working opencv
authorBernhard Tittelbach <bernhard@tittelbach.org>
Tue, 26 Mar 2019 00:28:13 +0000 (01:28 +0100)
committerBernhard Tittelbach <bernhard@tittelbach.org>
Tue, 26 Mar 2019 00:28:13 +0000 (01:28 +0100)
cpp/sampleMinMax/CMakeCache.txt
cpp/sampleMinMax/CMakeFiles/CMakeDirectoryInformation.cmake [deleted file]
cpp/sampleMinMax/CMakeFiles/Makefile.cmake [deleted file]
cpp/sampleMinMax/sampleMinMax.cpp
cpp/sampleOpenCV/CMakeLists.txt [new file with mode: 0644]
cpp/sampleOpenCV/sampleOpenCV.cpp [new file with mode: 0644]

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@@ -101,10 +101,10 @@ public:
         std::vector<std::string> asciiFrame;
         double min=9999999999.0, max=-99999999999999.0;
         uint32_t num_values_passing_threshold=0;
-        uint32_t num_max_size=data->height*data->width;
-        for (auto y = 0u; y < data->height; y++)
+        uint32_t num_max_size=data->height/3*data->width/3;
+        for (auto y = data->height/3; y < data->height/3*2; y++)
         {
-            for (auto x = 0u; x < data->width; x++)
+            for (auto x = data->width/3; x < data->width/3*2; x++)
             {
                 auto point = data->points[y*data->width+x];
                 if (point.depthConfidence < confidence_threshold_)
diff --git a/cpp/sampleOpenCV/CMakeLists.txt b/cpp/sampleOpenCV/CMakeLists.txt
new file mode 100644 (file)
index 0000000..d9b9d74
--- /dev/null
@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 2.8)
+
+# Please insert your OpenCV path
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "/usr")
+
+# This needs at least OpenCV 2.x, but it should also work with OpenCV 3.x
+find_package(OpenCV)
+
+if(NOT OpenCV_FOUND)
+  message("OpenCV example will not be build as no OpenCV was found!")
+  return()
+endif()
+
+set_target_properties(${OpenCV_LIBS} PROPERTIES MAP_IMPORTED_CONFIG_RELWITHDEBINFO RELEASE)
+set_target_properties(${OpenCV_LIBS} PROPERTIES MAP_IMPORTED_CONFIG_MINSIZEREL RELEASE)
+
+#set(CMAKE_PREFIX_PATH "../../../share")
+set(CMAKE_PREFIX_PATH "../../../libroyale-3.21.1.70-LINUX-x86-64Bit/share")
+
+find_package(royale REQUIRED)
+
+link_directories(${royale_LIB_DIR})
+
+project (sampleOpenCV)
+
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../inc
+)
+
+add_executable(sampleOpenCV
+   sampleOpenCV.cpp
+   )
+
+if(WIN32)   
+    if(OpenCV_STATIC)
+        target_compile_options(sampleOpenCV PRIVATE "/MT$<$<CONFIG:Debug>:d>")
+    endif()
+endif()
+   
+COPY_ROYALE_LIBS(sampleOpenCV)
+
+target_link_libraries(sampleOpenCV "${royale_LIBS}" "${OpenCV_LIBS}")
diff --git a/cpp/sampleOpenCV/sampleOpenCV.cpp b/cpp/sampleOpenCV/sampleOpenCV.cpp
new file mode 100644 (file)
index 0000000..dd94565
--- /dev/null
@@ -0,0 +1,304 @@
+/****************************************************************************\
+ * Copyright (C) 2017 Infineon Technologies & pmdtechnologies ag
+ *
+ * THIS CODE AND INFORMATION ARE PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
+ * KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
+ * PARTICULAR PURPOSE.
+ *
+ \****************************************************************************/
+
+#include <royale.hpp>
+#include <iostream>
+#include <mutex>
+#include <opencv2/opencv.hpp>
+
+#include <sample_utils/PlatformResources.hpp>
+
+using namespace royale;
+using namespace sample_utils;
+using namespace std;
+using namespace cv;
+
+// Linker errors for the OpenCV sample
+//
+// If this example gives linker errors about undefined references to cv::namedWindow and cv::imshow,
+// or QFontEngine::glyphCache and qMessageFormatString (from OpenCV to Qt), it may be caused by a
+// change in the compiler's C++ ABI.
+//
+// With Ubuntu and Debian's distribution packages, the libopencv packages that have 'v5' at the end
+// of their name, for example libopencv-video2.4v5, are compatible with GCC 5 (and GCC 6), but
+// incompatible with GCC 4.8 and GCC 4.9. The -dev packages don't have the postfix, but depend on
+// the v5 (or non-v5) version of the corresponding lib package.  When Ubuntu moves to OpenCV 3.0,
+// they're likely to drop the postfix (but the packages will be for GCC 5 or later).
