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