--- /dev/null
+/****************************************************************************\
+ * 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;
+
+//#define SHOW_GUI_WINDOWS
+
+// 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
+{
+
+ static uint32_t const num_dist_columns_=4;
+ double latest_min_distance_[num_dist_columns_];
+ double latest_min_distance_diff_[num_dist_columns_];
+
+ const int DELAY_BLUR = 100;
+ // const int MAX_KERNEL_LENGTH = 31;
+ const int MAX_KERNEL_LENGTH = 23;
+
+ bool normblurImage = true;
+
+ const uint8_t confidence_threshold_ = 0;
+ const double distance_threshold_ = 80;
+
+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);
+#ifdef SHOW_GUI_WINDOWS
+ grayImage.create (Size (data->width, data->height), CV_32FC1);
+ confidenceImage.create (Size (data->width, data->height), CV_8UC1);
+#endif
+
+ // set the image to zero
+ zImage = Scalar::all (0);
+#ifdef SHOW_GUI_WINDOWS
+ grayImage = Scalar::all (0);
+#endif
+
+ int k = 0;
+ for (int y = 0; y < zImage.rows; y++)
+ {
+ float *zRowPtr = zImage.ptr<float> (y);
+#ifdef SHOW_GUI_WINDOWS
+ float *grayRowPtr = grayImage.ptr<float> (y);
+ uint8_t *confRowPtr = confidenceImage.ptr<uint8_t> (y);
+#endif
+ for (int x = 0; x < zImage.cols; x++, k++)
+ {
+ auto curPoint = data->points.at (k);
+#ifdef SHOW_GUI_WINDOWS
+ confRowPtr[x] = curPoint.depthConfidence;
+#endif
+ if (curPoint.depthConfidence > confidence_threshold_)
+ {
+ // 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);
+#ifdef SHOW_GUI_WINDOWS
+ grayRowPtr[x] = adjustGrayValue (curPoint.grayValue);
+#endif
+ } else {
+ //asume point is as far away as possible and thus "SAFE" for obstacle avoidance
+ zRowPtr[x] = 255;
+#ifdef SHOW_GUI_WINDOWS
+ grayRowPtr[x] = 255;
+#endif
+ }
+ }
+ }
+
+ // 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);
+#ifdef SHOW_GUI_WINDOWS
+ grayImage8.create (Size (data->width, data->height), CV_8UC1);
+#endif
+ // 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);
+#ifdef SHOW_GUI_WINDOWS
+ grayImage.convertTo (grayImage8, CV_8UC1);
+#endif
+
+ if (undistortImage)
+ {
+ // call the undistortion function on the z image
+ Mat temp = zImage8.clone();
+ undistort (temp, zImage8, cameraMatrix, distortionCoefficients);
+ }
+
+ if (normblurImage)
+ {
+ auto temp = zImage8.clone();
+ for ( int i = 1; i < MAX_KERNEL_LENGTH; i = i + 2 )
+ {
+ blur( temp, zImage8, Size( i, i ), Point(-1,-1) );
+ }
+ }
+
+ //// Debug: show column part of image
+ // Mat subimg = zImage8(Rect((zImage.cols/num_dist_columns_)*3,0, zImage.cols/num_dist_columns_ , zImage8.rows));
+ // imshow ("column", subimg);
+
+ //detect column distance
+ auto col_width = zImage.cols/num_dist_columns_;
+ for (uint32_t col=0; col<num_dist_columns_; col++)
+ {
+ auto col_y_start = col*col_width;
+ Mat subimg = zImage8(Rect(col_y_start, 0, col_width , zImage8.rows));
+ double min, max;
+ minMaxLoc(subimg,&min,&max);
+ latest_min_distance_diff_[col]=min-latest_min_distance_[col];
+ latest_min_distance_[col]=min;
+#ifdef SHOW_GUI_WINDOWS
+ std::cout << "col" << col << " min:" << min << "("<<latest_min_distance_diff_[col]<<")"<< " max:" << max << std::endl;
+#endif
+ }
+
+ //naive obstacle avoidance demo, uses global latest_min_distance_diff_
+ naiveObstacleAvoidanceDemo();
+
