MYNT-EYE-S-SDK
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slightech
When use cv::VideoCapture I get green and purple image
When I use cv::VideoCapture I get green and purple image. I want to get right image and left image using cv::VideoCapture.
I'm using this code and compile.
`#include
int main(int argh, char* argv[]) { const std::string WIN_NAME = "Capture"; const int CAP_WIDTH = 752; const int CAP_HEIGHT = 480; // const std::string SAVE_FILE = "Img.jpg";
//デバイスのオープン
cv::VideoCapture cap(0);
//cap.open(0);
//オープン失敗？
if(!cap.isOpened())
{
std::cout << "ERROR: cannot open cam device." << std::endl;
return -1;
}
//キャプチャサイズの設定
cap.set(CV_CAP_PROP_FRAME_WIDTH, CAP_WIDTH);
cap.set(CV_CAP_PROP_FRAME_HEIGHT, CAP_HEIGHT);
//ループ
while(1)
{
cv::Mat frame;
// 1フレームキャプチャ
//cap >> frame;
if (!cap.read(frame))
{
std::cout << "ERROR: cannot capture." << std::endl;
break;
}
//表示
cv::imshow(WIN_NAME, frame);
//キー待ち
int inp_key = cv::waitKey(1);
//入力あり？
if (inp_key >= 0) {
// [ESC] or 'Q' or 'q'
if (inp_key == 27 || inp_key == 81 || inp_key == 113) break;
// 'S' or 's'
//else if(inp_key == 83 || inp_key == 115)
//{
// //フレーム画像を保存する
// cv::imwrite(SAVE_FILE, frame);
//}
}
} //end of while
//ウィンドウ破棄
cv::destroyAllWindows();
return 0;
}`
g++ camera.cpp -I/usr/local/include/opencv2 -I/usr/local/include/opencv -L/usr/local/lib -lopencv_core -lopencv_imgcodecs -lopencv_highgui -lopencv_video -lopencv_videoio
You need spilt raw data like:
// Split raw data to two images
const int &w = raw.cols, &h = raw.rows;
const int size = w * h;
if (left.cols != w || left.rows != h || left.type() != CV_8UC1)
left = cv::Mat(h, w, CV_8UC1);
if (right.cols != w || right.rows != h || right.type() != CV_8UC1)
right = cv::Mat(h, w, CV_8UC1);
unsigned char *data = raw.data;
for (int i = 0; i < size; ++i) {
left.data[i] = data[i*2]; // Y1 Y2
right.data[i] = data[i*2 + 1]; // U V
}
cv::imshow("left", left);
cv::imshow("right", right);
I succeed compile and run program.
I indicate the result.
`#include
int main(int argh, char* argv[]) { const std::string WIN_NAME = "Capture"; const int CAP_WIDTH = 752; const int CAP_HEIGHT = 480; // const std::string SAVE_FILE = "Img.jpg";
//デバイスのオープン
cv::VideoCapture cap(0);
//cap.open(0);
//オープン失敗？
if(!cap.isOpened())
{
std::cout << "ERROR: cannot open cam device." << std::endl;
return -1;
}
//キャプチャサイズの設定
cap.set(CV_CAP_PROP_FRAME_WIDTH, CAP_WIDTH);
cap.set(CV_CAP_PROP_FRAME_HEIGHT, CAP_HEIGHT);
//ループ
while(1)
{
cv::Mat frame;
cap >> frame;
cv::Mat left;
cv::Mat right;
const int &w = frame.cols, &h = frame.rows;
const int size = w * h;
if (left.cols != w || left.rows != h || left.type() != CV_8UC1)
left = cv::Mat(h, w, CV_8UC1);
if (right.cols != w || right.rows != h || right.type() != CV_8UC1)
right = cv::Mat(h, w, CV_8UC1);
unsigned char *data = frame.data;
for (int i = 0; i < size; ++i) {
left.data[i] = data[i*2]; // Y1 Y2
right.data[i] = data[i*2 + 1]; // U V
}
cv::imshow("left", left);
cv::imshow("right", right);
// 1フレームキャプチャ
//cap >> frame;
//if (!cap.read(frame))
//{
// std::cout << "ERROR: cannot capture." << std::endl;
// break;
//}
//キー待ち
int inp_key = cv::waitKey(1);
//入力あり？
if (inp_key >= 0) {
// [ESC] or 'Q' or 'q'
if (inp_key == 27 || inp_key == 81 || inp_key == 113) break;
// 'S' or 's'
//else if(inp_key == 83 || inp_key == 115)
//{
// //フレーム画像を保存する
// cv::imwrite(SAVE_FILE, frame);
//}
}
} //end of while
//ウィンドウ破棄
cv::destroyAllWindows();
return 0;
}`
I want to get left image and right image from mynt-eye s1030 using cv::VideoCapture.
