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Merge pull request #27230 from sirudoi:4.x
videoio: add Orbbec Gemini 330 camera support #27230 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [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 ### Description of Changes #### motivated： - Orbbec has launched a new RGB-D camera — the Gemini 330. To fully leverage the capabilities of the Gemini 330, Orbbec simultaneously released version 2 of the open-source OrbbecSDK. This PR adapts the support for the Gemini 330 series cameras to better meet and respond to users’ application requirements. #### change： - Add support for the Orbbec Gemini330 camera. - Fixed an issue with Femto Mega on Windows 10/11; for details, see [issue](https://github.com/opencv/opencv/pull/23237#issuecomment-2242347295). - When enabling `HAVE_OBSENSOR_ORBBEC_SDK`, the build now fetches version 2 of the OrbbecSDK, and the sample API calls have been updated to the v2 format. ### Testing | OS | Compiler | Camera | Result | |:----------:|:---------------------------------------:|:-----------------:|:------:| | Windows 11 | (VS2022) MSVC runtime library version 14.40 | Gemini 335/336L | Pass | | Windows 11 | (VS2022) MSVC runtime library version 14.19 | Gemini 335/336L | Pass | | Ubuntu22.04| GCC 11.4 | Gemini 335/336L | Pass | | Ubuntu18.04| GCC 7.5 | Gemini 335/336L | Pass | ### Acknowledgements Thank you to the OpenCV team for the continuous support and for creating such a robust open source project. I appreciate the valuable feedback from the community and reviewers, which has helped improve the quality of this contribution!
This commit is contained in:
sirudoi
GitHub
parent
829495355d
commit
485c7d5be7
@ -123,4 +123,5 @@ This tutorial code's is shown lines below. You can also download it from
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### Note
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Mac users need sudo privileges to execute the code.
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- Mac users need sudo privileges to execute the code.
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- **Firmware**: If you’re using an Orbbec UVC 3D camera, please ensure your camera’s firmware is updated to the latest version to avoid potential compatibility issues. For more details, see [Orbbec’s Release Notes](https://github.com/orbbec/OrbbecSDK_v2/releases).
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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 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, Gemini330, 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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@ -39,6 +39,21 @@ namespace obsensor {
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#define OBSENSOR_FEMTO_MEGA_PID 0x0669 // pid of Orbbec Femto Mega Camera
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#define OBSENSOR_GEMINI2L_PID 0x0673 // pid of Orbbec Gemini 2 L Camera
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#define OBSENSOR_GEMINI2XL_PID 0x0671 // pid of Orbbec Gemini 2 XL Camera
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#define OBSENSOR_GEMINI335_PID 0x0800 // pid of Orbbec Gemini 335 Camera
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#define OBSENSOR_GEMINI330_PID 0x0801 // pid of Orbbec Gemini 330 Camera
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#define OBSENSOR_GEMINI336_PID 0x0803 // pid of Orbbec Gemini 336 Camera
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#define OBSENSOR_GEMINI335L_PID 0x0804 // pid of Orbbec Gemini 335L Camera
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#define OBSENSOR_GEMINI330L_PID 0x0805 // pid of Orbbec Gemini 330L Camera
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#define OBSENSOR_GEMINI336L_PID 0x0807 // pid of Orbbec Gemini 336L Camera
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#define IS_OBSENSOR_GEMINI330_SHORT_PID(pid) \
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((pid) == OBSENSOR_GEMINI335_PID || (pid) == OBSENSOR_GEMINI330_PID || (pid) == OBSENSOR_GEMINI336_PID)
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#define IS_OBSENSOR_GEMINI330_LONG_PID(pid) \
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((pid) == OBSENSOR_GEMINI335L_PID || (pid) == OBSENSOR_GEMINI330L_PID || (pid) == OBSENSOR_GEMINI336L_PID)
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#define IS_OBSENSOR_GEMINI330_PID(pid) \
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(IS_OBSENSOR_GEMINI330_SHORT_PID(pid) || IS_OBSENSOR_GEMINI330_LONG_PID(pid))
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enum StreamType
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{
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@ -228,8 +228,8 @@ MSMFStreamChannel::MSMFStreamChannel(const UvcDeviceInfo& devInfo) :
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})
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delete[] buffer;
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HR_FAILED_RETURN(MFCreateDeviceSource(deviceAttrs_.Get(), &deviceSource_));
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HR_FAILED_RETURN(deviceSource_->QueryInterface(__uuidof(IAMCameraControl), reinterpret_cast<void**>(&cameraControl_)));
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HR_FAILED_RETURN(deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast<void**>(&videoProcAmp_)));
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HR_FAILED_LOG(deviceSource_->QueryInterface(__uuidof(IAMCameraControl), reinterpret_cast<void**>(&cameraControl_)));
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HR_FAILED_LOG(deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast<void**>(&videoProcAmp_)));
