Add support Creative Senz3D camera by Intel Perceptual Computing SDK

CMakeLists.txt

@@ -163,7 +163,7 @@ OCV_OPTION(WITH_XINE           "Include Xine support (GPL)"                  OFF
 OCV_OPTION(WITH_OPENCL         "Include OpenCL Runtime support"              ON   IF (NOT IOS) )
 OCV_OPTION(WITH_OPENCLAMDFFT   "Include AMD OpenCL FFT library support"      ON   IF (NOT ANDROID AND NOT IOS) )
 OCV_OPTION(WITH_OPENCLAMDBLAS  "Include AMD OpenCL BLAS library support"     ON   IF (NOT ANDROID AND NOT IOS) )
-
+OCV_OPTION(WITH_INTELPERC      "Include Intel Perceptual Computing support"  OFF  IF WIN32 )
 
 # OpenCV build components
 # ===================================================
@@ -829,6 +829,11 @@ if(DEFINED WITH_XINE)
   status("    Xine:"           HAVE_XINE           THEN "YES (ver ${ALIASOF_libxine_VERSION})"     ELSE NO)
 endif(DEFINED WITH_XINE)
 
+if(DEFINED WITH_INTELPERC)
+  status("    Intel PerC:"     HAVE_INTELPERC      THEN "YES"                                 ELSE NO)
+endif(DEFINED WITH_INTELPERC)
+
+
 # ========================== Other third-party libraries ==========================
 status("")
 status("  Other third-party libraries:")

cmake/OpenCVFindIntelPerCSDK.cmake

+# Main variables:
+# INTELPERC_LIBRARY and INTELPERC_INCLUDES to link Intel Perceptial Computing SDK modules
+# HAVE_INTELPERC for conditional compilation OpenCV with/without Intel Perceptial Computing SDK
+
+if(NOT "${INTELPERC_LIB_DIR}" STREQUAL "${INTELPERC_LIB_DIR_INTERNAL}")
+    unset(INTELPERC_LIBRARY CACHE)
+    unset(INTELPERC_LIB_DIR CACHE)
+endif()
+
+if(NOT "${INTELPERC_INCLUDE_DIR}" STREQUAL "${INTELPERC_INCLUDE_DIR_INTERNAL}")
+    unset(INTELPERC_INCLUDES CACHE)
+    unset(INTELPERC_INCLUDE_DIR CACHE)
+endif()
+
+if(WIN32)
+    if(NOT (MSVC64 OR MINGW64))
+        find_file(INTELPERC_INCLUDES "pxcsession.h" PATHS "$ENV{PCSDK_DIR}include" DOC "Intel Perceptual Computing SDK interface header")
+        find_library(INTELPERC_LIBRARY "libpxc.lib" PATHS "$ENV{PCSDK_DIR}lib/Win32" DOC "Intel Perceptual Computing SDK library")
+    else()
+        find_file(INTELPERC_INCLUDES "pxcsession.h" PATHS "$ENV{PCSDK_DIR}include" DOC "Intel Perceptual Computing SDK interface header")
+        find_library(INTELPERC_LIBRARY "libpxc.lib" PATHS "$ENV{PCSDK_DIR}/lib/x64" DOC "Intel Perceptual Computing SDK library")
+    endif()
+endif()
+
+if(INTELPERC_LIBRARY AND INTELPERC_INCLUDES)
+    set(HAVE_INTELPERC TRUE)
+endif() #if(INTELPERC_LIBRARY AND INTELPERC_INCLUDES)
+
+get_filename_component(INTELPERC_LIB_DIR "${INTELPERC_LIBRARY}" PATH)
+get_filename_component(INTELPERC_INCLUDE_DIR "${INTELPERC_INCLUDES}" PATH)
+
+if(HAVE_INTELPERC)
+  set(INTELPERC_LIB_DIR "${INTELPERC_LIB_DIR}" CACHE PATH "Path to Intel Perceptual Computing SDK interface libraries" FORCE)
+  set(INTELPERC_INCLUDE_DIR "${INTELPERC_INCLUDE_DIR}" CACHE PATH "Path to Intel Perceptual Computing SDK interface headers" FORCE)
+endif()
+
+if(INTELPERC_LIBRARY)
+    set(INTELPERC_LIB_DIR_INTERNAL "${INTELPERC_LIB_DIR}" CACHE INTERNAL "This is the value of the last time INTELPERC_LIB_DIR was set successfully." FORCE)
+else()
+    message( WARNING, " Intel Perceptual Computing SDK library directory (set by INTELPERC_LIB_DIR variable) is not found or does not have Intel Perceptual Computing SDK libraries." )
+endif()
+
+if(INTELPERC_INCLUDES)
+    set(INTELPERC_INCLUDE_DIR_INTERNAL "${INTELPERC_INCLUDE_DIR}" CACHE INTERNAL "This is the value of the last time INTELPERC_INCLUDE_DIR was set successfully." FORCE)
+else()
+    message( WARNING, " Intel Perceptual Computing SDK include directory (set by INTELPERC_INCLUDE_DIR variable) is not found or does not have Intel Perceptual Computing SDK include files." )
+endif()
+
+mark_as_advanced(FORCE INTELPERC_LIBRARY)
+mark_as_advanced(FORCE INTELPERC_INCLUDES)
+