+//
+// If you are manually installing OpenCV or Qt, you need to ensure that the binaries were compiled
+// with the same version of the compiler.  The version number of the packages themselves doesn't say
+// which ABI they use, it depends on which version of the compiler was used.
+
+class MyListener : public IDepthDataListener
+{
+
+public :
+
+    MyListener() :
+        undistortImage (false)
+    {
+    }
+
+    void onNewData (const DepthData *data)
+    {
+        // this callback function will be called for every new
+        // depth frame
+
+        std::lock_guard<std::mutex> lock (flagMutex);
+
+        // create two images which will be filled afterwards
+        // each image containing one 32Bit channel
+        zImage.create (Size (data->width, data->height), CV_32FC1);
+        grayImage.create (Size (data->width, data->height), CV_32FC1);
+
+        // set the image to zero
+        zImage = Scalar::all (0);
+        grayImage = Scalar::all (0);
+
+        int k = 0;
+        for (int y = 0; y < zImage.rows; y++)
+        {
+            float *zRowPtr = zImage.ptr<float> (y);
+            float *grayRowPtr = grayImage.ptr<float> (y);
+            for (int x = 0; x < zImage.cols; x++, k++)
+            {
+                auto curPoint = data->points.at (k);
+                if (curPoint.depthConfidence > 0)
+                {
+                    // if the point is valid, map the pixel from 3D world
+                    // coordinates to a 2D plane (this will distort the image)
+                    zRowPtr[x] = adjustZValue (curPoint.z);
+                    grayRowPtr[x] = adjustGrayValue (curPoint.grayValue);
+                }
+            }
+        }
+
+        // create images to store the 8Bit version (some OpenCV
+        // functions may only work on 8Bit images)
+        zImage8.create (Size (data->width, data->height), CV_8UC1);
+        grayImage8.create (Size (data->width, data->height), CV_8UC1);
+
+        // convert images to the 8Bit version
+        // This sample uses a fixed scaling of the values to (0, 255) to avoid flickering.
+        // You can also replace this with an automatic scaling by using
+        // normalize(zImage, zImage8, 0, 255, NORM_MINMAX, CV_8UC1)
+        // normalize(grayImage, grayImage8, 0, 255, NORM_MINMAX, CV_8UC1)
+        zImage.convertTo (zImage8, CV_8UC1);
+        grayImage.convertTo (grayImage8, CV_8UC1);
+
+        if (undistortImage)
+        {
+            // call the undistortion function on the z image
+            Mat temp = zImage8.clone();
+            undistort (temp, zImage8, cameraMatrix, distortionCoefficients);
+        }
+
+        // scale and display the depth image
+        scaledZImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
+        resize (zImage8, scaledZImage, scaledZImage.size());
+
+        imshow ("Depth", scaledZImage);
+
+        if (undistortImage)
+        {
+            // call the undistortion function on the gray image
+            Mat temp = grayImage8.clone();
+            undistort (temp, grayImage8, cameraMatrix, distortionCoefficients);
+        }
+
+        // scale and display the gray image
+        scaledGrayImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
+        resize (grayImage8, scaledGrayImage, scaledGrayImage.size());
+
+        imshow ("Gray", scaledGrayImage);
+    }
+
+    void setLensParameters (const LensParameters &lensParameters)
+    {
+        // Construct the camera matrix
+        // (fx   0    cx)
+        // (0    fy   cy)
+        // (0    0    1 )
+        cameraMatrix = (Mat1d (3, 3) << lensParameters.focalLength.first, 0, lensParameters.principalPoint.first,
+                        0, lensParameters.focalLength.second, lensParameters.principalPoint.second,
+                        0, 0, 1);
+
+        // Construct the distortion coefficients
+        // k1 k2 p1 p2 k3
+        distortionCoefficients = (Mat1d (1, 5) << lensParameters.distortionRadial[0],
+                                  lensParameters.distortionRadial[1],
+                                  lensParameters.distortionTangential.first,
+                                  lensParameters.distortionTangential.second,
+                                  lensParameters.distortionRadial[2]);
+    }
+
+    void toggleUndistort()
+    {
+        std::lock_guard<std::mutex> lock (flagMutex);
+        undistortImage = !undistortImage;
+    }
+
+private:
+
+    // adjust z value to fit fixed scaling, here max dist is 2.5m
+    // the max dist here is used as an example and can be modified
+    float adjustZValue (float zValue)
+    {
+        float clampedDist = std::min (2.5f, zValue);
+        float newZValue = clampedDist / 2.5f * 255.0f;
+        return newZValue;
+    }
+
+    // adjust gray value to fit fixed scaling, here max value is 180
+    // the max value here is used as an example and can be modified
+    float adjustGrayValue (uint16_t grayValue)
+    {
+        float clampedVal = std::min (180.0f, grayValue * 1.0f);
+        float newGrayValue = clampedVal / 180.f * 255.0f;
+        return newGrayValue;
+    }
+
+    // define images for depth and gray
+    // and for their 8Bit and scaled versions
+    Mat zImage, zImage8, scaledZImage;
+    Mat grayImage, grayImage8, scaledGrayImage;
+
+    // lens matrices used for the undistortion of
+    // the image
+    Mat cameraMatrix;
+    Mat distortionCoefficients;
+
+    std::mutex flagMutex;
+    bool undistortImage;
+};
+
+int main (int argc, char *argv[])
+{
+    // Windows requires that the application allocate these, not the DLL.
