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139 lines
6.3 KiB
Markdown
139 lines
6.3 KiB
Markdown
Using Kinect and other OpenNI compatible depth sensors {#tutorial_kinect_openni}
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======================================================
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Depth sensors compatible with OpenNI (Kinect, XtionPRO, ...) are supported through VideoCapture
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class. Depth map, BGR image and some other formats of output can be retrieved by using familiar
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interface of VideoCapture.
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In order to use depth sensor with OpenCV you should do the following preliminary steps:
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-# Install OpenNI library (from here <http://www.openni.org/downloadfiles>) and PrimeSensor Module
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for OpenNI (from here <https://github.com/avin2/SensorKinect>). The installation should be done
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to default folders listed in the instructions of these products, e.g.:
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@code{.text}
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OpenNI:
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Linux & MacOSX:
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Libs into: /usr/lib
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Includes into: /usr/include/ni
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Windows:
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Libs into: c:/Program Files/OpenNI/Lib
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Includes into: c:/Program Files/OpenNI/Include
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PrimeSensor Module:
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Linux & MacOSX:
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Bins into: /usr/bin
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Windows:
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Bins into: c:/Program Files/Prime Sense/Sensor/Bin
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@endcode
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If one or both products were installed to the other folders, the user should change
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corresponding CMake variables OPENNI_LIB_DIR, OPENNI_INCLUDE_DIR or/and
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OPENNI_PRIME_SENSOR_MODULE_BIN_DIR.
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-# Configure OpenCV with OpenNI support by setting WITH_OPENNI flag in CMake. If OpenNI is found
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in install folders OpenCV will be built with OpenNI library (see a status OpenNI in CMake log)
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whereas PrimeSensor Modules can not be found (see a status OpenNI PrimeSensor Modules in CMake
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log). Without PrimeSensor module OpenCV will be successfully compiled with OpenNI library, but
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VideoCapture object will not grab data from Kinect sensor.
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-# Build OpenCV.
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VideoCapture can retrieve the following data:
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-# data given from depth generator:
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- CAP_OPENNI_DEPTH_MAP - depth values in mm (CV_16UC1)
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- CAP_OPENNI_POINT_CLOUD_MAP - XYZ in meters (CV_32FC3)
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- CAP_OPENNI_DISPARITY_MAP - disparity in pixels (CV_8UC1)
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- CAP_OPENNI_DISPARITY_MAP_32F - disparity in pixels (CV_32FC1)
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- CAP_OPENNI_VALID_DEPTH_MASK - mask of valid pixels (not ocluded, not shaded etc.)
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(CV_8UC1)
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-# data given from BGR image generator:
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- CAP_OPENNI_BGR_IMAGE - color image (CV_8UC3)
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- CAP_OPENNI_GRAY_IMAGE - gray image (CV_8UC1)
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In order to get depth map from depth sensor use VideoCapture::operator \>\>, e. g. :
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@code{.cpp}
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VideoCapture capture( CAP_OPENNI );
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for(;;)
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{
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Mat depthMap;
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capture >> depthMap;
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if( waitKey( 30 ) >= 0 )
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break;
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}
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@endcode
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For getting several data maps use VideoCapture::grab and VideoCapture::retrieve, e.g. :
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@code{.cpp}
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VideoCapture capture(0); // or CAP_OPENNI
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for(;;)
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{
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Mat depthMap;
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Mat bgrImage;
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capture.grab();
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capture.retrieve( depthMap, CAP_OPENNI_DEPTH_MAP );
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capture.retrieve( bgrImage, CAP_OPENNI_BGR_IMAGE );
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if( waitKey( 30 ) >= 0 )
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break;
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}
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@endcode
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For setting and getting some property of sensor\` data generators use VideoCapture::set and
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VideoCapture::get methods respectively, e.g. :
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@code{.cpp}
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VideoCapture capture( CAP_OPENNI );
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capture.set( CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CAP_OPENNI_VGA_30HZ );
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cout << "FPS " << capture.get( CAP_OPENNI_IMAGE_GENERATOR+CAP_PROP_FPS ) << endl;
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@endcode
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Since two types of sensor's data generators are supported (image generator and depth generator),
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there are two flags that should be used to set/get property of the needed generator:
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- CAP_OPENNI_IMAGE_GENERATOR -- A flag for access to the image generator properties.
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- CAP_OPENNI_DEPTH_GENERATOR -- A flag for access to the depth generator properties. This flag
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value is assumed by default if neither of the two possible values of the property is not set.
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Some depth sensors (for example XtionPRO) do not have image generator. In order to check it you can
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get CAP_OPENNI_IMAGE_GENERATOR_PRESENT property.
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@code{.cpp}
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bool isImageGeneratorPresent = capture.get( CAP_PROP_OPENNI_IMAGE_GENERATOR_PRESENT ) != 0; // or == 1
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@endcode
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Flags specifying the needed generator type must be used in combination with particular generator
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property. The following properties of cameras available through OpenNI interfaces are supported:
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- For image generator:
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- CAP_PROP_OPENNI_OUTPUT_MODE -- Three output modes are supported: CAP_OPENNI_VGA_30HZ
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used by default (image generator returns images in VGA resolution with 30 FPS),
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CAP_OPENNI_SXGA_15HZ (image generator returns images in SXGA resolution with 15 FPS) and
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CAP_OPENNI_SXGA_30HZ (image generator returns images in SXGA resolution with 30 FPS, the
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mode is supported by XtionPRO Live); depth generator's maps are always in VGA resolution.
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- For depth generator:
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- CAP_PROP_OPENNI_REGISTRATION -- Flag that registers the remapping depth map to image map
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by changing depth generator's view point (if the flag is "on") or sets this view point to
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its normal one (if the flag is "off"). The registration process’s resulting images are
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pixel-aligned,which means that every pixel in the image is aligned to a pixel in the depth
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image.
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Next properties are available for getting only:
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- CAP_PROP_OPENNI_FRAME_MAX_DEPTH -- A maximum supported depth of Kinect in mm.
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- CAP_PROP_OPENNI_BASELINE -- Baseline value in mm.
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- CAP_PROP_OPENNI_FOCAL_LENGTH -- A focal length in pixels.
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- CAP_PROP_FRAME_WIDTH -- Frame width in pixels.
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- CAP_PROP_FRAME_HEIGHT -- Frame height in pixels.
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- CAP_PROP_FPS -- Frame rate in FPS.
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- Some typical flags combinations "generator type + property" are defined as single flags:
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- CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE = CAP_OPENNI_IMAGE_GENERATOR + CAP_PROP_OPENNI_OUTPUT_MODE
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- CAP_OPENNI_DEPTH_GENERATOR_BASELINE = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_BASELINE
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- CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_FOCAL_LENGTH
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- CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_REGISTRATION
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For more information please refer to the example of usage
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[openni_capture.cpp](https://github.com/opencv/opencv/tree/master/samples/cpp/openni_capture.cpp) in
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opencv/samples/cpp folder.
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