mirror of
https://github.com/zebrajr/opencv.git
synced 2025-12-06 00:19:46 +01:00
Merge branch 4.x
This commit is contained in:
Alexander Smorkalov
commit
02f0779d0e
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@ -168,7 +168,7 @@ OCV_OPTION(WITH_CAP_IOS "Enable iOS video capture" ON
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OCV_OPTION(WITH_CAROTENE "Use NVidia carotene acceleration library for ARM platform" (NOT CV_DISABLE_OPTIMIZATION)
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VISIBLE_IF (ARM OR AARCH64) AND NOT IOS AND NOT XROS)
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OCV_OPTION(WITH_KLEIDICV "Use KleidiCV library for ARM platforms" (ANDROID AND AARCH64 AND NOT CV_DISABLE_OPTIMIZATION)
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VISIBLE_IF (AARCH64 AND (ANDROID OR UNIX AND NOT IOS AND NOT XROS)))
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VISIBLE_IF (AARCH64 AND (ANDROID OR UNIX)))
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OCV_OPTION(WITH_NDSRVP "Use Andes RVP extension" (NOT CV_DISABLE_OPTIMIZATION)
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VISIBLE_IF RISCV)
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OCV_OPTION(WITH_HAL_RVV "Use HAL RVV optimizations" (NOT CV_DISABLE_OPTIMIZATION)
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@ -7,6 +7,7 @@ Copyright (C) 2008-2016, Itseez Inc., all rights reserved.
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Copyright (C) 2019-2023, Xperience AI, all rights reserved.
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Copyright (C) 2019-2022, Shenzhen Institute of Artificial Intelligence and Robotics for Society, all rights reserved.
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Copyright (C) 2022-2023, Southern University of Science And Technology, all rights reserved.
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Copyright (C) 2023-2025, OpenCV AI, all rights reserved.
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Copyright (C) 2024, Bigvision LLC, all rights reserved.
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Third party copyrights are property of their respective owners.
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@ -315,7 +315,7 @@ Following formats can be read by OpenCV without help of any third-party library:
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| [Sun Raster](https://en.wikipedia.org/wiki/Sun_Raster) | `WITH_IMGCODEC_SUNRASTER` | _ON_ |
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| [PPM, PGM, PBM, PAM](https://en.wikipedia.org/wiki/Netpbm#File_formats) | `WITH_IMGCODEC_PXM` | _ON_ |
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| [PFM](https://en.wikipedia.org/wiki/Netpbm#File_formats) | `WITH_IMGCODEC_PFM` | _ON_ |
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| [GIF](https://en.wikipedia.org/wiki/GIF) | `WITH_IMGCODEC_GIF` | _OFF_ |
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| [GIF](https://en.wikipedia.org/wiki/GIF) | `WITH_IMGCODEC_GIF` | _ON_ |
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### PNG, JPEG, TIFF, WEBP, JPEG 2000, EXR, JPEG XL support
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@ -97,7 +97,7 @@ enum ImwriteFlags {
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IMWRITE_PNG_STRATEGY = 17, //!< For PNG, One of cv::ImwritePNGFlags, default is IMWRITE_PNG_STRATEGY_RLE.
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IMWRITE_PNG_BILEVEL = 18, //!< For PNG, Binary level PNG, 0 or 1, default is 0.
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IMWRITE_PNG_FILTER = 19, //!< For PNG, One of cv::ImwritePNGFilterFlags, default is IMWRITE_PNG_FILTER_SUB.
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IMWRITE_PNG_ZLIBBUFFER_SIZE = 20, //!< For PNG, sets the size of the internal zlib compression buffer in bytes.
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IMWRITE_PNG_ZLIBBUFFER_SIZE = 20, //!< For PNG with libpng, sets the size of the internal zlib compression buffer in bytes, from 6 to 1048576(1024 KiB). Default is 8192(8 KiB). For normal use, 131072(128 KiB) or 262144(256 KiB) may be sufficient. If WITH_SPNG=ON, it is not supported.