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HR_FAILED_RETURN(MFCreateAttributes(&readerAttrs_, 3));
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HR_FAILED_RETURN(readerAttrs_->SetUINT32(MF_SOURCE_READER_DISCONNECT_MEDIASOURCE_ON_SHUTDOWN, false));
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@ -314,7 +314,7 @@ void MSMFStreamChannel::start(const StreamProfile& profile, FrameCallback frameC
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currentProfile_ = profile;
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currentStreamIndex_ = -1;
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for (uint8_t index = 0; index <= 5; index++)
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for (uint8_t index = 0; index < 5; index++)
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{
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for (uint32_t k = 0;; k++)
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{
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@ -341,6 +341,12 @@ void MSMFStreamChannel::start(const StreamProfile& profile, FrameCallback frameC
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fps == profile.fps &&
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frameFourccToFormat(device_fourcc) == profile.format)
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{
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for (uint8_t i = 0; i < 5; ++i) {
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if (index == i)
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continue;
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streamReader_->SetStreamSelection(i, FALSE);
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}
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HR_FAILED_RETURN(streamReader_->SetCurrentMediaType(index, nullptr, mediaType.Get()));
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HR_FAILED_RETURN(streamReader_->SetStreamSelection(index, true));
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streamReader_->ReadSample(index, 0, nullptr, nullptr, nullptr, nullptr);
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@ -393,7 +399,7 @@ bool MSMFStreamChannel::setXu(uint8_t ctrl, const uint8_t* data, uint32_t len)
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KSP_NODE node;
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memset(&node, 0, sizeof(KSP_NODE));
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node.Property.Set = { 0xA55751A1, 0xF3C5, 0x4A5E, {0x8D, 0x5A, 0x68, 0x54, 0xB8, 0xFA, 0x27, 0x16} };
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node.Property.Set = reinterpret_cast<const GUID &>(xuUnit_.id);
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node.Property.Id = ctrl;
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node.Property.Flags = KSPROPERTY_TYPE_SET | KSPROPERTY_TYPE_TOPOLOGY;
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node.NodeId = xuNodeId_;
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@ -412,7 +418,7 @@ bool MSMFStreamChannel::getXu(uint8_t ctrl, uint8_t** data, uint32_t* len)
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}
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KSP_NODE node;
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memset(&node, 0, sizeof(KSP_NODE));
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node.Property.Set = { 0xA55751A1, 0xF3C5, 0x4A5E, {0x8D, 0x5A, 0x68, 0x54, 0xB8, 0xFA, 0x27, 0x16} };
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node.Property.Set = reinterpret_cast<const GUID&>(xuUnit_.id);
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node.Property.Id = ctrl;
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node.Property.Flags = KSPROPERTY_TYPE_GET | KSPROPERTY_TYPE_TOPOLOGY;
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node.NodeId = xuNodeId_;
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@ -314,7 +314,7 @@ bool V4L2StreamChannel::setXu(uint8_t ctrl, const uint8_t* data, uint32_t len)
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}
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memcpy(xuSendBuf_.data(), data, len);
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struct uvc_xu_control_query xu_ctrl_query = {
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.unit = XU_UNIT_ID,
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.unit = xuUnit_.unit,
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.selector = ctrl,
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.query = UVC_SET_CUR,
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.size = (__u16)(ctrl == 1 ? 512 : (ctrl == 2 ? 64 : 1024)),
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@ -333,7 +333,7 @@ bool V4L2StreamChannel::getXu(uint8_t ctrl, uint8_t** data, uint32_t* len)
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xuRecvBuf_.resize(XU_MAX_DATA_LENGTH);
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}
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struct uvc_xu_control_query xu_ctrl_query = {
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.unit = XU_UNIT_ID,
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.unit = xuUnit_.unit,
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.selector = ctrl,
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.query = UVC_GET_CUR,
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.size = (__u16)(ctrl == 1 ? 512 : (ctrl == 2 ? 64 : 1024)),
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@ -35,6 +35,9 @@
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namespace cv {
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namespace obsensor {
