1 // testOpenCVCam.cpp : Defines the entry point for the console application. 2 // 3 4 #include "opencv2/videoio/videoio.hpp" 5 #include "opencv2/highgui/highgui.hpp" 6 7 #include <iostream> 8 9 using namespace cv; 10 using namespace std; 11 12 static bool g_printStreamSetting = false; 13 static int g_imageStreamProfileIdx = -1; 14 static int g_depthStreamProfileIdx = -1; 15 static bool g_irStreamShow = false; 16 static double g_imageBrightness = -DBL_MAX; 17 static double g_imageContrast = -DBL_MAX; 18 static bool g_printTiming = false; 19 static bool g_showClosedPoint = false; 20 21 22 static int g_closedDepthPoint[2]; 23 24 static void printUsage(const char *arg0) 25 { 26 const char *filename = arg0; 27 while (*filename) 28 filename++; 29 while ((arg0 <= filename) && ('\\' != *filename) && ('/' != *filename)) 30 filename--; 31 filename++; 32 33 cout << "This program demonstrates usage of camera supported\nby Intel Perceptual computing SDK." << endl << endl; 34 cout << "usage: " << filename << "[-ps] [-isp IDX] [-dsp IDX]\n [-ir] [-imb VAL] [-imc VAL]" << endl << endl; 35 cout << " -ps, print streams setting and profiles" << endl; 36 cout << " -isp IDX, set profile index of the image stream" << endl; 37 cout << " -dsp IDX, set profile index of the depth stream" << endl; 38 cout << " -ir, show data from IR stream" << endl; 39 cout << " -imb VAL, set brighness value for a image stream" << endl; 40 cout << " -imc VAL, set contrast value for a image stream" << endl; 41 cout << " -pts, print frame index and frame time" << endl; 42 cout << " --show-closed, print frame index and frame time" << endl; 43 cout << endl; 44 } 45 46 static void parseCMDLine(int argc, char* argv[]) 47 { 48 if( argc == 1 ) 49 { 50 printUsage(argv[0]); 51 } 52 else 53 { 54 for( int i = 1; i < argc; i++ ) 55 { 56 if ((0 == strcmp(argv[i], "--help")) || (0 == strcmp( argv[i], "-h"))) 57 { 58 printUsage(argv[0]); 59 exit(0); 60 } 61 else if ((0 == strcmp( argv[i], "--print-streams")) || (0 == strcmp( argv[i], "-ps"))) 62 { 63 g_printStreamSetting = true; 64 } 65 else if ((0 == strcmp( argv[i], "--image-stream-prof")) || (0 == strcmp( argv[i], "-isp"))) 66 { 67 g_imageStreamProfileIdx = atoi(argv[++i]); 68 } 69 else if ((0 == strcmp( argv[i], "--depth-stream-prof")) || (0 == strcmp( argv[i], "-dsp"))) 70 { 71 g_depthStreamProfileIdx = atoi(argv[++i]); 72 } 73 else if (0 == strcmp( argv[i], "-ir")) 74 { 75 g_irStreamShow = true; 76 } 77 else if (0 == strcmp( argv[i], "-imb")) 78 { 79 g_imageBrightness = atof(argv[++i]); 80 } 81 else if (0 == strcmp( argv[i], "-imc")) 82 { 83 g_imageContrast = atof(argv[++i]); 84 } 85 else if (0 == strcmp(argv[i], "-pts")) 86 { 87 g_printTiming = true; 88 } 89 else if (0 == strcmp(argv[i], "--show-closed")) 90 { 91 g_showClosedPoint = true; 92 } 93 else 94 { 95 cout << "Unsupported command line argument: " << argv[i] << "." << endl; 96 exit(-1); 97 } 98 } 99 if (g_showClosedPoint && (-1 == g_depthStreamProfileIdx)) 100 { 101 cerr << "For --show-closed depth profile has be selected" << endl; 102 exit(-1); 103 } 104 } 105 } 106 107 static void printStreamProperties(VideoCapture &capture) 108 { 109 size_t profilesCount = (size_t)capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_INTELPERC_PROFILE_COUNT); 110 cout << "Image stream." << endl; 111 cout << " Brightness = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BRIGHTNESS) << endl; 112 cout << " Contrast = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_CONTRAST) << endl; 113 cout << " Saturation = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_SATURATION) << endl; 114 cout << " Hue = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_HUE) << endl; 115 cout << " Gamma = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_GAMMA) << endl; 116 cout << " Sharpness = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_SHARPNESS) << endl; 117 cout << " Gain = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_GAIN) << endl; 118 cout << " Backligh = " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BACKLIGHT) << endl; 119 cout << "Image