mirror of
https://github.com/opencv/opencv.git
synced 2024-11-30 06:10:02 +08:00
80 lines
3.6 KiB
ReStructuredText
80 lines
3.6 KiB
ReStructuredText
*******
|
|
HighGUI
|
|
*******
|
|
|
|
.. highlight:: cpp
|
|
|
|
Using Creative Senz3D and other Intel Perceptual Computing SDK compatible depth sensors
|
|
=======================================================================================
|
|
|
|
Depth sensors compatible with Intel Perceptual Computing SDK are supported through ``VideoCapture`` class. Depth map, RGB image and some other formats of output can be retrieved by using familiar interface of ``VideoCapture``.
|
|
|
|
In order to use depth sensor with OpenCV you should do the following preliminary steps:
|
|
|
|
#.
|
|
Install Intel Perceptual Computing SDK (from here http://www.intel.com/software/perceptual).
|
|
|
|
#.
|
|
Configure OpenCV with Intel Perceptual Computing SDK support by setting ``WITH_INTELPERC`` flag in CMake. If Intel Perceptual Computing SDK is found in install folders OpenCV will be built with Intel Perceptual Computing SDK library (see a status ``INTELPERC`` in CMake log). If CMake process doesn't find Intel Perceptual Computing SDK installation folder automatically, the user should change corresponding CMake variables ``INTELPERC_LIB_DIR`` and ``INTELPERC_INCLUDE_DIR`` to the proper value.
|
|
|
|
#.
|
|
Build OpenCV.
|
|
|
|
VideoCapture can retrieve the following data:
|
|
|
|
#.
|
|
data given from depth generator:
|
|
* ``CAP_INTELPERC_DEPTH_MAP`` - each pixel is a 16-bit integer. The value indicates the distance from an object to the camera's XY plane or the Cartesian depth. (CV_16UC1)
|
|
* ``CAP_INTELPERC_UVDEPTH_MAP`` - each pixel contains two 32-bit floating point values in the range of 0-1, representing the mapping of depth coordinates to the color coordinates. (CV_32FC2)
|
|
* ``CAP_INTELPERC_IR_MAP`` - each pixel is a 16-bit integer. The value indicates the intensity of the reflected laser beam. (CV_16UC1)
|
|
#.
|
|
data given from RGB image generator:
|
|
* ``CAP_INTELPERC_IMAGE`` - color image. (CV_8UC3)
|
|
|
|
In order to get depth map from depth sensor use ``VideoCapture::operator >>``, e. g. ::
|
|
|
|
VideoCapture capture( CAP_INTELPERC );
|
|
for(;;)
|
|
{
|
|
Mat depthMap;
|
|
capture >> depthMap;
|
|
|
|
if( waitKey( 30 ) >= 0 )
|
|
break;
|
|
}
|
|
|
|
For getting several data maps use ``VideoCapture::grab`` and ``VideoCapture::retrieve``, e.g. ::
|
|
|
|
VideoCapture capture(CAP_INTELPERC);
|
|
for(;;)
|
|
{
|
|
Mat depthMap;
|
|
Mat image;
|
|
Mat irImage;
|
|
|
|
capture.grab();
|
|
|
|
capture.retrieve( depthMap, CAP_INTELPERC_DEPTH_MAP );
|
|
capture.retrieve( image, CAP_INTELPERC_IMAGE );
|
|
capture.retrieve( irImage, CAP_INTELPERC_IR_MAP);
|
|
|
|
if( waitKey( 30 ) >= 0 )
|
|
break;
|
|
}
|
|
|
|
For setting and getting some property of sensor` data generators use ``VideoCapture::set`` and ``VideoCapture::get`` methods respectively, e.g. ::
|
|
|
|
VideoCapture capture( CAP_INTELPERC );
|
|
capture.set( CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, 0 );
|
|
cout << "FPS " << capture.get( CAP_INTELPERC_DEPTH_GENERATOR+CAP_PROP_FPS ) << endl;
|
|
|
|
Since two types of sensor's data generators are supported (image generator and depth generator), there are two flags that should be used to set/get property of the needed generator:
|
|
|
|
* CAP_INTELPERC_IMAGE_GENERATOR -- a flag for access to the image generator properties.
|
|
|
|
* CAP_INTELPERC_DEPTH_GENERATOR -- a flag for access to the depth generator properties. This flag value is assumed by default if neither of the two possible values of the property is set.
|
|
|
|
For more information please refer to the example of usage intelperc_capture.cpp_ in ``opencv/samples/cpp`` folder.
|
|
|
|
.. _intelperc_capture.cpp: https://github.com/Itseez/opencv/tree/master/samples/cpp/intelperc_capture.cpp
|