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opencv/samples/cpp/openni_capture.cpp
Dikay900 9f7548ab89 update openni sample comments referring #81
2015-04-24 18:19:03 +02:00

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#include "opencv2/videoio/videoio.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
using namespace cv;
using namespace std;
static void help()
{
cout << "\nThis program demonstrates usage of depth sensors (Kinect, XtionPRO,...).\n"
"The user gets some of the supported output images.\n"
"\nAll supported output map types:\n"
"1.) Data given from depth generator\n"
" CAP_OPENNI_DEPTH_MAP - depth values in mm (CV_16UC1)\n"
" CAP_OPENNI_POINT_CLOUD_MAP - XYZ in meters (CV_32FC3)\n"
" CAP_OPENNI_DISPARITY_MAP - disparity in pixels (CV_8UC1)\n"
" CAP_OPENNI_DISPARITY_MAP_32F - disparity in pixels (CV_32FC1)\n"
" CAP_OPENNI_VALID_DEPTH_MASK - mask of valid pixels (not ocluded, not shaded etc.) (CV_8UC1)\n"
"2.) Data given from RGB image generator\n"
" CAP_OPENNI_BGR_IMAGE - color image (CV_8UC3)\n"
" CAP_OPENNI_GRAY_IMAGE - gray image (CV_8UC1)\n"
<< endl;
}
static void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f, float S=1.f, float V=1.f )
{
CV_Assert( !gray.empty() );
CV_Assert( gray.type() == CV_8UC1 );
if( maxDisp <= 0 )
{
maxDisp = 0;
minMaxLoc( gray, 0, &maxDisp );
}
rgb.create( gray.size(), CV_8UC3 );
rgb = Scalar::all(0);
if( maxDisp < 1 )
return;
for( int y = 0; y < gray.rows; y++ )
{
for( int x = 0; x < gray.cols; x++ )
{
uchar d = gray.at<uchar>(y,x);
unsigned int H = ((uchar)maxDisp - d) * 240 / (uchar)maxDisp;
unsigned int hi = (H/60) % 6;
float f = H/60.f - H/60;
float p = V * (1 - S);
float q = V * (1 - f * S);
float t = V * (1 - (1 - f) * S);
Point3f res;
if( hi == 0 ) //R = V, G = t, B = p
res = Point3f( p, t, V );
if( hi == 1 ) // R = q, G = V, B = p
res = Point3f( p, V, q );
if( hi == 2 ) // R = p, G = V, B = t
res = Point3f( t, V, p );
if( hi == 3 ) // R = p, G = q, B = V
res = Point3f( V, q, p );
if( hi == 4 ) // R = t, G = p, B = V
res = Point3f( V, p, t );
if( hi == 5 ) // R = V, G = p, B = q
res = Point3f( q, p, V );
uchar b = (uchar)(std::max(0.f, std::min (res.x, 1.f)) * 255.f);
uchar g = (uchar)(std::max(0.f, std::min (res.y, 1.f)) * 255.f);
uchar r = (uchar)(std::max(0.f, std::min (res.z, 1.f)) * 255.f);
rgb.at<Point3_<uchar> >(y,x) = Point3_<uchar>(b, g, r);
}
}
}
static float getMaxDisparity( VideoCapture& capture )
{
const int minDistance = 400; // mm
float b = (float)capture.get( CAP_OPENNI_DEPTH_GENERATOR_BASELINE ); // mm
float F = (float)capture.get( CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ); // pixels
return b * F / minDistance;
}
static void printCommandLineParams()
{
cout << "-cd Colorized disparity? (0 or 1; 1 by default) Ignored if disparity map is not selected to show." << endl;
cout << "-fmd Fixed max disparity? (0 or 1; 0 by default) Ignored if disparity map is not colorized (-cd 0)." << endl;
cout << "-mode image mode: resolution and fps, supported three values: 0 - CAP_OPENNI_VGA_30HZ, 1 - CAP_OPENNI_SXGA_15HZ," << endl;
cout << " 2 - CAP_OPENNI_SXGA_30HZ (0 by default). Ignored if rgb image or gray image are not selected to show." << endl;
cout << "-m Mask to set which output images are need. It is a string of size 5. Each element of this is '0' or '1' and" << endl;
cout << " determine: is depth map, disparity map, valid pixels mask, rgb image, gray image need or not (correspondently)?" << endl ;
cout << " By default -m 01010 i.e. disparity map and rgb image will be shown." << endl ;
cout << "-r Filename of .oni video file. The data will grabbed from it." << endl ;
}
static void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFixedMaxDisp, int& imageMode, bool retrievedImageFlags[],
string& filename, bool& isFileReading )
{
// set defaut values
isColorizeDisp = true;
isFixedMaxDisp = false;
imageMode = 0;
retrievedImageFlags[0] = false;
retrievedImageFlags[1] = true;
retrievedImageFlags[2] = false;
retrievedImageFlags[3] = true;
retrievedImageFlags[4] = false;
filename.clear();
isFileReading = false;
if( argc == 1 )
{
help();
}
else
{
for( int i = 1; i < argc; i++ )
{
if( !strcmp( argv[i], "--help" ) || !strcmp( argv[i], "-h" ) )
{
printCommandLineParams();
exit(0);
}
else if( !strcmp( argv[i], "-cd" ) )
{
isColorizeDisp = atoi(argv[++i]) == 0 ? false : true;
}
else if( !strcmp( argv[i], "-fmd" ) )
{
isFixedMaxDisp = atoi(argv[++i]) == 0 ? false : true;
}
else if( !strcmp( argv[i], "-mode" ) )
{
imageMode = atoi(argv[++i]);
}
else if( !strcmp( argv[i], "-m" ) )
{
string mask( argv[++i] );
if( mask.size() != 5)
CV_Error( Error::StsBadArg, "Incorrect length of -m argument string" );
int val = atoi(mask.c_str());
int l = 100000, r = 10000, sum = 0;
for( int j = 0; j < 5; j++ )
{
retrievedImageFlags[j] = ((val % l) / r ) == 0 ? false : true;
l /= 10; r /= 10;
if( retrievedImageFlags[j] ) sum++;
}
if( sum == 0 )
{
cout << "No one output image is selected." << endl;
exit(0);
}
}
else if( !strcmp( argv[i], "-r" ) )
{
filename = argv[++i];
isFileReading = true;
}
else
{
cout << "Unsupported command line argument: " << argv[i] << "." << endl;
exit(-1);
}
}
}
}
/*
* To work with Kinect or XtionPRO the user must install OpenNI library and PrimeSensorModule for OpenNI and
* configure OpenCV with WITH_OPENNI flag is ON (using CMake).