streams profiles:" << endl; 120 for (size_t i = 0; i < profilesCount; i++) 121 { 122 capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)i); 123 cout << " Profile[" << i << "]: "; 124 cout << "width = " << 125 (int)capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_FRAME_WIDTH); 126 cout << ", height = " << 127 (int)capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_FRAME_HEIGHT); 128 cout << ", fps = " << 129 capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_FPS); 130 cout << endl; 131 } 132 133 profilesCount = (size_t)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_COUNT); 134 cout << "Depth stream." << endl; 135 cout << " Low confidence value = " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE) << endl; 136 cout << " Saturation value = " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE) << endl; 137 cout << " Confidence threshold = " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD) << endl; 138 cout << " Focal length = (" << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ) << ", " 139 << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT) << ")" << endl; 140 cout << "Depth streams profiles:" << endl; 141 for (size_t i = 0; i < profilesCount; i++) 142 { 143 capture.set(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)i); 144 cout << " Profile[" << i << "]: "; 145 cout << "width = " << 146 (int)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_FRAME_WIDTH); 147 cout << ", height = " << 148 (int)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_FRAME_HEIGHT); 149 cout << ", fps = " << 150 capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_FPS); 151 cout << endl; 152 } 153 } 154 155 static void imshowImage(const char *winname, Mat &image, VideoCapture &capture) 156 { 157 if (g_showClosedPoint) 158 { 159 Mat uvMap; 160 if (capture.retrieve(uvMap, CAP_INTELPERC_UVDEPTH_MAP)) 161 { 162 float *uvmap = (float *)uvMap.ptr() + 2 * (g_closedDepthPoint[0] * uvMap.cols + g_closedDepthPoint[1]); 163 int x = (int)((*uvmap) * image.cols); uvmap++; 164 int y = (int)((*uvmap) * image.rows); 165 166 if ((0 <= x) && (0 <= y)) 167 { 168 static const int pointSize = 4; 169 for (int row = y; row < min(y + pointSize, image.rows); row++) 170 { 171 uchar* ptrDst = image.ptr(row) + x * 3 + 2;//+2 -> Red 172 for (int col = 0; col < min(pointSize, image.cols - x); col++, ptrDst+=3) 173 { 174 *ptrDst = 255; 175 } 176 } 177 } 178 } 179 } 180 imshow(winname, image); 181 } 182 static void imshowIR(const char *winname, Mat &ir) 183 { 184 Mat image; 185 if (g_showClosedPoint) 186 { 187 image.create(ir.rows, ir.cols, CV_8UC3); 188 for (int row = 0; row < ir.rows; row++) 189 { 190 uchar* ptrDst = image.ptr(row); 191 short* ptrSrc = (short*)ir.ptr(row); 192 for (int col = 0; col < ir.cols; col++, ptrSrc++) 193 { 194 uchar val = (uchar) ((*ptrSrc) >> 2); 195 *ptrDst = val; ptrDst++; 196 *ptrDst = val; ptrDst++; 197 *ptrDst = val; ptrDst++; 198 } 199 } 200 201 static const int pointSize = 4; 202 for (int row = g_closedDepthPoint[0]; row < min(g_closedDepthPoint[0] + pointSize, image.rows); row++) 203 { 204 uchar* ptrDst = image.ptr(row) + g_closedDepthPoint[1] * 3 + 2;//+2 -> Red 205 for (int col = 0; col < min(pointSize, image.cols - g_closedDepthPoint[1]); col++, ptrDst+=3) 206 { 207 *ptrDst = 255; 208 } 209 } 210 } 211 else 212 { 213 image.create(ir.rows, ir.cols, CV_8UC1); 214 for (int row = 0; row < ir.rows; row++) 215 { 216 uchar* ptrDst = image.ptr(row); 217 short* ptrSrc = (short*)ir.ptr(row); 218 for (int col = 0; col < ir.cols; col++, ptrSrc++, ptrDst++) 219 { 220 *ptrDst = (uchar) ((*ptrSrc) >> 2); 221 } 222 } 223 } 224 225 imshow(winname, image); 226 } 227 static void imshowDepth(const char *winname, Mat &depth, VideoCapture &capture) 228 { 229 short lowValue = (short)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE); 230 short saturationValue = (short)capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE); 231 232 Mat image; 233 if (g_showClosedPoint) 234 { 235 image.create(depth.rows, depth.cols, CV_8UC3); 236 for (int row = 0; row < depth.rows; row++) 