added support for OpenNI2 IR stream #4366

modules/videoio/include/opencv2/videoio.hpp

@@ -162,7 +162,8 @@ enum { CAP_PROP_DC1394_OFF                = -4, //turn the feature off (not cont
 // OpenNI map generators
 enum { CAP_OPENNI_DEPTH_GENERATOR = 1 << 31,
        CAP_OPENNI_IMAGE_GENERATOR = 1 << 30,
-       CAP_OPENNI_GENERATORS_MASK = CAP_OPENNI_DEPTH_GENERATOR + CAP_OPENNI_IMAGE_GENERATOR
+       CAP_OPENNI_IR_GENERATOR    = 1 << 29,
+       CAP_OPENNI_GENERATORS_MASK = CAP_OPENNI_DEPTH_GENERATOR + CAP_OPENNI_IMAGE_GENERATOR + CAP_OPENNI_IR_GENERATOR
      };
 
 // Properties of cameras available through OpenNI interfaces
@@ -183,13 +184,15 @@ enum { CAP_PROP_OPENNI_OUTPUT_MODE       = 100,
        CAP_PROP_OPENNI2_MIRROR           = 111
      };
 
-// OpenNI shortcats
+// OpenNI shortcuts
 enum { CAP_OPENNI_IMAGE_GENERATOR_PRESENT         = CAP_OPENNI_IMAGE_GENERATOR + CAP_PROP_OPENNI_GENERATOR_PRESENT,
        CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE     = CAP_OPENNI_IMAGE_GENERATOR + CAP_PROP_OPENNI_OUTPUT_MODE,
+       CAP_OPENNI_DEPTH_GENERATOR_PRESENT         = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_GENERATOR_PRESENT,
        CAP_OPENNI_DEPTH_GENERATOR_BASELINE        = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_BASELINE,
        CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH    = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_FOCAL_LENGTH,
        CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION    = CAP_OPENNI_DEPTH_GENERATOR + CAP_PROP_OPENNI_REGISTRATION,
-       CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON = CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION
+       CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON = CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION,
+       CAP_OPENNI_IR_GENERATOR_PRESENT            = CAP_OPENNI_IR_GENERATOR + CAP_PROP_OPENNI_GENERATOR_PRESENT,
      };
 
 // OpenNI data given from depth generator
@@ -201,7 +204,10 @@ enum { CAP_OPENNI_DEPTH_MAP         = 0, // Depth values in mm (CV_16UC1)
 
        // Data given from RGB image generator
        CAP_OPENNI_BGR_IMAGE         = 5,
-       CAP_OPENNI_GRAY_IMAGE        = 6
+       CAP_OPENNI_GRAY_IMAGE        = 6,
+
+       // Data given from IR image generator
+       CAP_OPENNI_IR_IMAGE          = 7
      };
 
 // Supported output modes of OpenNI image generator

modules/videoio/include/opencv2/videoio/videoio_c.h

@@ -200,7 +200,8 @@ enum
     // OpenNI map generators
     CV_CAP_OPENNI_DEPTH_GENERATOR = 1 << 31,
     CV_CAP_OPENNI_IMAGE_GENERATOR = 1 << 30,
-    CV_CAP_OPENNI_GENERATORS_MASK = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_OPENNI_IMAGE_GENERATOR,
+    CV_CAP_OPENNI_IR_GENERATOR    = 1 << 29,
+    CV_CAP_OPENNI_GENERATORS_MASK = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_OPENNI_IR_GENERATOR,
 
     // Properties of cameras available through OpenNI interfaces
     CV_CAP_PROP_OPENNI_OUTPUT_MODE     = 100,
@@ -222,10 +223,12 @@ enum
 
     CV_CAP_OPENNI_IMAGE_GENERATOR_PRESENT         = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_OPENNI_GENERATOR_PRESENT,
     CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE     = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_OPENNI_OUTPUT_MODE,
+    CV_CAP_OPENNI_DEPTH_GENERATOR_PRESENT         = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_GENERATOR_PRESENT,
     CV_CAP_OPENNI_DEPTH_GENERATOR_BASELINE        = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_BASELINE,
     CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH    = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_FOCAL_LENGTH,
     CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION    = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_REGISTRATION,
     CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON = CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION,
+    CV_CAP_OPENNI_IR_GENERATOR_PRESENT            = CV_CAP_OPENNI_IR_GENERATOR + CV_CAP_PROP_OPENNI_GENERATOR_PRESENT,
 