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const ObExtensionUnit OBSENSOR_COMMON_XU_UNIT = { XU_UNIT_ID_COMMON, { 0xA55751A1, 0xF3C5, 0x4A5E, { 0x8D, 0x5A, 0x68, 0x54, 0xB8, 0xFA, 0x27, 0x16 } } };
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const ObExtensionUnit OBSENSOR_G330_XU_UNIT = { XU_UNIT_ID_G330, { 0xC9606CCB, 0x594C, 0x4D25, { 0xaf, 0x47, 0xcc, 0xc4, 0x96, 0x43, 0x59, 0x95 } } };
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const uint8_t OB_EXT_CMD0[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0x52, 0x00, 0x5B, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
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const uint8_t OB_EXT_CMD1[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0x54, 0x00, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
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const uint8_t OB_EXT_CMD2[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0x56, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
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@ -48,6 +51,7 @@ const uint8_t OB_EXT_CMD9[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x13
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const uint8_t OB_EXT_CMD11[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
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const uint8_t OB_EXT_CMD12[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00 };
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const uint8_t OB_EXT_CMD13[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x13, 0x4b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
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const uint8_t OB_EXT_CMD14[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x14, 0xd3, 0x00, 0x00, 0x00, 0x01, 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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@ -62,6 +66,7 @@ const std::map<uint32_t, FrameFormat> fourccToOBFormat = {
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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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{fourCc2Int('Z', '1', '6', ' '), FRAME_FORMAT_Y16}
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};
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StreamType parseUvcDeviceNameToStreamType(const std::string& devName)
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@ -204,7 +209,6 @@ 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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@ -245,6 +249,7 @@ void DepthFrameUnpacker::process(Frame *frame){
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IUvcStreamChannel::IUvcStreamChannel(const UvcDeviceInfo& devInfo) :
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devInfo_(devInfo),
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xuUnit_(IS_OBSENSOR_GEMINI330_PID(devInfo.pid) ? OBSENSOR_G330_XU_UNIT : OBSENSOR_COMMON_XU_UNIT),
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streamType_(parseUvcDeviceNameToStreamType(devInfo_.name))
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{
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@ -286,6 +291,11 @@ bool IUvcStreamChannel::setProperty(int propId, const uint8_t* /*data*/, uint32_
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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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}else if(IS_OBSENSOR_GEMINI330_PID(devInfo_.pid)) {
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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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rst &= setXu(2, OB_EXT_CMD14, sizeof(OB_EXT_CMD14));
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rst &= getXu(2, &rcvData, &rcvLen);
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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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@ -400,6 +410,42 @@ bool IUvcStreamChannel::getProperty(int propId, uint8_t* recvData, uint32_t* rec
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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(IS_OBSENSOR_GEMINI330_SHORT_PID(devInfo_.pid)){
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// return default param
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CameraParam param;
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param.p0[0] = 460.656f;
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param.p0[1] = 460.782f;
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param.p0[2] = 320.985f;
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param.p0[3] = 233.921f;
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param.p1[0] = 460.656f;
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param.p1[1] = 460.782f;
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param.p1[2] = 320.985f;
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param.p1[3] = 233.921f;
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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(IS_OBSENSOR_GEMINI330_LONG_PID(devInfo_.pid)){
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// return default param
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CameraParam param;
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param.p0[0] = 366.751f;
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param.p0[1] = 365.782f;
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param.p0[2] = 319.893f;
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param.p0[3] = 243.415f;
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param.p1[0] = 366.751f;
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param.p1[1] = 365.782f;
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param.p1[2] = 319.893f;
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param.p1[3] = 243.415f;