+ // 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);
+
+#ifdef SHOW_GUI_WINDOWS
+ imshow ("Depth", zImage8);
+
+ // 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);
+
+ // if (undistortImage)
+ // {
+ // // call the undistortion function on the gray image
+ // Mat temp = grayImage8.clone();
+ // undistort (temp, grayImage8, cameraMatrix, distortionCoefficients);
+ // }
+
+ imshow ("Confidence", confidenceImage);
+#endif
+ }
+
+ 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;
+ }
+
+ void toggleNormBlur()
+ {
+ std::lock_guard<std::mutex> lock (flagMutex);
+ normblurImage = !normblurImage;
+ }
+
+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;
+ }
+
+ bool naiveIsObstaclePresent(bool free_paths[num_dist_columns_])
+ {
+ bool rv=false;
+ for (uint32_t col=0; col<num_dist_columns_; col++)
+ {
+ free_paths[col] = latest_min_distance_[col] > distance_threshold_;
+ if (!free_paths[col])
+ {
+ rv=true;
+ }
+ }
+ return rv;
+ }
+
+ void naiveObstacleAvoidanceDemo()
+ {
+ bool free_paths[num_dist_columns_];
+ if (naiveIsObstaclePresent(free_paths))
+ {
+ assert(num_dist_columns_ == 4);
+ if (free_paths[1] && free_paths[2])
+ {
+ std::cout << "GOSTRAIGHT" << std::endl;
+ } else if (free_paths[0])
+ {
+ std::cout << "GOLEFT" << std::endl;
+ } else if (free_paths[3])
+ {
+ std::cout << "GORIGHT" << std::endl;
+ } else {
+ std::cout << "STOP" << std::endl;
+ }
+ }
+ }
+
+ // define images for depth and gray
+ // and for their 8Bit and scaled versions
+ Mat zImage, zImage8, scaledZImage;
+ Mat grayImage, grayImage8, scaledGrayImage;
+ Mat confidenceImage;
+
+ // 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;
+ }
+
+#ifdef SHOW_GUI_WINDOWS
+ // create two windows
+ namedWindow ("Depth", WINDOW_AUTOSIZE);
+ // namedWindow ("Gray", WINDOW_AUTOSIZE);
+ namedWindow ("Confidence", WINDOW_AUTOSIZE);
+ // namedWindow ("column", WINDOW_AUTOSIZE);
+#endif
+
+
+ // set an operation mode
+ if (cameraDevice->setUseCase ("MODE_5_45FPS_500") != royale::CameraStatus::SUCCESS)
+ {
+ cerr << "Error setting use case" << endl;
+ return 1;
+ }
+
+ // start capture mode
+ if (cameraDevice->startCapture() != CameraStatus::SUCCESS)
+ {
+ cerr << "Error starting the capturing" << endl;
+ return 1;
+ }
+
+
+ // Change the exposure time for the first stream of the use case (Royale will limit this to an
+ // eye-safe exposure time, with limits defined by the use case). The time is given in
+ // microseconds.
+ //
+ // Non-mixed mode use cases have exactly one stream, mixed mode use cases have more than one.
+ // For this example we only change the first stream.
+ // if (cameraDevice->setExposureTime (200, streamIds[0]) != royale::CameraStatus::SUCCESS)
+ // {
+ // cerr << "Cannot set exposure time for stream" << streamIds[0] << endl;
+ // }
+ // else
+ // {
+ // cout << "Changed exposure time for stream " << streamIds[0] << " to 200 microseconds ..." << endl;
+ // }
+
+
+ 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();
+ }
+
+ if (currentKey == 'b')
+ {
+ // toggle the undistortion of the image
+ listener.toggleNormBlur();
+ }
+ }
+
+ // stop capture mode
+ if (cameraDevice->stopCapture() != CameraStatus::SUCCESS)
+ {
+ cerr << "Error stopping the capturing" << endl;
+ return 1;
+ }
+
+ return 0;
+}
projects / 201903hackathon.git / blobdiff