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intelperc_capture.cpp
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377 lines (350 loc) · 14 KB
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// testOpenCVCam.cpp : Defines the entry point for the console application.
//
#include "opencv2/videoio/videoio.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
using namespace cv;
using namespace std;
static bool g_printStreamSetting = false;
static int g_imageStreamProfileIdx = -1;
static int g_depthStreamProfileIdx = -1;
static bool g_irStreamShow = false;
static double g_imageBrightness = -DBL_MAX;
static double g_imageContrast = -DBL_MAX;
static bool g_printTiming = false;
static bool g_showClosedPoint = false;
static int g_closedDepthPoint[2];
static void printUsage(const char *arg0)
{
const char *filename = arg0;
while (*filename)
filename++;
while ((arg0 <= filename) && ('\\' != *filename) && ('/' != *filename))
filename--;
filename++;
cout << "This program demonstrates usage of camera supported\nby Intel Perceptual computing SDK." << endl << endl;
cout << "usage: " << filename << "[-ps] [-isp IDX] [-dsp IDX]\n [-ir] [-imb VAL] [-imc VAL]" << endl << endl;
cout << " -ps, print streams setting and profiles" << endl;
cout << " -isp IDX, set profile index of the image stream" << endl;
cout << " -dsp IDX, set profile index of the depth stream" << endl;
cout << " -ir, show data from IR stream" << endl;
cout << " -imb VAL, set brighness value for a image stream" << endl;
cout << " -imc VAL, set contrast value for a image stream" << endl;
cout << " -pts, print frame index and frame time" << endl;
cout << " --show-closed, print frame index and frame time" << endl;
cout << endl;
}
static void parseCMDLine(int argc, char* argv[])
{
if( argc == 1 )
{
printUsage(argv[0]);
}
else
{
for( int i = 1; i < argc; i++ )
{
if ((0 == strcmp(argv[i], "--help")) || (0 == strcmp( argv[i], "-h")))
{
printUsage(argv[0]);
exit(0);
}
else if ((0 == strcmp( argv[i], "--print-streams")) || (0 == strcmp( argv[i], "-ps")))
{
g_printStreamSetting = true;
}
else if ((0 == strcmp( argv[i], "--image-stream-prof")) || (0 == strcmp( argv[i], "-isp")))
{
g_imageStreamProfileIdx = atoi(argv[++i]);
}
else if ((0 == strcmp( argv[i], "--depth-stream-prof")) || (0 == strcmp( argv[i], "-dsp")))
{
g_depthStreamProfileIdx = atoi(argv[++i]);
}
else if (0 == strcmp( argv[i], "-ir"))
{
g_irStreamShow = true;
}
else if (0 == strcmp( argv[i], "-imb"))
{
g_imageBrightness = atof(argv[++i]);
}
else if (0 == strcmp( argv[i], "-imc"))
{
g_imageContrast = atof(argv[++i]);
}
else if (0 == strcmp(argv[i], "-pts"))
{
g_printTiming = true;
}
else if (0 == strcmp(argv[i], "--show-closed"))
{
g_showClosedPoint = true;
}
else
{
cout << "Unsupported command line argument: " << argv[i] << "." << endl;
exit(-1);
}
}
if (g_showClosedPoint && (-1 == g_depthStreamProfileIdx))
{
cerr << "For --show-closed depth profile has be selected" << endl;
exit(-1);
}
}
}
static void printStreamProperties(VideoCapture &capture)
{
size_t profilesCount = (size_t)capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_INTELPERC_PROFILE_COUNT);
cout << "Image stream." << endl;
cout << " Brightness = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BRIGHTNESS) << endl;
cout << " Contrast = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_CONTRAST) << endl;
cout << " Saturation = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_SATURATION) << endl;
cout << " Hue = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_HUE) << endl;
cout << " Gamma = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_GAMMA) << endl;
