// 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; static int g_imageStreamProfileIdx; static int g_depthStreamProfileIdx; static bool g_irStreamShow; static double g_imageBrightness; static double g_imageContrast; static bool g_printTiming; static bool g_showClosedPoint; 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[]) { cv::CommandLineParser parser(argc, argv, "{ h help | | }" "{ ps print-streams | | }" "{ isp image-stream-prof | -1 | }" "{ dsp depth-stream-prof | -1 | }" "{ir||}{imb||}{imc||}{pts||}{show-closed||}"); if (parser.has("h")) { printUsage(argv[0]); exit(0); } g_printStreamSetting = parser.has("ps"); g_imageStreamProfileIdx = parser.get<int>("isp"); g_depthStreamProfileIdx = parser.get<int>("dsp"); g_irStreamShow = parser.has("ir"); if (parser.has("imb")) g_imageBrightness = parser.get<double>("imb"); else g_imageBrightness = -DBL_MAX; if (parser.has("imc")) g_imageContrast = parser.get<double>("imc"); else g_imageContrast = -DBL_MAX; g_printTiming = parser.has("pts"); g_showClosedPoint = parser.has("show-closed"); if (!parser.check()) { parser.printErrors(); 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; }