;
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virtual ~IFrameProcessor() = default;
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};
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class DepthFrameProcessor: public IFrameProcessor {
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public:
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DepthFrameProcessor(const OBExtensionParam& parma);
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~DepthFrameProcessor() noexcept;
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void process(Frame* frame);
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virtual ~DepthFrameProcessor() noexcept;
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virtual void process(Frame* frame) override;
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private:
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const OBExtensionParam param_;
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uint16_t* lookUpTable_;
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};
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class DepthFrameUnpacker: public IFrameProcessor {
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public:
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DepthFrameUnpacker();
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virtual ~DepthFrameUnpacker() noexcept;
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virtual void process(Frame* frame) override;
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private:
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const uint32_t OUT_DATA_SIZE = 1280*800*2;
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uint8_t *outputDataBuf_;
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};
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class IUvcStreamChannel : public IStreamChannel {
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public:
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IUvcStreamChannel(const UvcDeviceInfo& devInfo);
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@ -79,6 +94,7 @@ public:
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virtual bool setProperty(int propId, const uint8_t* data, uint32_t dataSize) override;
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virtual bool getProperty(int propId, uint8_t* recvData, uint32_t* recvDataSize) override;
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virtual StreamType streamType() const override;
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virtual uint16_t getPid() const override;
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protected:
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virtual bool setXu(uint8_t ctrl, const uint8_t* data, uint32_t len) = 0;
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@ -89,7 +105,7 @@ protected:
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protected:
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const UvcDeviceInfo devInfo_;
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StreamType streamType_;
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Ptr<DepthFrameProcessor> depthFrameProcessor_;
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Ptr<IFrameProcessor> depthFrameProcessor_;
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};
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}} // namespace cv::obsensor::
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#endif // HAVE_OBSENSOR
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@ -34,6 +34,8 @@ 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 astra2depthProfile = {640, 480, 30, obsensor::FRAME_FORMAT_Y14};
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streamChannelGroup_ = obsensor::getStreamChannelGroup(index);
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if (!streamChannelGroup_.empty())
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@ -47,15 +49,27 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
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channel->start(colorProfile, [&](obsensor::Frame* frame) {
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std::unique_lock<std::mutex> lk(frameMutex_);
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colorFrame_ = Mat(1, frame->dataSize, CV_8UC1, frame->data).clone();
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frameCv_.notify_all();
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});
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break;
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case obsensor::OBSENSOR_STREAM_DEPTH:
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{
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uint8_t data = 1;
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channel->setProperty(obsensor::DEPTH_TO_COLOR_ALIGN, &data, 1);
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channel->start(depthProfile, [&](obsensor::Frame* frame) {
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obsensor::StreamProfile profile = depthProfile;
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if(OBSENSOR_GEMINI2_PID == channel->getPid()){
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profile = gemini2depthProfile;
|
||||
}
|
||||
else if(OBSENSOR_ASTRA2_PID == channel->getPid()){
|
||||
|
||||
profile = astra2depthProfile;
|
||||
}
|
||||
|
||||
channel->start(profile, [&](obsensor::Frame* frame) {
|
||||
std::unique_lock<std::mutex> lk(frameMutex_);
|
||||
depthFrame_ = Mat(frame->height, frame->width, CV_16UC1, frame->data, frame->width * 2).clone();
|
||||
frameCv_.notify_all();
|
||||
});
|
||||
|
||||
uint32_t len;
|
||||
@ -72,10 +86,21 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
|
||||
}
|
||||
}
|
||||
|
||||
VideoCapture_obsensor::~VideoCapture_obsensor(){
|
||||
for (auto& channel : streamChannelGroup_)
|
||||
{
|
||||
channel->stop();
|
||||
}
|
||||
streamChannelGroup_.clear();
|
||||
}
|
||||
|
||||
bool VideoCapture_obsensor::grabFrame()
|
||||
{
|
||||
std::unique_lock<std::mutex> lk(frameMutex_);
|
||||
|
||||
// Try waiting for 33 milliseconds to ensure that both depth and color frame have been received!
|
||||
frameCv_.wait_for(lk, std::chrono::milliseconds(33), [&](){ return !depthFrame_.empty() && !colorFrame_.empty(); });
|
||||
|
||||
grabbedDepthFrame_ = depthFrame_;
|
||||
grabbedColorFrame_ = colorFrame_;
|
||||
|
||||
@ -93,7 +118,18 @@ bool VideoCapture_obsensor::retrieveFrame(int outputType, OutputArray frame)
|
||||
case CAP_OBSENSOR_DEPTH_MAP:
|
||||
if (!grabbedDepthFrame_.empty())
|
||||
{
|
||||
grabbedDepthFrame_.copyTo(frame);
|
||||
if(OBSENSOR_GEMINI2_PID == streamChannelGroup_.front()->getPid()){
|
||||
grabbedDepthFrame_ = grabbedDepthFrame_*0.8;
|
||||
Rect rect(320, 160, 640, 480);
|
||||
grabbedDepthFrame_(rect).copyTo(frame);
|
||||
}
|
||||
else if(OBSENSOR_ASTRA2_PID == streamChannelGroup_.front()->getPid()){
|
||||
grabbedDepthFrame_ = grabbedDepthFrame_*0.8;
|
||||
grabbedDepthFrame_.copyTo(frame);
|
||||
}
|
||||
else{
|
||||
grabbedDepthFrame_.copyTo(frame);
|
||||
}
|
||||
grabbedDepthFrame_.release();
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -24,6 +24,7 @@
|
||||
|
||||
#include <map>
|
||||
#include <mutex>
|
||||
#include <condition_variable>
|
||||
|
||||
#include "cap_obsensor/obsensor_stream_channel_interface.hpp"
|
||||
|
||||
@ -33,7 +34,7 @@ class VideoCapture_obsensor : public IVideoCapture
|
||||
{
|
||||
public:
|
||||
VideoCapture_obsensor(int index);
|
||||
virtual ~VideoCapture_obsensor() {}
|
||||
virtual ~VideoCapture_obsensor();
|
||||
|
||||
virtual double getProperty(int propIdx) const CV_OVERRIDE;
|
||||
virtual bool setProperty(int propIdx, double propVal) CV_OVERRIDE;
|
||||
@ -51,6 +52,7 @@ private:
|
||||
std::vector<Ptr<obsensor::IStreamChannel>> streamChannelGroup_;
|
||||
|
||||
std::mutex frameMutex_;
|
||||
std::condition_variable frameCv_;
|
||||
|
||||
Mat depthFrame_;
|
||||
Mat colorFrame_;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user