cout << " Sharpness = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_SHARPNESS) << endl;
cout << " Gain = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_GAIN) << endl;
cout << " Backligh = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BACKLIGHT) << endl;
cout << "Image streams profiles:" << endl;
for (size_t i = 0; i < profilesCount; i++)
{
capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)i);
cout << " Profile[" << i << "]: ";
cout << "width = " <<
(int)capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_FRAME_WIDTH);
cout << ", height = " <<
(int)capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_FRAME_HEIGHT);
cout << ", fps = " <<
capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_FPS);
cout << endl;
}
profilesCount = (size_t)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_COUNT);
cout << "Depth stream." << endl;
cout << " Low confidence value = " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE) << endl;
cout << " Saturation value = " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE) << endl;
cout << " Confidence threshold = " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD) << endl;
cout << " Focal length = (" << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ) << ", "
<< capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT) << ")" << endl;
cout << "Depth streams profiles:" << endl;
for (size_t i = 0; i < profilesCount; i++)
{
capture.set(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)i);
cout << " Profile[" << i << "]: ";
cout << "width = " <<
(int)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_FRAME_WIDTH);
cout << ", height = " <<
(int)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_FRAME_HEIGHT);
cout << ", fps = " <<
capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_FPS);
cout << endl;
}
}
static void imshowImage(const char *winname, Mat &image, VideoCapture &capture)
{
if (g_showClosedPoint)
{
Mat uvMap;
if (capture.retrieve(uvMap, CAP_INTELPERC_UVDEPTH_MAP))
{
float *uvmap = (float *)uvMap.ptr() + 2 * (g_closedDepthPoint[0] * uvMap.cols + g_closedDepthPoint[1]);
int x = (int)((*uvmap) * image.cols); uvmap++;
int y = (int)((*uvmap) * image.rows);
if ((0 <= x) && (0 <= y))
{
static const int pointSize = 4;
for (int row = y; row < min(y + pointSize, image.rows); row++)
{
uchar* ptrDst = image.ptr(row) + x * 3 + 2;//+2 -> Red
for (int col = 0; col < min(pointSize, image.cols - x); col++, ptrDst+=3)
{
*ptrDst = 255;
}
}
}
}
}
imshow(winname, image);
}
static void imshowIR(const char *winname, Mat &ir)
{
Mat image;
if (g_showClosedPoint)
{
image.create(ir.rows, ir.cols, CV_8UC3);
for (int row = 0; row < ir.rows; row++)
{
uchar* ptrDst = image.ptr(row);
short* ptrSrc = (short*)ir.ptr(row);
for (int col = 0; col < ir.cols; col++, ptrSrc++)
{
uchar val = (uchar) ((*ptrSrc) >> 2);
*ptrDst = val; ptrDst++;
*ptrDst = val; ptrDst++;
*ptrDst = val; ptrDst++;
}
}
static const int pointSize = 4;
for (int row = g_closedDepthPoint[0]; row < min(g_closedDepthPoint[0] + pointSize, image.rows); row++)
{
uchar* ptrDst = image.ptr(row) + g_closedDepthPoint[1] * 3 + 2;//+2 -> Red
for (int col = 0; col < min(pointSize, image.cols - g_closedDepthPoint[1]); col++, ptrDst+=3)
{
*ptrDst = 255;
}
}
}
else
{
image.create(ir.rows, ir.cols, CV_8UC1);
for (int row = 0; row < ir.rows; row++)
{
uchar* ptrDst = image.ptr(row);
short* ptrSrc = (short*)ir.ptr(row);
for (int col = 0; col < ir.cols; col++, ptrSrc++, ptrDst++)
{
*ptrDst = (uchar) ((*ptrSrc) >> 2);
}
}
}
imshow(winname, image);
}
static void imshowDepth(const char *winname, Mat &depth, VideoCapture &capture)
{
short lowValue = (short)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE);
