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356 lines
13 KiB
C++
356 lines
13 KiB
C++
// testOpenCVCam.cpp : Defines the entry point for the console application.
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//
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#include "opencv2/videoio.hpp"
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#include "opencv2/highgui.hpp"
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#include <iostream>
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using namespace cv;
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using namespace std;
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static bool g_printStreamSetting;
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static int g_imageStreamProfileIdx;
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static int g_depthStreamProfileIdx;
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static bool g_irStreamShow;
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static double g_imageBrightness;
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static double g_imageContrast;
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static bool g_printTiming;
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static bool g_showClosedPoint;
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static int g_closedDepthPoint[2];
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static void printUsage(const char *arg0)
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{
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const char *filename = arg0;
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while (*filename)
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filename++;
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while ((arg0 <= filename) && ('\\' != *filename) && ('/' != *filename))
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filename--;
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filename++;
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cout << "This program demonstrates usage of camera supported\nby Intel Perceptual computing SDK." << endl << endl;
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cout << "usage: " << filename << "[-ps] [-isp=IDX] [-dsp=IDX]\n [-ir] [-imb=VAL] [-imc=VAL]" << endl << endl;
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cout << " -ps, print streams setting and profiles" << endl;
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cout << " -isp=IDX, set profile index of the image stream" << endl;
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cout << " -dsp=IDX, set profile index of the depth stream" << endl;
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cout << " -ir, show data from IR stream" << endl;
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cout << " -imb=VAL, set brightness value for an image stream" << endl;
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cout << " -imc=VAL, set contrast value for a image stream" << endl;
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cout << " -pts, print frame index and frame time" << endl;
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cout << " --show-closed, print frame index and frame time" << endl;
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cout << endl;
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}
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static void parseCMDLine(int argc, char* argv[])
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{
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cv::CommandLineParser parser(argc, argv,
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"{ h help | | }"
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"{ ps print-streams | | }"
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"{ isp image-stream-prof | -1 | }"
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"{ dsp depth-stream-prof | -1 | }"
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"{ir||}{imb||}{imc||}{pts||}{show-closed||}");
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if (parser.has("h"))
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{
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printUsage(argv[0]);
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exit(0);
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}
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g_printStreamSetting = parser.has("ps");
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g_imageStreamProfileIdx = parser.get<int>("isp");
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g_depthStreamProfileIdx = parser.get<int>("dsp");
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g_irStreamShow = parser.has("ir");
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if (parser.has("imb"))
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g_imageBrightness = parser.get<double>("imb");
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else
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g_imageBrightness = -DBL_MAX;
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if (parser.has("imc"))
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g_imageContrast = parser.get<double>("imc");
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else
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g_imageContrast = -DBL_MAX;
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g_printTiming = parser.has("pts");
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g_showClosedPoint = parser.has("show-closed");
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if (!parser.check())
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{
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parser.printErrors();
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exit(-1);
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}
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if (g_showClosedPoint && (-1 == g_depthStreamProfileIdx))
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{
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cerr << "For --show-closed depth profile has be selected" << endl;
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exit(-1);
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}
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}
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static void printStreamProperties(VideoCapture &capture)
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{
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size_t profilesCount = (size_t)capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_INTELPERC_PROFILE_COUNT);
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cout << "Image stream." << endl;
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cout << " Brightness = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BRIGHTNESS) << endl;
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cout << " Contrast = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_CONTRAST) << endl;
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cout << " Saturation = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_SATURATION) << endl;
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cout << " Hue = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_HUE) << endl;
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cout << " Gamma = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_GAMMA) << endl;
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cout << " Sharpness = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_SHARPNESS) << endl;
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cout << " Gain = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_GAIN) << endl;
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cout << " Backligh = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BACKLIGHT) << endl;
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cout << "Image streams profiles:" << endl;
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for (size_t i = 0; i < profilesCount; i++)
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{
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capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)i);
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cout << " Profile[" << i << "]: ";
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cout << "width = " <<
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(int)capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_FRAME_WIDTH);
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cout << ", height = " <<
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(int)capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_FRAME_HEIGHT);
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cout << ", fps = " <<
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capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_FPS);
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cout << endl;
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}
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profilesCount = (size_t)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_COUNT);
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cout << "Depth stream." << endl;