cmake/OpenCVFindLibsVideo.cmake

@@ -250,3 +250,9 @@ if (NOT IOS)
     set(HAVE_QTKIT YES)
   endif()
 endif()
+
+# --- Intel Perceptual Computing SSDK ---
+ocv_clear_vars(HAVE_INTELPERC)
+if(WITH_INTELPERC)
+  include("${OpenCV_SOURCE_DIR}/cmake/OpenCVFindIntelPerCSDK.cmake")
+endif(WITH_INTELPERC)

cmake/templates/cvconfig.h.in

@@ -158,6 +158,9 @@
 /* Xine video library */
 #cmakedefine HAVE_XINE
 
+/* Intel Perceptual Computing SDK library */
+#cmakedefine HAVE_INTELPERC
+
 /* Define to 1 if your processor stores words with the most significant byte
    first (like Motorola and SPARC, unlike Intel and VAX). */
 #cmakedefine WORDS_BIGENDIAN

modules/highgui/CMakeLists.txt

@@ -218,6 +218,12 @@ elseif(HAVE_QTKIT)
   list(APPEND HIGHGUI_LIBRARIES "-framework QTKit" "-framework QuartzCore" "-framework AppKit")
 endif()
 
+if(HAVE_INTELPERC)
+  list(APPEND highgui_srcs src/cap_intelperc.cpp)
+  ocv_include_directories(${INTELPERC_INCLUDE_DIR})
+  list(APPEND HIGHGUI_LIBRARIES ${INTELPERC_LIBRARY})
+endif(HAVE_INTELPERC)
+
 if(IOS)
   add_definitions(-DHAVE_IOS=1)
   list(APPEND highgui_srcs src/ios_conversions.mm src/cap_ios_abstract_camera.mm src/cap_ios_photo_camera.mm src/cap_ios_video_camera.mm)

modules/highgui/include/opencv2/highgui/highgui_c.h

@@ -312,7 +312,9 @@ enum
 
     CV_CAP_AVFOUNDATION = 1200,  // AVFoundation framework for iOS (OS X Lion will have the same API)
 
-    CV_CAP_GIGANETIX = 1300  // Smartek Giganetix GigEVisionSDK
+    CV_CAP_GIGANETIX = 1300,  // Smartek Giganetix GigEVisionSDK
+
+    CV_CAP_INTELPERC = 1500 // Intel Perceptual Computing SDK
 };
 
