88 lines
3.5 KiB
Markdown
88 lines
3.5 KiB
Markdown
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Using Creative Senz3D and other Intel RealSense SDK compatible depth sensors {#tutorial_intelperc}
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=======================================================================================
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@tableofcontents
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@prev_tutorial{tutorial_orbbec_astra}
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**Note**: This tutorial is partially obsolete since PerC SDK has been replaced with RealSense SDK
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Depth sensors compatible with Intel® RealSense SDK are supported through VideoCapture
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class. Depth map, RGB image and some other formats of output can be retrieved by using familiar
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interface of VideoCapture.
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In order to use depth sensor with OpenCV you should do the following preliminary steps:
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-# Install Intel RealSense SDK 2.0 (from here <https://github.com/IntelRealSense/librealsense>).
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-# Configure OpenCV with Intel RealSense SDK support by setting WITH_LIBREALSENSE flag in
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CMake. If Intel RealSense SDK is found in install folders OpenCV will be built with
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Intel Realsense SDK library (see a status LIBREALSENSE in CMake log).
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-# Build OpenCV.
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VideoCapture can retrieve the following data:
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-# data given from depth generator:
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- CAP_INTELPERC_DEPTH_MAP - each pixel is a 16-bit integer. The value indicates the
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distance from an object to the camera's XY plane or the Cartesian depth. (CV_16UC1)
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- CAP_INTELPERC_UVDEPTH_MAP - each pixel contains two 32-bit floating point values in
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the range of 0-1, representing the mapping of depth coordinates to the color
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coordinates. (CV_32FC2)
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- CAP_INTELPERC_IR_MAP - each pixel is a 16-bit integer. The value indicates the
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intensity of the reflected laser beam. (CV_16UC1)
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-# data given from RGB image generator:
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- CAP_INTELPERC_IMAGE - color image. (CV_8UC3)
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In order to get depth map from depth sensor use VideoCapture::operator \>\>, e. g. :
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@code{.cpp}
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VideoCapture capture( CAP_REALSENSE );
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for(;;)
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{
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Mat depthMap;
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capture >> depthMap;
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if( waitKey( 30 ) >= 0 )
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break;
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}
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@endcode
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For getting several data maps use VideoCapture::grab and VideoCapture::retrieve, e.g. :
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@code{.cpp}
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VideoCapture capture(CAP_REALSENSE);
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for(;;)
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{
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Mat depthMap;
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Mat image;
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Mat irImage;
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capture.grab();
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capture.retrieve( depthMap, CAP_INTELPERC_DEPTH_MAP );
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capture.retrieve( image, CAP_INTELPERC_IMAGE );
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capture.retrieve( irImage, CAP_INTELPERC_IR_MAP);
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if( waitKey( 30 ) >= 0 )
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break;
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}
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@endcode
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For setting and getting some property of sensor\` data generators use VideoCapture::set and
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VideoCapture::get methods respectively, e.g. :
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@code{.cpp}
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VideoCapture capture(CAP_REALSENSE);
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capture.set( CAP_INTELPERC_DEPTH_GENERATOR | CAP_PROP_INTELPERC_PROFILE_IDX, 0 );
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cout << "FPS " << capture.get( CAP_INTELPERC_DEPTH_GENERATOR+CAP_PROP_FPS ) << endl;
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@endcode
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Since two types of sensor's data generators are supported (image generator and depth generator),
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there are two flags that should be used to set/get property of the needed generator:
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- CAP_INTELPERC_IMAGE_GENERATOR -- a flag for access to the image generator properties.
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- CAP_INTELPERC_DEPTH_GENERATOR -- a flag for access to the depth generator properties. This
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flag value is assumed by default if neither of the two possible values of the property is set.
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For more information please refer to the example of usage
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[videocapture_realsense.cpp](https://github.com/opencv/opencv/tree/4.x/samples/cpp/videocapture_realsense.cpp)
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in opencv/samples/cpp folder.
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