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Orbbec Camera supports MacOS，Gemini2 and Gemini2L support Y16 format #24877 note: 1.Gemini2 and Gemini2L must use the latest firmware -- https://github.com/orbbec/OrbbecFirmware; 2.Administrator privileges are necessary to run on MacOS.
84 lines
3.1 KiB
C++
84 lines
3.1 KiB
C++
/**
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* attention: Astra2 cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
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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 <opencv2/imgproc.hpp>
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#include <iostream>
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using namespace cv;
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int main()
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{
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VideoCapture obsensorCapture(0, CAP_OBSENSOR);
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if(!obsensorCapture.isOpened()){
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std::cerr << "Failed to open obsensor capture! Index out of range or no response from device";
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return -1;
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}
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double fx = obsensorCapture.get(CAP_PROP_OBSENSOR_INTRINSIC_FX);
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double fy = obsensorCapture.get(CAP_PROP_OBSENSOR_INTRINSIC_FY);
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double cx = obsensorCapture.get(CAP_PROP_OBSENSOR_INTRINSIC_CX);
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double cy = obsensorCapture.get(CAP_PROP_OBSENSOR_INTRINSIC_CY);
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std::cout << "obsensor camera intrinsic params: fx=" << fx << ", fy=" << fy << ", cx=" << cx << ", cy=" << cy << std::endl;
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Mat image;
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Mat depthMap;
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Mat adjDepthMap;
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// Minimum depth value
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const double minVal = 300;
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// Maximum depth value
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const double maxVal = 5000;
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while (true)
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{
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// Grab depth map like this:
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// obsensorCapture >> depthMap;
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// Another way to grab depth map (and bgr image).
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if (obsensorCapture.grab())
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{
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if (obsensorCapture.retrieve(image, CAP_OBSENSOR_BGR_IMAGE))
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{
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imshow("RGB", image);
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}
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if (obsensorCapture.retrieve(depthMap, CAP_OBSENSOR_DEPTH_MAP))
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{
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depthMap.convertTo(adjDepthMap, CV_8U, 255.0 / (maxVal - minVal), -minVal * 255.0 / (maxVal - minVal));
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applyColorMap(adjDepthMap, adjDepthMap, COLORMAP_JET);
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imshow("DEPTH", adjDepthMap);
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}
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// depth map overlay on bgr image
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static const float alpha = 0.6f;
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if (!image.empty() && !depthMap.empty())
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{
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depthMap.convertTo(adjDepthMap, CV_8U, 255.0 / (maxVal - minVal), -minVal * 255.0 / (maxVal - minVal));
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cv::resize(adjDepthMap, adjDepthMap, cv::Size(image.cols, image.rows));
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for (int i = 0; i < image.rows; i++)
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{
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for (int j = 0; j < image.cols; j++)
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{
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cv::Vec3b& outRgb = image.at<cv::Vec3b>(i, j);
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uint8_t depthValue = 255 - adjDepthMap.at<uint8_t>(i, j);
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if (depthValue != 0 && depthValue != 255)
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{
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outRgb[0] = (uint8_t)(outRgb[0] * (1.0f - alpha) + depthValue * alpha);
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outRgb[1] = (uint8_t)(outRgb[1] * (1.0f - alpha) + depthValue * alpha);
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outRgb[2] = (uint8_t)(outRgb[2] * (1.0f - alpha) + depthValue * alpha);
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}
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}
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}
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imshow("DepthToColor", image);
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}
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image.release();
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depthMap.release();
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}
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if (pollKey() >= 0)
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break;
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}
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return 0;
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}
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