Like this image.
you can refer to code below.
#include "camera.hpp"
// https://stackoverflow.com/questions/10167534/
// how-to-find-out-what-type-of-a-mat-object-is-with-mattype-in-opencv
/*
std::string type2str(int type) {
std::string r;
uchar depth = type & CV_MAT_DEPTH_MASK;
uchar chans = 1 + (type >> CV_CN_SHIFT);
switch ( depth ) {
case CV_8U: r = "8U"; break;
case CV_8S: r = "8S"; break;
case CV_16U: r = "16U"; break;
case CV_16S: r = "16S"; break;
case CV_32S: r = "32S"; break;
case CV_32F: r = "32F"; break;
case CV_64F: r = "64F"; break;
default: r = "User"; break;
}
r += "C";
r += (chans+'0');
return r;
}
*/
int main(int argc, char const *argv[]) {
int index = 0;
if (argc >= 2) {
try {
index = std::stoi(argv[1]);
} catch (...) {
std::cout << "Warning: Can't set index: " << argv[1] << std::endl;
}
}
Camera cam(index);
if (!cam.IsOpened()) {
std::cerr << "Error: Open camera failed" << std::endl;
return 1;
}
std::cout << "\033[1;32mPress ESC/Q to terminate\033[0m\n";
//std::cout << cv::getBuildInformation();
// cv::VideoCaptureProperties:
// http://docs.opencv.org/master/d4/d15/group__videoio__flags__base.html#gaeb8dd9c89c10a5c63c139bf7c4f5704d
// For get raw camera data with v4l2
std::cout << "CAP_PROP_CONVERT_RGB disabled: "
<< cam.Set(cv::CAP_PROP_CONVERT_RGB, 0)
<< std::endl;
std::cout << "CAP_PROP_FORMAT: " <<
cam.Get(cv::CAP_PROP_FORMAT) << std::endl;
std::cout << std::flush;
//cv::Mat frame;
cv::Mat left, right;
cam.Capture([&cam/*, &frame*/, &left, &right](
const cv::Mat& raw, const cv::Mat& depthmap) {
//std::cout << "type: " << type2str(raw.type()) << std::endl;
/*
cv::cvtColor(raw, frame, cv::COLOR_YUV2BGR_YUY2);
cam.DrawInfo(frame);
cv::imshow("camera", frame);
*/
// Split raw data to two images
const int &w = raw.cols, &h = raw.rows;
const int size = w * h;
if (left.cols != w || left.rows != h || left.type() != CV_8UC1)
left = cv::Mat(h, w, CV_8UC1);
if (right.cols != w || right.rows != h || right.type() != CV_8UC1)
right = cv::Mat(h, w, CV_8UC1);
unsigned char *data = raw.data;
std::cout << "type: " << raw.data[0] << std::endl;
for (int i = 0; i < size; ++i) {
left.data[i] = data[i*2]; // Y1 Y2
right.data[i] = data[i*2 + 1]; // U V
}
cv::imshow("left", left);
cv::imshow("right", right);
char key = (char) cv::waitKey(10);
return !(key == 27 || key == 'q' || key == 'Q'); // ESC/Q
});
return 0;
}
camera.hpp
#ifndef CAMERA_HPP_
#define CAMERA_HPP_
#pragma once
#include <functional>
#include <iostream>
#include <sstream>
#include <opencv2/opencv.hpp>
class Camera {
public:
using VideoCapture = cv::VideoCapture;
using FrameCallback = std::function<bool(const cv::Mat&, const cv::Mat&)>;
Camera(int index = 0)
: cap_(new VideoCapture(std::move(index))),
#ifdef USE_OPENNI
use_openni_(index == cv::CAP_OPENNI || index == cv::CAP_OPENNI2),
#endif
fps_(-1) {
int flag = 0;
#ifdef USE_OPENNI
if (use_openni_) {
flag = cv::CAP_OPENNI_IMAGE_GENERATOR;
Set(cv::CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, cv::CAP_OPENNI_VGA_30HZ);
}
#endif
std::cout << "Capture frame width: " << Get(flag + cv::CAP_PROP_FRAME_WIDTH)