237 { 238 uchar* ptrDst = image.ptr(row); 239 short* ptrSrc = (short*)depth.ptr(row); 240 for (int col = 0; col < depth.cols; col++, ptrSrc++) 241 { 242 if ((lowValue == (*ptrSrc)) || (saturationValue == (*ptrSrc))) 243 { 244 *ptrDst = 0; ptrDst++; 245 *ptrDst = 0; ptrDst++; 246 *ptrDst = 0; ptrDst++; 247 } 248 else 249 { 250 uchar val = (uchar) ((*ptrSrc) >> 2); 251 *ptrDst = val; ptrDst++; 252 *ptrDst = val; ptrDst++; 253 *ptrDst = val; ptrDst++; 254 } 255 } 256 } 257 258 static const int pointSize = 4; 259 for (int row = g_closedDepthPoint[0]; row < min(g_closedDepthPoint[0] + pointSize, image.rows); row++) 260 { 261 uchar* ptrDst = image.ptr(row) + g_closedDepthPoint[1] * 3 + 2;//+2 -> Red 262 for (int col = 0; col < min(pointSize, image.cols - g_closedDepthPoint[1]); col++, ptrDst+=3) 263 { 264 *ptrDst = 255; 265 } 266 } 267 } 268 else 269 { 270 image.create(depth.rows, depth.cols, CV_8UC1); 271 for (int row = 0; row < depth.rows; row++) 272 { 273 uchar* ptrDst = image.ptr(row); 274 short* ptrSrc = (short*)depth.ptr(row); 275 for (int col = 0; col < depth.cols; col++, ptrSrc++, ptrDst++) 276 { 277 if ((lowValue == (*ptrSrc)) || (saturationValue == (*ptrSrc))) 278 *ptrDst = 0; 279 else 280 *ptrDst = (uchar) ((*ptrSrc) >> 2); 281 } 282 } 283 } 284 imshow(winname, image); 285 } 286 287 int main(int argc, char* argv[]) 288 { 289 parseCMDLine(argc, argv); 290 291 VideoCapture capture; 292 capture.open(CAP_INTELPERC); 293 if (!capture.isOpened()) 294 { 295 cerr << "Can not open a capture object." << endl; 296 return -1; 297 } 298 299 if (g_printStreamSetting) 300 printStreamProperties(capture); 301 302 if (-1 != g_imageStreamProfileIdx) 303 { 304 if (!capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)g_imageStreamProfileIdx)) 305 { 306 cerr << "Can not setup a image stream." << endl; 307 return -1; 308 } 309 } 310 if (-1 != g_depthStreamProfileIdx) 311 { 312 if (!capture.set(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, (double)g_depthStreamProfileIdx)) 313 { 314 cerr << "Can not setup a depth stream." << endl; 315 return -1; 316 } 317 } 318 else if (g_irStreamShow) 319 { 320 if (!capture.set(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, 0.0)) 321 { 322 cerr << "Can not setup a IR stream." << endl; 323 return -1; 324 } 325 } 326 else 327 { 328 cout << "Streams not selected" << endl; 329 return 0; 330 } 331 332 //Setup additional properies only after set profile of the stream 333 if ( (-10000.0 < g_imageBrightness) && (g_imageBrightness < 10000.0)) 334 capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BRIGHTNESS, g_imageBrightness); 335 if ( (0 < g_imageContrast) && (g_imageContrast < 10000.0)) 336 capture.set(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_BRIGHTNESS, g_imageContrast); 337 338 int frame = 0; 339 for(;;frame++) 340 { 341 Mat bgrImage; 342 Mat depthImage; 343 Mat irImage; 344 345 if (!capture.grab()) 346 { 347 cout << "Can not grab images." << endl; 348 return -1; 349 } 350 351 if ((-1 != g_depthStreamProfileIdx) && (capture.retrieve(depthImage, CAP_INTELPERC_DEPTH_MAP))) 352 { 353 if (g_showClosedPoint) 354 { 355 double minVal = 0.0; double maxVal = 0.0; 356 minMaxIdx(depthImage, &minVal, &maxVal, g_closedDepthPoint); 357 } 358 imshowDepth("depth image", depthImage, capture); 359 } 360 if ((g_irStreamShow) && (capture.retrieve(irImage, CAP_INTELPERC_IR_MAP))) 361 imshowIR("ir image", irImage); 362 if ((-1 != g_imageStreamProfileIdx) && (capture.retrieve(bgrImage, CAP_INTELPERC_IMAGE))) 363 imshowImage("color image", bgrImage, capture); 364 365 if (g_printTiming) 366 { 367 cout << "Image frame: " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_POS_FRAMES) 368 << ", Depth(IR) frame: " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_POS_FRAMES) << endl; 369 cout << "Image frame: " << capture.get(CAP_INTELPERC_IMAGE_GENERATOR | CAP_PROP_POS_MSEC) 370 << ", Depth(IR) frame: " << capture.get(CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_POS_MSEC) << endl; 371 } 372 if( waitKey(30) >= 0 ) 373 break; 374 } 375 376 return 0; 377 } 378