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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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@ -453,7 +499,15 @@ bool IUvcStreamChannel::initDepthFrameProcessor()
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setXu(2, OB_EXT_CMD13, sizeof(OB_EXT_CMD13));
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getXu(2, &rcvData, &rcvLen);
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return true;
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}
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else if(IS_OBSENSOR_GEMINI330_PID(devInfo_.pid))
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{
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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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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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@ -27,7 +27,8 @@
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namespace cv {
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namespace obsensor {
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#define XU_MAX_DATA_LENGTH 1024
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#define XU_UNIT_ID 4
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#define XU_UNIT_ID_COMMON 4
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#define XU_UNIT_ID_G330 3
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struct UvcDeviceInfo
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{
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@ -46,6 +47,16 @@ enum StreamState
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STREAM_STARTED = 2,
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STREAM_STOPPING = 3,
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};
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struct Guid {
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uint32_t data1;
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uint16_t data2, data3;
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uint8_t data4[8];
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};
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struct ObExtensionUnit {
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uint8_t unit;
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Guid id;
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};
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StreamType parseUvcDeviceNameToStreamType(const std::string& devName);
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FrameFormat frameFourccToFormat(uint32_t fourcc);
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@ -104,6 +115,7 @@ protected:
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protected:
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const UvcDeviceInfo devInfo_;
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const ObExtensionUnit xuUnit_;
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StreamType streamType_;
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Ptr<IFrameProcessor> depthFrameProcessor_;
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};
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@ -80,11 +80,9 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
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obsensor::StreamProfile profile = depthProfile;
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if(OBSENSOR_GEMINI2_PID == channel->getPid()){
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profile = gemini2DepthProfile;
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}
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else if(OBSENSOR_ASTRA2_PID == channel->getPid()){
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}else if(OBSENSOR_ASTRA2_PID == channel->getPid()){
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profile = astra2DepthProfile;
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}
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else if(OBSENSOR_FEMTO_MEGA_PID == channel->getPid()){
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}else if(OBSENSOR_FEMTO_MEGA_PID == channel->getPid()){
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profile = megaDepthProfile;
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}else if(OBSENSOR_GEMINI2L_PID == channel->getPid()){
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profile = gemini2lDepthProfile;
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@ -164,6 +162,11 @@ bool VideoCapture_obsensor::retrieveFrame(int outputType, OutputArray frame)
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grabbedDepthFrame_(rect).copyTo(frame);
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}else if(OBSENSOR_GEMINI2XL_PID == streamChannelGroup_.front()->getPid()){
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grabbedDepthFrame_.copyTo(frame);
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}else if(IS_OBSENSOR_GEMINI330_PID(streamChannelGroup_.front()->getPid())){
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const double DepthValueScaleG300 = 1.0;
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grabbedDepthFrame_ = grabbedDepthFrame_*DepthValueScaleG300;
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Rect rect(0, 0, 640, 480);
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grabbedDepthFrame_(rect).copyTo(frame);
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}else{
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grabbedDepthFrame_.copyTo(frame);
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}
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