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cout << " Low confidence value = " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE) << endl;
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cout << " Saturation value = " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE) << endl;
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cout << " Confidence threshold = " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD) << endl;
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cout << " Focal length = (" << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ) << ", "
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<< capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT) << ")" << endl;
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cout << "Depth streams profiles:" << endl;
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for (size_t i = 0; i < profilesCount; i++)
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{
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capture.set(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)i);
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cout << " Profile[" << i << "]: ";
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cout << "width = " <<
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(int)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_FRAME_WIDTH);
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cout << ", height = " <<
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(int)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_FRAME_HEIGHT);
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cout << ", fps = " <<
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capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_FPS);
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cout << endl;
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}
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}
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static void imshowImage(const char *winname, Mat &image, VideoCapture &capture)
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{
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if (g_showClosedPoint)
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{
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Mat uvMap;
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if (capture.retrieve(uvMap, CAP_INTELPERC_UVDEPTH_MAP))
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{
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float *uvmap = (float *)uvMap.ptr() + 2 * (g_closedDepthPoint[0] * uvMap.cols + g_closedDepthPoint[1]);
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int x = (int)((*uvmap) * image.cols); uvmap++;
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int y = (int)((*uvmap) * image.rows);
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if ((0 <= x) && (0 <= y))
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{
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static const int pointSize = 4;
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for (int row = y; row < min(y + pointSize, image.rows); row++)
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{
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uchar* ptrDst = image.ptr(row) + x * 3 + 2;//+2 -> Red
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for (int col = 0; col < min(pointSize, image.cols - x); col++, ptrDst+=3)
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{
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*ptrDst = 255;
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}
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}
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}
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}
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}
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imshow(winname, image);
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}
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static void imshowIR(const char *winname, Mat &ir)
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{
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Mat image;
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if (g_showClosedPoint)
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{
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image.create(ir.rows, ir.cols, CV_8UC3);
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for (int row = 0; row < ir.rows; row++)
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{
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uchar* ptrDst = image.ptr(row);
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short* ptrSrc = (short*)ir.ptr(row);
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for (int col = 0; col < ir.cols; col++, ptrSrc++)
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{
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uchar val = (uchar) ((*ptrSrc) >> 2);
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*ptrDst = val; ptrDst++;
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*ptrDst = val; ptrDst++;
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*ptrDst = val; ptrDst++;
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}
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}
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static const int pointSize = 4;
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for (int row = g_closedDepthPoint[0]; row < min(g_closedDepthPoint[0] + pointSize, image.rows); row++)
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{
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uchar* ptrDst = image.ptr(row) + g_closedDepthPoint[1] * 3 + 2;//+2 -> Red
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for (int col = 0; col < min(pointSize, image.cols - g_closedDepthPoint[1]); col++, ptrDst+=3)
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{
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*ptrDst = 255;
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}
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}
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}
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else
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{
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image.create(ir.rows, ir.cols, CV_8UC1);
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for (int row = 0; row < ir.rows; row++)
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{
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uchar* ptrDst = image.ptr(row);
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short* ptrSrc = (short*)ir.ptr(row);
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for (int col = 0; col < ir.cols; col++, ptrSrc++, ptrDst++)
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{
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*ptrDst = (uchar) ((*ptrSrc) >> 2);
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}
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}
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}
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imshow(winname, image);
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}
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static void imshowDepth(const char *winname, Mat &depth, VideoCapture &capture)
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{
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short lowValue = (short)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE);
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short saturationValue = (short)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE);
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Mat image;
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if (g_showClosedPoint)
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{
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image.create(depth.rows, depth.cols, CV_8UC3);
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for (int row = 0; row < depth.rows; row++)
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{
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uchar* ptrDst = image.ptr(row);
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short* ptrSrc = (short*)depth.ptr(row);
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for (int col = 0; col < depth.cols; col++, ptrSrc++)
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{
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if ((lowValue == (*ptrSrc)) || (saturationValue == (*ptrSrc)))
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{
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*ptrDst = 0; ptrDst++;
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*ptrDst = 0; ptrDst++;
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*ptrDst = 0; ptrDst++;
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}
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else
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{
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uchar val = (uchar) ((*ptrSrc) >> 2);
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*ptrDst = val; ptrDst++;
