MYNT-EYE-S-SDK/samples/get_depth_with_region.cc

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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
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#include "mynteye/api/api.h"
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namespace {
static cv::Mat cv_in_left, cv_in_left_inv;
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class DepthRegion {
public:
explicit DepthRegion(std::uint32_t n)
: n_(std::move(n)), show_(false), selected_(false), point_(0, 0) {}
~DepthRegion() = default;
/**
*
*/
void OnMouse(const int &event, const int &x, const int &y, const int &flags) {
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MYNTEYE_UNUSED(flags)
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if (event != cv::EVENT_MOUSEMOVE && event != cv::EVENT_LBUTTONDOWN) {
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return;
}
show_ = true;
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if (event == cv::EVENT_MOUSEMOVE) {
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if (!selected_) {
point_.x = x;
point_.y = y;
}
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} else if (event == cv::EVENT_LBUTTONDOWN) {
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if (selected_) {
if (x >= static_cast<int>(point_.x - n_) &&
x <= static_cast<int>(point_.x + n_) &&
y >= static_cast<int>(point_.y - n_) &&
y <= static_cast<int>(point_.y + n_)) {
selected_ = false;
}
} else {
selected_ = true;
}
point_.x = x;
point_.y = y;
}
}
template <typename T>
void ShowElems(
const cv::Mat &depth,
std::function<std::string(const T &elem)> elem2string,
int elem_space = 60,
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std::function<std::string(
const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n,
double X, double Y, double Z)>getinfo = nullptr) {
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if (!show_)
return;
int space = std::move(elem_space);
int n = 2 * n_ + 1;
cv::Mat im(space * n, space * n, CV_8UC3, cv::Scalar(255, 255, 255));
int x, y;
std::string str;
int baseline = 0;
// calculate (X, Y, Z) in left camera coordinate
cv::Mat mouse_left_cor(3, 1, CV_64FC1), mouse_img_cor(3, 1, CV_64FC1);
mouse_img_cor.at<double>(0, 0) = static_cast<double>(point_.x);
mouse_img_cor.at<double>(0, 1) = static_cast<double>(point_.y);
mouse_img_cor.at<double>(0, 2) = 1.0;
double Z = depth.at<T>(point_.y, point_.x);
mouse_left_cor = cv_in_left_inv *Z * mouse_img_cor;
// std::cout << std::endl << "Mouse Left Cor:" << std::endl
// << mouse_left_cor << std::endl;
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for (int i = -n_; i <= n; ++i) {
x = point_.x + i;
if (x < 0 || x >= depth.cols)
continue;
for (int j = -n_; j <= n; ++j) {
y = point_.y + j;
if (y < 0 || y >= depth.rows)
continue;
str = elem2string(depth.at<T>(y, x));
cv::Scalar color(0, 0, 0);
if (i == 0 && j == 0)
color = cv::Scalar(0, 0, 255);
cv::Size sz =
cv::getTextSize(str, cv::FONT_HERSHEY_PLAIN, 1, 1, &baseline);
cv::putText(
im, str, cv::Point(
(i + n_) * space + (space - sz.width) / 2,
(j + n_) * space + (space + sz.height) / 2),
cv::FONT_HERSHEY_PLAIN, 1, color, 1);
}
}
if (getinfo) {
double x, y, z;
x = mouse_left_cor.at<double>(0, 0);
y = mouse_left_cor.at<double>(1, 0);
z = mouse_left_cor.at<double>(2, 0);
std::string info = getinfo(depth, point_, n_, x, y, z);
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if (!info.empty()) {
cv::Size sz =
cv::getTextSize(info, cv::FONT_HERSHEY_PLAIN, 1, 1, &baseline);
cv::putText(
im, info, cv::Point(5, 5 + sz.height), cv::FONT_HERSHEY_PLAIN, 1,
cv::Scalar(255, 0, 255), 1);
}
}
cv::imshow("region", im);
}
void DrawRect(cv::Mat &image) { // NOLINT
if (!show_)
return;
std::uint32_t n = (n_ > 1) ? n_ : 1;
n += 1; // outside the region
cv::rectangle(
image, cv::Point(point_.x - n, point_.y - n),
cv::Point(point_.x + n, point_.y + n),
selected_ ? cv::Scalar(0, 255, 0) : cv::Scalar(0, 0, 255), 1);
}
private:
std::uint32_t n_;
bool show_;
bool selected_;
cv::Point point_;
};
void OnDepthMouseCallback(int event, int x, int y, int flags, void *userdata) {
DepthRegion *region = reinterpret_cast<DepthRegion *>(userdata);
region->OnMouse(event, x, y, flags);