 /* start capturing frames from camera: index = camera_index + domain_offset (CV_CAP_*) */
@@ -468,6 +470,19 @@ enum
     CV_CAP_PROP_GIGA_FRAME_HEIGH_MAX = 10004,
     CV_CAP_PROP_GIGA_FRAME_SENS_WIDTH = 10005,
     CV_CAP_PROP_GIGA_FRAME_SENS_HEIGH = 10006
+
+    ,CV_CAP_PROP_INTELPERC_PROFILE_COUNT        = 11001,
+    CV_CAP_PROP_INTELPERC_PROFILE_IDX           = 11002,
+    CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE  = 11003,
+    CV_CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE      = 11004,
+    CV_CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD  = 11005,
+    CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ     = 11006,
+    CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT     = 11007,
+
+    // Intel PerC streams
+    CV_CAP_INTELPERC_DEPTH_STREAM = 1 << 31,
+    CV_CAP_INTELPERC_IMAGE_STREAM = 1 << 30,
+    CV_CAP_INTELPERC_STREAMS_MASK = CV_CAP_INTELPERC_DEPTH_STREAM + CV_CAP_INTELPERC_IMAGE_STREAM,
 };
 
 enum
@@ -548,6 +563,14 @@ enum
     CV_CAP_ANDROID_ANTIBANDING_OFF
 };
 
+enum
+{
+    CV_CAP_INTELPERC_DEPTH_MAP              = 0, // 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_CAP_INTELPERC_UVDEPTH_MAP            = 1, // 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_CAP_INTELPERC_IR_MAP                 = 2, // Each pixel is a 16-bit integer. The value indicates the intensity of the reflected laser beam.
+    CV_CAP_INTELPERC_IMAGE                  = 3,
+};
+
 /* retrieve or set capture properties */
 CVAPI(double) cvGetCaptureProperty( CvCapture* capture, int property_id );
 CVAPI(int)    cvSetCaptureProperty( CvCapture* capture, int property_id, double value );

modules/highgui/src/cap.cpp

@@ -155,6 +155,9 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
 #endif
 #ifdef HAVE_GIGE_API
         CV_CAP_GIGANETIX,
+#endif
+#ifdef HAVE_INTELPERC
+        CV_CAP_INTELPERC,
 #endif
         -1
     };
@@ -193,6 +196,7 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
     defined(HAVE_AVFOUNDATION) || \
     defined(HAVE_ANDROID_NATIVE_CAMERA) || \
     defined(HAVE_GIGE_API) || \
+    defined(HAVE_INTELPERC)    || \
     (0)
         // local variable to memorize the captured device
         CvCapture *capture;
@@ -341,6 +345,14 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
                 return capture;
         break; // CV_CAP_GIGANETIX
 #endif
+
+#ifdef HAVE_INTELPERC
+        case CV_CAP_INTELPERC:
+            capture = cvCreateCameraCapture_IntelPerC(index);
+            if (capture)
+                return capture;
+        break; // CV_CAP_INTEL_PERC
+#endif
         }
     }
 

modules/highgui/src/precomp.hpp

@@ -127,6 +127,7 @@ CvCapture* cvCreateFileCapture_OpenNI( const char* filename );
 CvCapture* cvCreateCameraCapture_Android( int index );
 CvCapture* cvCreateCameraCapture_XIMEA( int index );
 CvCapture* cvCreateCameraCapture_AVFoundation(int index);
+CvCapture* cvCreateCameraCapture_IntelPerC(int index);
 
 
 CVAPI(int) cvHaveImageReader(const char* filename);

modules/highgui/test/test_precomp.hpp

@@ -34,6 +34,7 @@
     defined(HAVE_XIMEA)        || \
     defined(HAVE_AVFOUNDATION) || \
     defined(HAVE_GIGE_API)     || \
+    defined(HAVE_INTELPERC)    || \
     (0)
     //defined(HAVE_ANDROID_NATIVE_CAMERA) ||   - enable after #1193
 #  define BUILD_WITH_CAMERA_SUPPORT 1