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Add show depth values sample

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This commit is contained in:
John Zhao 2018-05-29 17:36:15 +08:00
parent 3112779174
commit b4f73dfa0b
2 changed files with 224 additions and 0 deletions
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8
samples/api/CMakeLists.txt
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@ -27,3 +27,11 @@ make_executable(camera_a
LINK_LIBS mynteye ${OpenCV_LIBS} LINK_LIBS mynteye ${OpenCV_LIBS}
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH} DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
) )
## get_depth_with_region
make_executable(get_depth_with_region
SRCS get_depth_with_region.cc
LINK_LIBS mynteye ${OpenCV_LIBS}
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)

216
samples/api/get_depth_with_region.cc Normal file
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@ -0,0 +1,216 @@
// 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>
#include <glog/logging.h>
#include "mynteye/api.h"
#define WIN_FLAGS \
cv::WINDOW_AUTOSIZE | cv::WINDOW_KEEPRATIO | cv::WINDOW_GUI_NORMAL
namespace {
class DepthRegion {
public:
explicit DepthRegion(std::uint32_t n)
: n_(std::move(n)), show_(false), selected_(false), point_(0, 0) {}
~DepthRegion() = default;
/**
* 鼠标事件：默认不选中区域，随鼠标移动而显示。单击后，则会选中区域来显示。你可以再单击已选中区域或双击未选中区域，取消选中。
*/
void OnMouse(const int &event, const int &x, const int &y, const int &flags) {
UNUSED(flags)
if (event != CV_EVENT_MOUSEMOVE && event != CV_EVENT_LBUTTONDOWN) {
return;
}
show_ = true;
if (event == CV_EVENT_MOUSEMOVE) {
if (!selected_) {
point_.x = x;
point_.y = y;
}
} else if (event == CV_EVENT_LBUTTONDOWN) {
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 = 40,
std::function<std::string(
const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n)>
getinfo = nullptr) {
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;
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) {
std::string info = getinfo(depth, point_, n_);
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;
api->EnableStreamData(Stream::DEPTH);
api->Start(Source::VIDEO_STREAMING);
cv::namedWindow("frame", WIN_FLAGS);
cv::namedWindow("depth", WIN_FLAGS);
cv::namedWindow("region", WIN_FLAGS);
DepthRegion depth_region(3);
auto depth_info = [](
const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
UNUSED(depth)
std::ostringstream os;
os << "depth pos: [" << point.y << ", " << point.x << "]"
<< "±" << n << ", unit: mm";
return os.str();
};
while (true) {
api->WaitForStreams();
auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT);
cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img);
auto &&depth_data = api->GetStreamData(Stream::DEPTH);
if (!depth_data.frame.empty()) {
auto &&depth_frame = depth_data.frame;
cv::setMouseCallback("depth", OnDepthMouseCallback, &depth_region);
// Note: DrawRect will change some depth values to show the rect.
depth_region.DrawRect(depth_frame);
cv::imshow("depth", depth_frame); // CV_16UC1
depth_region.ShowElems<ushort>(
depth_frame,
[](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);
},
80, depth_info);
}
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;
}