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*ptrDst = val; ptrDst++;
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*ptrDst = val; ptrDst++;
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}
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}
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}
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static const int pointSize = 4;
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for (int row = g_closedDepthPoint[0]; row < min(g_closedDepthPoint[0] + pointSize, image.rows); row++)
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{
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uchar* ptrDst = image.ptr(row) + g_closedDepthPoint[1] * 3 + 2;//+2 -> Red
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for (int col = 0; col < min(pointSize, image.cols - g_closedDepthPoint[1]); col++, ptrDst+=3)
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{
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*ptrDst = 255;
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}
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}
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}
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else
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{
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image.create(depth.rows, depth.cols, CV_8UC1);
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for (int row = 0; row < depth.rows; row++)
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{
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uchar* ptrDst = image.ptr(row);
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short* ptrSrc = (short*)depth.ptr(row);
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for (int col = 0; col < depth.cols; col++, ptrSrc++, ptrDst++)
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{
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if ((lowValue == (*ptrSrc)) || (saturationValue == (*ptrSrc)))
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*ptrDst = 0;
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else
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*ptrDst = (uchar) ((*ptrSrc) >> 2);
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}
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}
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}
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imshow(winname, image);
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}
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int main(int argc, char* argv[])
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{
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parseCMDLine(argc, argv);
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VideoCapture capture;
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capture.open(CAP_INTELPERC);
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if (!capture.isOpened())
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{
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cerr << "Can not open a capture object." << endl;
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return -1;
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}
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if (g_printStreamSetting)
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printStreamProperties(capture);
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if (-1 != g_imageStreamProfileIdx)
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{
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if (!capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)g_imageStreamProfileIdx))
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{
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cerr << "Can not setup a image stream." << endl;
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return -1;
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}
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}
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if (-1 != g_depthStreamProfileIdx)
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{
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if (!capture.set(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)g_depthStreamProfileIdx))
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{
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cerr << "Can not setup a depth stream." << endl;
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return -1;
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}
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}
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else if (g_irStreamShow)
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{
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if (!capture.set(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, 0.0))
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{
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cerr << "Can not setup a IR stream." << endl;
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return -1;
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}
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}
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else
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{
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cout << "Streams not selected" << endl;
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return 0;
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}
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//Setup additional properties only after set profile of the stream
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if ( (-10000.0 < g_imageBrightness) && (g_imageBrightness < 10000.0))
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capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BRIGHTNESS, g_imageBrightness);
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if ( (0 < g_imageContrast) && (g_imageContrast < 10000.0))
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capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BRIGHTNESS, g_imageContrast);
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int frame = 0;
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for(;;frame++)
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{
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Mat bgrImage;
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Mat depthImage;
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Mat irImage;
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if (!capture.grab())
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{
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cout << "Can not grab images." << endl;
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return -1;
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}
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if ((-1 != g_depthStreamProfileIdx) && (capture.retrieve(depthImage, CAP_INTELPERC_DEPTH_MAP)))
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{
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if (g_showClosedPoint)
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{
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double minVal = 0.0; double maxVal = 0.0;
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minMaxIdx(depthImage, &minVal, &maxVal, g_closedDepthPoint);
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}
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imshowDepth("depth image", depthImage, capture);
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}
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if ((g_irStreamShow) && (capture.retrieve(irImage, CAP_INTELPERC_IR_MAP)))
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imshowIR("ir image", irImage);
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if ((-1 != g_imageStreamProfileIdx) && (capture.retrieve(bgrImage, CAP_INTELPERC_IMAGE)))
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imshowImage("color image", bgrImage, capture);
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if (g_printTiming)
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{
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cout << "Image frame: " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_POS_FRAMES)
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<< ", Depth(IR) frame: " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_POS_FRAMES) << endl;
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cout << "Image frame: " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_POS_MSEC)
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<< ", Depth(IR) frame: " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_POS_MSEC) << endl;
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}
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if( waitKey(30) >= 0 )
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break;
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}
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return 0;
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}
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