From 89c5a7584ac4e1a52e0b971a2d9fe3be3bef5809 Mon Sep 17 00:00:00 2001
From: WU Jia <35290826+kaingwade@users.noreply.github.com>
Date: Mon, 24 Apr 2023 17:12:01 +0800
Subject: [PATCH] Merge pull request #23531 from kaingwade:orbbec_python_sample

Add python sample of how to use Orbbec camera. #23531

### 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
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
---
 samples/python/videocapture_obsensor.py | 38 +++++++++++++++++++++++++
 1 file changed, 38 insertions(+)
 create mode 100644 samples/python/videocapture_obsensor.py

diff --git a/samples/python/videocapture_obsensor.py b/samples/python/videocapture_obsensor.py
new file mode 100644
index 0000000000..f63e899473
--- /dev/null
+++ b/samples/python/videocapture_obsensor.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+
+import numpy as np
+import sys
+import cv2 as cv
+
+
+def main():
+    # Open Orbbec depth sensor
+    orbbec_cap = cv.VideoCapture(0, cv.CAP_OBSENSOR)
+    if orbbec_cap.isOpened() == False:
+        sys.exit("Fail to open camera.")
+
+    while True:
+        # Grab data from the camera
+        if orbbec_cap.grab():
+            # RGB data
+            ret_bgr, bgr_image = orbbec_cap.retrieve(None, cv.CAP_OBSENSOR_BGR_IMAGE)
+            if ret_bgr:
+                cv.imshow("BGR", bgr_image)
+
+            # depth data
+            ret_depth, depth_map = orbbec_cap.retrieve(None, cv.CAP_OBSENSOR_DEPTH_MAP)
+            if ret_depth:
+                color_depth_map = cv.normalize(depth_map, None, 0, 255, cv.NORM_MINMAX, cv.CV_8UC1)
+                color_depth_map = cv.applyColorMap(color_depth_map, cv.COLORMAP_JET)
+                cv.imshow("DEPTH", color_depth_map)
+        else:
+            print("Fail to grab data from the camera.")
+
+        if cv.pollKey() >= 0:
+            break
+
+    orbbec_cap.release()
+
+
+if __name__ == '__main__':
+    main()