}
} // namespace
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
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api->SetOptionValue(Option::IR_CONTROL, 80);
api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
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api->EnableStreamData(Stream::DEPTH);
api->Start(Source::VIDEO_STREAMING);
// get left camera Intrinsics
auto in_left = api->GetIntrinsicsBase(Stream::LEFT);
cv_in_left = cv::Mat::eye(3, 3, CV_64F);
if (in_left->calib_model() == CalibrationModel::PINHOLE) {
std::shared_ptr<IntrinsicsPinhole> in;
in = std::static_pointer_cast<IntrinsicsPinhole>(in_left);
in -> ResizeIntrinsics();
cv_in_left.at<double>(0, 0) = in->fx;
cv_in_left.at<double>(1, 1) = in->fy;
cv_in_left.at<double>(0, 2) = in->cx;
cv_in_left.at<double>(1, 2) = in->cy;
} else if (in_left->calib_model() == CalibrationModel::KANNALA_BRANDT) {
in_left = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left);
std::shared_ptr<IntrinsicsEquidistant> in;
in = std::static_pointer_cast<IntrinsicsEquidistant>(in_left);
in -> ResizeIntrinsics();
cv_in_left.at<double>(0, 0) = in->coeffs[4];
cv_in_left.at<double>(1, 1) = in->coeffs[5];
cv_in_left.at<double>(0, 2) = in->coeffs[6];
cv_in_left.at<double>(1, 2) = in->coeffs[7];
} else {
std::cout << "UNKNOW CALIB MODEL.";
return 0;
}
// std::cout << std::endl << "Left Camera Intrinsics:" << std::endl
// << cv_in_left << std::endl;
cv_in_left_inv = cv_in_left.inv();
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cv::namedWindow("frame");
cv::namedWindow("depth");
cv::namedWindow("region");
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DepthRegion depth_region(3);
auto depth_info = [](
const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n,
double X, double Y, double Z) {
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MYNTEYE_UNUSED(depth)
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std::ostringstream os;
os << "depth pos(" << n << "): [" << point.y << ", " << point.x << "]"
<< " camera pos: [" << X << ", " << Y
<< ", " << Z << "]" << ", unit: mm";
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return os.str();
};
while (true) {
api->WaitForStreams();
auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT);
if (left_data.frame.empty() || right_data.frame.empty())
continue;
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cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img);
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auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
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auto &&depth_data = api->GetStreamData(Stream::DEPTH);
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if (!disp_data.frame.empty() && !depth_data.frame.empty()) {
// Show disparity instead of depth, but show depth values in region.
auto &&depth_frame = disp_data.frame;
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#ifdef WITH_OPENCV3
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// ColormapTypes
// http://docs.opencv.org/master/d3/d50/group__imgproc__colormap.html#ga9a805d8262bcbe273f16be9ea2055a65
cv::applyColorMap(depth_frame, depth_frame, cv::COLORMAP_JET);
#endif
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cv::setMouseCallback("depth", OnDepthMouseCallback, &depth_region);
// Note: DrawRect will change some depth values to show the rect.
depth_region.DrawRect(depth_frame);
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cv::imshow("depth", depth_frame);
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depth_region.ShowElems<ushort>(
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depth_data.frame,
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[](const ushort &elem) {
if (elem >= 10000) {
// Filter errors, or limit to valid range.
//
// reprojectImageTo3D(), missing values will set to 10000
// https://docs.opencv.org/master/d9/d0c/group__calib3d.html#ga1bc1152bd57d63bc524204f21fde6e02
return std::string("invalid");
}
return std::to_string(elem);
},
90, depth_info);
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}
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
}
api->Stop(Source::VIDEO_STREAMING);
return 0;
}