short saturationValue = (short)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE);
Mat image;
if (g_showClosedPoint)
{
image.create(depth.rows, depth.cols, CV_8UC3);
for (int row = 0; row < depth.rows; row++)
{
uchar* ptrDst = image.ptr(row);
short* ptrSrc = (short*)depth.ptr(row);
for (int col = 0; col < depth.cols; col++, ptrSrc++)
{
if ((lowValue == (*ptrSrc)) || (saturationValue == (*ptrSrc)))
{
*ptrDst = 0; ptrDst++;
*ptrDst = 0; ptrDst++;
*ptrDst = 0; ptrDst++;
}
else
{
uchar val = (uchar) ((*ptrSrc) >> 2);
*ptrDst = val; ptrDst++;
*ptrDst = val; ptrDst++;
*ptrDst = val; ptrDst++;
}
}
}
static const int pointSize = 4;
for (int row = g_closedDepthPoint[0]; row < min(g_closedDepthPoint[0] + pointSize, image.rows); row++)
{
uchar* ptrDst = image.ptr(row) + g_closedDepthPoint[1] * 3 + 2;//+2 -> Red
for (int col = 0; col < min(pointSize, image.cols - g_closedDepthPoint[1]); col++, ptrDst+=3)
{
*ptrDst = 255;
}
}
}
else
{
image.create(depth.rows, depth.cols, CV_8UC1);
for (int row = 0; row < depth.rows; row++)
{
uchar* ptrDst = image.ptr(row);
short* ptrSrc = (short*)depth.ptr(row);
for (int col = 0; col < depth.cols; col++, ptrSrc++, ptrDst++)
{
if ((lowValue == (*ptrSrc)) || (saturationValue == (*ptrSrc)))
*ptrDst = 0;
else
*ptrDst = (uchar) ((*ptrSrc) >> 2);
}
}
}
imshow(winname, image);
}
int main(int argc, char* argv[])
{
parseCMDLine(argc, argv);
VideoCapture capture;
capture.open(CAP_INTELPERC);
if (!capture.isOpened())
{
cerr << "Can not open a capture object." << endl;
return -1;
}
if (g_printStreamSetting)
printStreamProperties(capture);
if (-1 != g_imageStreamProfileIdx)
{
if (!capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)g_imageStreamProfileIdx))
{
cerr << "Can not setup a image stream." << endl;
return -1;
}
}
if (-1 != g_depthStreamProfileIdx)
{
if (!capture.set(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)g_depthStreamProfileIdx))
{
cerr << "Can not setup a depth stream." << endl;
return -1;
}
}
else if (g_irStreamShow)
{
if (!capture.set(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, 0.0))
{
cerr << "Can not setup a IR stream." << endl;
return -1;
}
}
else
{
cout << "Streams not selected" << endl;
return 0;
}
//Setup additional properies only after set profile of the stream
if ( (-10000.0 < g_imageBrightness) && (g_imageBrightness < 10000.0))
capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BRIGHTNESS, g_imageBrightness);
if ( (0 < g_imageContrast) && (g_imageContrast < 10000.0))
capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BRIGHTNESS, g_imageContrast);
int frame = 0;
for(;;frame++)
{
Mat bgrImage;
Mat depthImage;
Mat irImage;
if (!capture.grab())
{
cout << "Can not grab images." << endl;
return -1;
}
if ((-1 != g_depthStreamProfileIdx) && (capture.retrieve(depthImage, CAP_INTELPERC_DEPTH_MAP)))
{
if (g_showClosedPoint)
{
double minVal = 0.0; double maxVal = 0.0;
minMaxIdx(depthImage, &minVal, &maxVal, g_closedDepthPoint);
}
imshowDepth("depth image", depthImage, capture);
}
if ((g_irStreamShow) && (capture.retrieve(irImage, CAP_INTELPERC_IR_MAP)))
imshowIR("ir image", irImage);
if ((-1 != g_imageStreamProfileIdx) && (capture.retrieve(bgrImage, CAP_INTELPERC_IMAGE)))
imshowImage("color image", bgrImage, capture);
if (g_printTiming)
{
cout << "Image frame: " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_POS_FRAMES)
<< ", Depth(IR) frame: " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_POS_FRAMES) << endl;
cout << "Image frame: " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_POS_MSEC)
<< ", Depth(IR) frame: " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_POS_MSEC) << endl;
}
if( waitKey(30) >= 0 )
break;
}
return 0;
}