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Merge pull request #19388 from GArik:orbbec

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Alexander Alekhin 2021-01-25 13:29:28 +00:00
commit f54f6627c3
2 changed files with 21 additions and 17 deletions
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34
doc/tutorials/app/orbbec_astra.markdown
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@ -16,7 +16,7 @@ camera interface.
### Installation Instructions
In order to use a depth sensor with OpenCV you should do the following steps:
In order to use the Astra camera's depth sensor with OpenCV you should do the following steps:
-# Download the latest version of Orbbec OpenNI SDK (from here <https://orbbec3d.com/develop/>).
Unzip the archive, choose the build according to your operating system and follow installation
@ -72,29 +72,32 @@ In order to use a depth sensor with OpenCV you should do the following steps:
### Code
The Astra Pro camera has two sensors -- a depth sensor and a color sensor. The depth sensors
The Astra Pro camera has two sensors -- a depth sensor and a color sensor. The depth sensor
can be read using the OpenNI interface with @ref cv::VideoCapture class. The video stream is
not available through OpenNI API and is only provided through the regular camera interface.
not available through OpenNI API and is only provided via the regular camera interface.
So, to get both depth and color frames, two @ref cv::VideoCapture objects should be created:
@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Open streams
The first object will use the Video4Linux2 interface to access the color sensor. The second one
is using OpenNI2 API to retrieve depth data.
The first object will use the OpenNI2 API to retrieve depth data. The second one uses the
Video4Linux2 interface to access the color sensor. Note that the example above assumes that
the Astra camera is the first camera in the system. If you have more than one camera connected,
you may need to explicitly set the proper camera number.
Before using the created VideoCapture objects you may want to set up stream parameters by setting
objects' properties. The most important parameters are frame width, frame height and fps.
For this example, we’ll configure width and height of both streams to VGA resolution as that’s
the maximum resolution available for both sensors and we’d like both stream parameters to be the same:
For this example, we’ll configure width and height of both streams to VGA resolution, which is
the maximum resolution available for both sensors, and we’d like both stream parameters to be the
same for easier color-to-depth data registration:
@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Setup streams
For setting and getting some property of sensor data generators use @ref cv::VideoCapture::set and
For setting and retrieving some property of sensor data generators use @ref cv::VideoCapture::set and
@ref cv::VideoCapture::get methods respectively, e.g. :
@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Get properties
The following properties of cameras available through OpenNI interfaces are supported for the depth
The following properties of cameras available through OpenNI interface are supported for the depth
generator:
- @ref cv::CAP_PROP_FRAME_WIDTH -- Frame width in pixels.
@ -113,7 +116,7 @@ generator:
- @ref cv::CAP_PROP_OPENNI_FRAME_MAX_DEPTH -- A maximum supported depth of the camera in mm.
- @ref cv::CAP_PROP_OPENNI_BASELINE -- Baseline value in mm.
After the VideoCapture objects are set up you can start reading frames from them.
After the VideoCapture objects have been set up, you can start reading frames from them.
@note
OpenCV's VideoCapture provides synchronous API, so you have to grab frames in a new thread
@ -138,11 +141,12 @@ VideoCapture can retrieve the following data:
-# data given from the color sensor is a regular BGR image (CV_8UC3).
When new data are available a reading thread notifies the main thread using a condition variable.
A frame is stored in the ordered list -- the first frame is the latest one. As depth and color frames
are read from independent sources two video streams may become out of sync even when both streams
are set up for the same frame rate. A post-synchronization procedure can be applied to the streams
to combine depth and color frames into pairs. The sample code below demonstrates this procedure:
When new data are available, each reading thread notifies the main thread using a condition variable.
A frame is stored in the ordered list -- the first frame in the list is the earliest captured,
the last frame is the latest captured. As depth and color frames are read from independent sources
two video streams may become out of sync even when both streams are set up for the same frame rate.
A post-synchronization procedure can be applied to the streams to combine depth and color frames into
pairs. The sample code below demonstrates this procedure:
@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Pair frames

4
samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp
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@ -25,10 +25,10 @@ struct Frame
int main()
{
//! [Open streams]
// Open color stream
VideoCapture colorStream(CAP_V4L2);
// Open depth stream
VideoCapture depthStream(CAP_OPENNI2_ASTRA);
// Open color stream
VideoCapture colorStream(0, CAP_V4L2);
//! [Open streams]
// Check that stream has opened