     // Properties of cameras available through GStreamer interface
     CV_CAP_GSTREAMER_QUEUE_LENGTH           = 200, // default is 1
@@ -454,7 +457,10 @@ enum
 
     // Data given from RGB image generator.
     CV_CAP_OPENNI_BGR_IMAGE                 = 5,
-    CV_CAP_OPENNI_GRAY_IMAGE                = 6
+    CV_CAP_OPENNI_GRAY_IMAGE                = 6,
+
+    // Data given from IR image generator.
+    CV_CAP_OPENNI_IR_IMAGE                  = 7
 };
 
 // Supported output modes of OpenNI image generator

samples/cpp/openni_capture.cpp

@@ -21,6 +21,8 @@ static void help()
             "2.) Data given from RGB image generator\n"
             "   CAP_OPENNI_BGR_IMAGE            - color image (CV_8UC3)\n"
             "   CAP_OPENNI_GRAY_IMAGE           - gray image (CV_8UC1)\n"
+            "2.) Data given from IR image generator\n"
+            "   CAP_OPENNI_IR_IMAGE             - gray image (CV_16UC1)\n"
          << endl;
 }
 
@@ -92,8 +94,8 @@ static void printCommandLineParams()
     cout << "-mode=     image mode: resolution and fps, supported three values:  0 - CAP_OPENNI_VGA_30HZ, 1 - CAP_OPENNI_SXGA_15HZ," << endl;
     cout << "          2 - CAP_OPENNI_SXGA_30HZ (0 by default). Ignored if rgb image or gray image are not selected to show." << endl;
     cout << "-m=        Mask to set which output images are need. It is a string of size 5. Each element of this is '0' or '1' and" << endl;
-    cout << "          determine: is depth map, disparity map, valid pixels mask, rgb image, gray image need or not (correspondently)?" << endl ;
-    cout << "          By default -m=01010 i.e. disparity map and rgb image will be shown." << endl ;
+    cout << "          determine: is depth map, disparity map, valid pixels mask, rgb image, gray image need or not (correspondently), ir image" << endl ;
+    cout << "          By default -m=010100 i.e. disparity map and rgb image will be shown." << endl ;
     cout << "-r=        Filename of .oni video file. The data will grabbed from it." << endl ;
 }
 
@@ -101,7 +103,7 @@ static void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool
                        string& filename, bool& isFileReading )
 {
     filename.clear();
-    cv::CommandLineParser parser(argc, argv, "{h help||}{cd|1|}{fmd|0|}{mode|0|}{m|01010|}{r||}");
+    cv::CommandLineParser parser(argc, argv, "{h help||}{cd|1|}{fmd|0|}{mode|-1|}{m|010100|}{r||}");
     if (parser.has("h"))
     {
         help();
@@ -121,14 +123,14 @@ static void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool
         help();
         exit(-1);
     }
-    if (flags % 100000 == 0)
+    if (flags % 1000000 == 0)
     {
         cout << "No one output image is selected." << endl;
         exit(0);
     }
-    for (int i = 0; i < 5; i++)
+    for (int i = 0; i < 6; i++)
     {
-        retrievedImageFlags[4 - i] = (flags % 10 != 0);
+        retrievedImageFlags[5 - i] = (flags % 10 != 0);
         flags /= 10;
     }
 }
@@ -141,7 +143,7 @@ int main( int argc, char* argv[] )
 {
     bool isColorizeDisp, isFixedMaxDisp;
     int imageMode;
-    bool retrievedImageFlags[5];
+    bool retrievedImageFlags[6];
     string filename;
     bool isVideoReading;
     parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, imageMode, retrievedImageFlags, filename, isVideoReading );
@@ -165,7 +167,7 @@ int main( int argc, char* argv[] )
         return -1;
     }
 
-    if( !isVideoReading )
+    if( !isVideoReading && imageMode >= 0 )
     {
         bool modeRes=false;
         switch ( imageMode )
@@ -193,13 +195,35 @@ int main( int argc, char* argv[] )
             cout << "\nThis image mode is not supported by the device, the default value (CV_CAP_OPENNI_SXGA_15HZ) will be used.\n" << endl;
     }
 