*/
int main( int argc, char* argv[] )
{
bool isColorizeDisp, isFixedMaxDisp;
int imageMode;
bool retrievedImageFlags[5];
string filename;
bool isVideoReading;
parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, imageMode, retrievedImageFlags, filename, isVideoReading );
cout << "Device opening ..." << endl;
VideoCapture capture;
if( isVideoReading )
capture.open( filename );
else
{
capture.open( CAP_OPENNI2 );
if( !capture.isOpened() )
capture.open( CAP_OPENNI );
}
cout << "done." << endl;
if( !capture.isOpened() )
{
cout << "Can not open a capture object." << endl;
return -1;
}
if( !isVideoReading )
{
bool modeRes=false;
switch ( imageMode )
{
case 0:
modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_VGA_30HZ );
break;
case 1:
modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_SXGA_15HZ );
break;
case 2:
modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_SXGA_30HZ );
break;
//The following modes are only supported by the Xtion Pro Live
case 3:
modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_QVGA_30HZ );
break;
case 4:
modeRes = capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_QVGA_60HZ );
break;
default:
CV_Error( Error::StsBadArg, "Unsupported image mode property.\n");
}
if (!modeRes)
cout << "\nThis image mode is not supported by the device, the default value (CV_CAP_OPENNI_SXGA_15HZ) will be used.\n" << endl;
}
// Print some avalible device settings.
cout << "\nDepth generator output mode:" << endl <<
"FRAME_WIDTH " << capture.get( CAP_PROP_FRAME_WIDTH ) << endl <<
"FRAME_HEIGHT " << capture.get( CAP_PROP_FRAME_HEIGHT ) << endl <<
"FRAME_MAX_DEPTH " << capture.get( CAP_PROP_OPENNI_FRAME_MAX_DEPTH ) << " mm" << endl <<
"FPS " << capture.get( CAP_PROP_FPS ) << endl <<
"REGISTRATION " << capture.get( CAP_PROP_OPENNI_REGISTRATION ) << endl;
if( capture.get( CAP_OPENNI_IMAGE_GENERATOR_PRESENT ) )
{
cout <<
"\nImage generator output mode:" << endl <<
"FRAME_WIDTH " << capture.get( CAP_OPENNI_IMAGE_GENERATOR+CAP_PROP_FRAME_WIDTH ) << endl <<
"FRAME_HEIGHT " << capture.get( CAP_OPENNI_IMAGE_GENERATOR+CAP_PROP_FRAME_HEIGHT ) << endl <<
"FPS " << capture.get( CAP_OPENNI_IMAGE_GENERATOR+CAP_PROP_FPS ) << endl;
}
else
{
cout << "\nDevice doesn't contain image generator." << endl;
if (!retrievedImageFlags[0] && !retrievedImageFlags[1] && !retrievedImageFlags[2])
return 0;
}
for(;;)
{
Mat depthMap;
Mat validDepthMap;
Mat disparityMap;
Mat bgrImage;
Mat grayImage;
if( !capture.grab() )
{
cout << "Can not grab images." << endl;
return -1;
}
else
{
if( retrievedImageFlags[0] && capture.retrieve( depthMap, CAP_OPENNI_DEPTH_MAP ) )
{
const float scaleFactor = 0.05f;
Mat show; depthMap.convertTo( show, CV_8UC1, scaleFactor );
imshow( "depth map", show );
}
if( retrievedImageFlags[1] && capture.retrieve( disparityMap, CAP_OPENNI_DISPARITY_MAP ) )
{
if( isColorizeDisp )
{
Mat colorDisparityMap;
colorizeDisparity( disparityMap, colorDisparityMap, isFixedMaxDisp ? getMaxDisparity(capture) : -1 );
Mat validColorDisparityMap;
colorDisparityMap.copyTo( validColorDisparityMap, disparityMap != 0 );
imshow( "colorized disparity map", validColorDisparityMap );
}
else
{
imshow( "original disparity map", disparityMap );
}
}
if( retrievedImageFlags[2] && capture.retrieve( validDepthMap, CAP_OPENNI_VALID_DEPTH_MASK ) )
imshow( "valid depth mask", validDepthMap );
if( retrievedImageFlags[3] && capture.retrieve( bgrImage, CAP_OPENNI_BGR_IMAGE ) )
imshow( "rgb image", bgrImage );
if( retrievedImageFlags[4] && capture.retrieve( grayImage, CAP_OPENNI_GRAY_IMAGE ) )
imshow( "gray image", grayImage );
}
if( waitKey( 30 ) >= 0 )
break;
}
return 0;
}
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