<< ", height: " << Get(flag + cv::CAP_PROP_FRAME_HEIGHT)
<< std::endl;
fps_ = Get(flag + cv::CAP_PROP_FPS);
std::cout << "Capture fps: " << fps_ << std::endl
#ifdef USE_OPENNI
<< "Use OpenNI: " << use_openni_ << std::endl
#endif
<< std::endl;
}
virtual ~Camera() {}
bool UseOpenNI() {
#ifdef USE_OPENNI
return use_openni_;
#else
return false;
#endif
}
double Get(int prop_id) const {
return cap_->get(prop_id);
}
bool Set(int prop_id, double value) {
return cap_->set(prop_id, value);
}
bool IsOpened() {
#ifdef USE_OPENNI
return use_openni_ || cap_->isOpened();
#else
return cap_->isOpened();
#endif
}
void Preview(FrameCallback callback = nullptr) {
cv::namedWindow("camera", 1);
Capture([&callback](const cv::Mat& frame, const cv::Mat& depthmap) {
cv::imshow("camera", frame);
if (callback && !callback(frame, depthmap)) {
// return false to break
return false;
}
// return false to break if ESC/Q
char key = (char) cv::waitKey(30);
return !(key == 27 || key == 'q' || key == 'Q');
});
}
// callback return true to continue and false to break
void Capture(FrameCallback callback) {
if (!callback) {
std::cerr << "ERROR: Null FrameCallback\n";
return;
}
cv::Mat frame;
cv::Mat depthmap;
double t;
for (;;) {
t = (double)cv::getTickCount();
#ifdef USE_OPENNI
if (use_openni_) {
cap_->grab();
cap_->retrieve(depthmap, cv::CAP_OPENNI_DEPTH_MAP);
cap_->retrieve(frame, cv::CAP_OPENNI_BGR_IMAGE);
//cap_->retrieve(frame, cv::CAP_OPENNI_GRAY_IMAGE);
} else {
cap_->read(frame);
}
#else
cap_->read(frame);
#endif
if (frame.empty()) {
std::cerr << "ERROR: Blank frame grabbed\n";
break;
}
bool ok = callback(frame, depthmap);
t = (double)cv::getTickCount() - t;
fps_ = cv::getTickFrequency() / t;
//std::cout << "fps: " << fps_ << std::endl;
if (!ok) break;
}
}
double FPS() const {
return fps_;
}
std::string ExtraInfo() const {
std::ostringstream info;
info << "FPS: " << fps_;
return info.str();
}
void DrawInfo(const cv::Mat& im) const {
using namespace std;
int w = im.cols, h = im.rows;
// topLeft: width x height
{
ostringstream ss;
ss << w << "x" << h;
string text = ss.str();
int baseline = 0;
cv::Size textSize = cv::getTextSize(text, cv::FONT_HERSHEY_PLAIN,
1, 1, &baseline);
cv::putText(im, text, cv::Point(5, 5 + textSize.height),
cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(255,0,255));
}
// topRight: fps
{
ostringstream ss;
ss << "FPS: " << fps_;
string text = ss.str();
int baseline = 0;
cv::Size textSize = cv::getTextSize(text, cv::FONT_HERSHEY_PLAIN,
1, 1, &baseline);
cv::putText(im, text,
cv::Point(w - 5 - textSize.width, 5 + textSize.height),
cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(255,0,255));
}
}
private:
std::unique_ptr<VideoCapture> cap_;
#ifdef USE_OPENNI
bool use_openni_;
#endif
double fps_;
};
#endif // CAMERA_HPP_
hi,i copy and paste. but it doesn't run.
721920 is stored in raw.cols 1 is stored in raw.rows
is this normal?
Thank you for your adovice. I was able to get images.
hello, i try what you did. but i failed. The result just like your second picture. can you give me some advice?