+    // turn on depth, color and IR if needed
+    if (retrievedImageFlags[0] || retrievedImageFlags[1] || retrievedImageFlags[2])
+        capture.set(CAP_OPENNI_DEPTH_GENERATOR_PRESENT, true);
+    else
+        capture.set(CAP_OPENNI_DEPTH_GENERATOR_PRESENT, false);
+    if (retrievedImageFlags[3] || retrievedImageFlags[4])
+        capture.set(CAP_OPENNI_IMAGE_GENERATOR_PRESENT, true);
+    else
+        capture.set(CAP_OPENNI_IMAGE_GENERATOR_PRESENT, false);
+    if (retrievedImageFlags[5])
+        capture.set(CAP_OPENNI_IR_GENERATOR_PRESENT, true);
+    else
+        capture.set(CAP_OPENNI_IR_GENERATOR_PRESENT, false);
+
     // Print some avalible device settings.
-    cout << "\nDepth generator output mode:" << endl <<
-            "FRAME_WIDTH      " << capture.get( CAP_PROP_FRAME_WIDTH ) << endl <<
-            "FRAME_HEIGHT     " << capture.get( CAP_PROP_FRAME_HEIGHT ) << endl <<
-            "FRAME_MAX_DEPTH  " << capture.get( CAP_PROP_OPENNI_FRAME_MAX_DEPTH ) << " mm" << endl <<
-            "FPS              " << capture.get( CAP_PROP_FPS ) << endl <<
-            "REGISTRATION     " << capture.get( CAP_PROP_OPENNI_REGISTRATION ) << endl;
+    if (capture.get(CAP_OPENNI_DEPTH_GENERATOR_PRESENT))
+    {
+        cout << "\nDepth generator output mode:" << endl <<
+            "FRAME_WIDTH      " << capture.get(CAP_PROP_FRAME_WIDTH) << endl <<
+            "FRAME_HEIGHT     " << capture.get(CAP_PROP_FRAME_HEIGHT) << endl <<
+            "FRAME_MAX_DEPTH  " << capture.get(CAP_PROP_OPENNI_FRAME_MAX_DEPTH) << " mm" << endl <<
+            "FPS              " << capture.get(CAP_PROP_FPS) << endl <<
+            "REGISTRATION     " << capture.get(CAP_PROP_OPENNI_REGISTRATION) << endl;
+    }
+    else
+    {
+        cout << "\nDevice doesn't contain depth generator or it is not selected." << endl;
+    }
+
     if( capture.get( CAP_OPENNI_IMAGE_GENERATOR_PRESENT ) )
     {
         cout <<
@@ -210,9 +234,20 @@ int main( int argc, char* argv[] )
     }
     else
     {
-        cout << "\nDevice doesn't contain image generator." << endl;
-        if (!retrievedImageFlags[0] && !retrievedImageFlags[1] && !retrievedImageFlags[2])
-            return 0;
+        cout << "\nDevice doesn't contain image generator or it is not selected." << endl;
+    }
+
+    if( capture.get(CAP_OPENNI_IR_GENERATOR_PRESENT) )
+    {
+        cout <<
+            "\nIR generator output mode:" << endl <<
+            "FRAME_WIDTH   " << capture.get(CAP_OPENNI_IR_GENERATOR + CAP_PROP_FRAME_WIDTH) << endl <<
+            "FRAME_HEIGHT  " << capture.get(CAP_OPENNI_IR_GENERATOR + CAP_PROP_FRAME_HEIGHT) << endl <<
+            "FPS           " << capture.get(CAP_OPENNI_IR_GENERATOR + CAP_PROP_FPS) << endl;
+    }
+    else
+    {
+        cout << "\nDevice doesn't contain IR generator or it is not selected." << endl;
     }
 
     for(;;)
@@ -222,6 +257,7 @@ int main( int argc, char* argv[] )
         Mat disparityMap;
         Mat bgrImage;
         Mat grayImage;
+        Mat irImage;
 
         if( !capture.grab() )
         {
@@ -261,6 +297,13 @@ int main( int argc, char* argv[] )
 
             if( retrievedImageFlags[4] && capture.retrieve( grayImage, CAP_OPENNI_GRAY_IMAGE ) )
                 imshow( "gray image", grayImage );
+
+            if( retrievedImageFlags[5] && capture.retrieve( irImage, CAP_OPENNI_IR_IMAGE ) )
+            {
+                Mat ir8;
+                irImage.convertTo(ir8, CV_8U, 256.0 / 3500, 0.0);
+                imshow("IR image", ir8);
+            }
         }
 
         if( waitKey( 30 ) >= 0 )