+    PlatformResources resources;
+
+    // This is the data listener which will receive callbacks.  It's declared
+    // before the cameraDevice so that, if this function exits with a 'return'
+    // statement while the camera is still capturing, it will still be in scope
+    // until the cameraDevice's destructor implicitly de-registers the listener.
+    MyListener listener;
+
+    // this represents the main camera device object
+    std::unique_ptr<ICameraDevice> cameraDevice;
+
+    // the camera manager will query for a connected camera
+    {
+        CameraManager manager;
+
+        // check the number of arguments
+        if (argc > 1)
+        {
+            // if the program was called with an argument try to open this as a file
+            cout << "Trying to open : " << argv[1] << endl;
+            cameraDevice = manager.createCamera (argv[1]);
+        }
+        else
+        {
+            // if no argument was given try to open the first connected camera
+            royale::Vector<royale::String> camlist (manager.getConnectedCameraList());
+            cout << "Detected " << camlist.size() << " camera(s)." << endl;
+
+            if (!camlist.empty())
+            {
+                cameraDevice = manager.createCamera (camlist[0]);
+            }
+            else
+            {
+                cerr << "No suitable camera device detected." << endl
+                     << "Please make sure that a supported camera is plugged in, all drivers are "
+                     << "installed, and you have proper USB permission" << endl;
+                return 1;
+            }
+
+            camlist.clear();
+        }
+    }
+    // the camera device is now available and CameraManager can be deallocated here
+
+    if (cameraDevice == nullptr)
+    {
+        // no cameraDevice available
+        if (argc > 1)
+        {
+            cerr << "Could not open " << argv[1] << endl;
+            return 1;
+        }
+        else
+        {
+            cerr << "Cannot create the camera device" << endl;
+            return 1;
+        }
+    }
+
+    // IMPORTANT: call the initialize method before working with the camera device
+    auto status = cameraDevice->initialize();
+    if (status != CameraStatus::SUCCESS)
+    {
+        cerr << "Cannot initialize the camera device, error string : " << getErrorString (status) << endl;
+        return 1;
+    }
+
+    // retrieve the lens parameters from Royale
+    LensParameters lensParameters;
+    status = cameraDevice->getLensParameters (lensParameters);
+    if (status != CameraStatus::SUCCESS)
+    {
+        cerr << "Can't read out the lens parameters" << endl;
+        return 1;
+    }
+
+    listener.setLensParameters (lensParameters);
+
+    // register a data listener
+    if (cameraDevice->registerDataListener (&listener) != CameraStatus::SUCCESS)
+    {
+        cerr << "Error registering data listener" << endl;
+        return 1;
+    }
+
+    // create two windows
+    namedWindow ("Depth", WINDOW_AUTOSIZE);
+    namedWindow ("Gray", WINDOW_AUTOSIZE);
+
+    // start capture mode
+    if (cameraDevice->startCapture() != CameraStatus::SUCCESS)
+    {
+        cerr << "Error starting the capturing" << endl;
+        return 1;
+    }
+
+    int currentKey = 0;
+
+    while (currentKey != 27)
+    {
+        // wait until a key is pressed
+        currentKey = waitKey (0) & 255;
+
+        if (currentKey == 'd')
+        {
+            // toggle the undistortion of the image
+            listener.toggleUndistort();
+        }
+    }
+
+    // stop capture mode
+    if (cameraDevice->stopCapture() != CameraStatus::SUCCESS)
+    {
+        cerr << "Error stopping the capturing" << endl;
+        return 1;
+    }
+
+    return 0;
+}