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80 lines
3.8 KiB
ReStructuredText
80 lines
3.8 KiB
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*****************************************
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Senz3D and Intel Perceptual Computing SDK
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*****************************************
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.. highlight:: cpp
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Using Creative Senz3D and other Intel Perceptual Computing SDK compatible depth sensors
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=======================================================================================
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Depth sensors compatible with Intel Perceptual Computing SDK are supported through ``VideoCapture`` class. Depth map, BGR image and some other formats of output can be retrieved by using familiar 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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#.
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Install Intel Perceptual Computing SDK (from here http://www.intel.com/software/perceptual).
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#.
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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.
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#.
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Build OpenCV.
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VideoCapture can retrieve the following data:
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#.
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data given from depth generator:
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* ``CV_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)
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* ``CV_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)
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* ``CV_CAP_INTELPERC_IR_MAP`` - each pixel is a 16-bit integer. The value indicates the intensity of the reflected laser beam. (CV_16UC1)
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#.
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data given from BGR image generator:
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* ``CV_CAP_INTELPERC_IMAGE`` - color image. (CV_8UC3)
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In order to get depth map from depth sensor use ``VideoCapture::operator >>``, e. g. ::
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VideoCapture capture( CV_CAP_INTELPERC );
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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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For getting several data maps use ``VideoCapture::grab`` and ``VideoCapture::retrieve``, e.g. ::
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VideoCapture capture(CV_CAP_INTELPERC);
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for(;;)
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{
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Mat depthMap;
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Mat image;
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Mat irImage;
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capture.grab();
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capture.retrieve( depthMap, CV_CAP_INTELPERC_DEPTH_MAP );
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capture.retrieve( image, CV_CAP_INTELPERC_IMAGE );
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capture.retrieve( irImage, CV_CAP_INTELPERC_IR_MAP);
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if( waitKey( 30 ) >= 0 )
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break;
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}
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For setting and getting some property of sensor` data generators use ``VideoCapture::set`` and ``VideoCapture::get`` methods respectively, e.g. ::
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VideoCapture capture( CV_CAP_INTELPERC );
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capture.set( CV_CAP_INTELPERC_DEPTH_GENERATOR | CV_CAP_PROP_INTELPERC_PROFILE_IDX, 0 );
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cout << "FPS " << capture.get( CV_CAP_INTELPERC_DEPTH_GENERATOR+CV_CAP_PROP_FPS ) << endl;
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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:
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* CV_CAP_INTELPERC_IMAGE_GENERATOR -- a flag for access to the image generator properties.
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* CV_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.
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For more information please refer to the example of usage intelperc_capture.cpp_ in ``opencv/samples/cpp`` folder.
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.. _intelperc_capture.cpp: https://github.com/Itseez/opencv/tree/master/samples/cpp/intelperc_capture.cpp
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