+++ /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