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IMWRITE_PXM_BINARY = 32, //!< For PPM, PGM, or PBM, it can be a binary format flag, 0 or 1. Default value is 1.
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IMWRITE_EXR_TYPE = (3 << 4) + 0 /* 48 */, //!< override EXR storage type (FLOAT (FP32) is default)
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IMWRITE_EXR_COMPRESSION = (3 << 4) + 1 /* 49 */, //!< override EXR compression type (ZIP_COMPRESSION = 3 is default)
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@ -1007,7 +1007,11 @@ bool PngEncoder::write( const Mat& img, const std::vector<int>& params )
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break;
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case IMWRITE_PNG_ZLIBBUFFER_SIZE:
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png_set_compression_buffer_size(png_ptr, params[i+1]);
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// The default value is 8 KiB.
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// The minimum limit is 6, which is from from https://github.com/opencv/opencv/blob/4.12.0/3rdparty/libpng/pngset.c#L1600 .
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// The maximum limit is 1 MiB, which has been provisionally set. libpng limitation is 2 GiB(INT32_MAX), but it is too large.
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// For normal use, 128 or 256 KiB may be sufficient. See https://zlib.net/zlib_how.html .
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png_set_compression_buffer_size(png_ptr, MIN(MAX(params[i+1],6), 1024*1024));
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break;
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default:
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@ -23,6 +23,7 @@
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#include <zlib.h>
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#include "grfmt_spng.hpp"
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#include <opencv2/core/utils/logger.hpp>
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/*
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* libspng does not support RGB -> Gray conversion. In order to decode colorful images as grayscale
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@ -554,6 +555,11 @@ bool SPngEncoder::write(const Mat &img, const std::vector<int> ¶ms)
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filter = params[i+1];
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set_filter = true;
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}
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if( params[i] == IMWRITE_PNG_ZLIBBUFFER_SIZE )
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{
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// See https://libspng.org/docs/migrate-libpng/#miscellaneous-functions
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CV_LOG_WARNING(nullptr, "libspng does not support png_set_compression_buffer_size() which is required for IMWRITE_PNG_ZLIBBUFFER_SIZE");
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}
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}
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ihdr.bit_depth = depth == CV_8U ? isBilevel ? 1 : 8 : 16;
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@ -569,6 +569,26 @@ INSTANTIATE_TEST_CASE_P(/**/,
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make_tuple("../perf/512x512.png", 8, 153708),
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make_tuple("../perf/512x512.png", 9, 152181)));
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// See https://github.com/opencv/opencv/issues/27614
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typedef testing::TestWithParam<int> Imgcodecs_Png_ZLIBBUFFER_SIZE;
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TEST_P(Imgcodecs_Png_ZLIBBUFFER_SIZE, encode_regression_27614)
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{
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Mat img(320,240,CV_8UC3,cv::Scalar(64,76,43));
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vector<uint8_t> buff;
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bool status = false;
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ASSERT_NO_THROW(status = imencode(".png", img, buff, { IMWRITE_PNG_ZLIBBUFFER_SIZE, GetParam() }));
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ASSERT_TRUE(status);
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}
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INSTANTIATE_TEST_CASE_P(/*nothing*/, Imgcodecs_Png_ZLIBBUFFER_SIZE,
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testing::Values(5,
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6, // Minimum limit
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8192, // Default value
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131072, // 128 KiB
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262144, // 256 KiB
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1048576, // Maximum limit
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1048577));
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#endif // HAVE_PNG
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}} // namespace
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@ -2,7 +2,7 @@ __all__ = [
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"apply_manual_api_refinement"
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]
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from typing import cast, Sequence, Callable, Iterable
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from typing import cast, Sequence, Callable, Iterable, Optional
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from .nodes import (NamespaceNode, FunctionNode, OptionalTypeNode, TypeNode,
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ClassProperty, PrimitiveTypeNode, ASTNodeTypeNode,
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@ -93,19 +93,35 @@ def export_matrix_type_constants(root: NamespaceNode) -> None:
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)
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def make_optional_arg(arg_name: str) -> Callable[[NamespaceNode, SymbolName], None]:
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def make_optional_arg(*arg_names: str) -> Callable[[NamespaceNode, SymbolName], None]:
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def _make_optional_arg(root_node: NamespaceNode,
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function_symbol_name: SymbolName) -> None:
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function = find_function_node(root_node, function_symbol_name)
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for overload in function.overloads:
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arg_idx = _find_argument_index(overload.arguments, arg_name)
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# Avoid multiplying optional qualification
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if isinstance(overload.arguments[arg_idx].type_node, OptionalTypeNode):
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continue
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for arg_name in arg_names:
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found_overload_with_arg = False
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overload.arguments[arg_idx].type_node = OptionalTypeNode(
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cast(TypeNode, overload.arguments[arg_idx].type_node)
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)
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for overload in function.overloads:
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arg_idx = _find_argument_index(overload.arguments, arg_name)
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# skip overloads without this argument
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if arg_idx is None:
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continue
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# Avoid multiplying optional qualification
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if isinstance(overload.arguments[arg_idx].type_node, OptionalTypeNode):
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continue
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overload.arguments[arg_idx].type_node = OptionalTypeNode(
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cast(TypeNode, overload.arguments[arg_idx].type_node)
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)
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found_overload_with_arg = True
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if not found_overload_with_arg:
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raise RuntimeError(
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f"Failed to find argument with name: '{arg_name}'"
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f" in '{function_symbol_name.name}' overloads"
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)
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return _make_optional_arg
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@ -327,13 +343,11 @@ def _trim_class_name_from_argument_types(
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def _find_argument_index(arguments: Sequence[FunctionNode.Arg],
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name: str) -> int:
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name: str) -> Optional[int]:
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for i, arg in enumerate(arguments):
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if arg.name == name:
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return i
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raise RuntimeError(
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f"Failed to find argument with name: '{name}' in {arguments}"
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)
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return None
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NODES_TO_REFINE = {
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@ -341,6 +355,23 @@ NODES_TO_REFINE = {
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SymbolName(("cv", ), (), "calcHist"): make_optional_arg("mask"),
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SymbolName(("cv", ), (), "floodFill"): make_optional_arg("mask"),
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SymbolName(("cv", ), ("Feature2D", ), "detectAndCompute"): make_optional_arg("mask"),
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SymbolName(("cv", ), (), "findEssentialMat"): make_optional_arg(
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"distCoeffs1", "distCoeffs2", "dist_coeff1", "dist_coeff2"
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),
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SymbolName(("cv", ), (), "drawFrameAxes"): make_optional_arg("distCoeffs"),
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SymbolName(("cv", ), (), "getOptimalNewCameraMatrix"): make_optional_arg("distCoeffs"),
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SymbolName(("cv", ), (), "initInverseRectificationMap"): make_optional_arg("distCoeffs", "R"),
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SymbolName(("cv", ), (), "initUndistortRectifyMap"): make_optional_arg("distCoeffs", "R"),
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SymbolName(("cv", ), (), "projectPoints"): make_optional_arg("distCoeffs"),
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SymbolName(("cv", ), (), "solveP3P"): make_optional_arg("distCoeffs"),
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SymbolName(("cv", ), (), "solvePnP"): make_optional_arg("distCoeffs"),
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SymbolName(("cv", ), (), "solvePnPGeneric"): make_optional_arg("distCoeffs"),
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SymbolName(("cv", ), (), "solvePnPRansac"): make_optional_arg("distCoeffs"),
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SymbolName(("cv", ), (), "solvePnPRefineLM"): make_optional_arg("distCoeffs"),
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SymbolName(("cv", ), (), "solvePnPRefineVVS"): make_optional_arg("distCoeffs"),
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SymbolName(("cv", ), (), "undistort"): make_optional_arg("distCoeffs"),
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SymbolName(("cv", ), (), "undistortPoints"): make_optional_arg("distCoeffs"),
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SymbolName(("cv", "fisheye"), (), "initUndistortRectifyMap"): make_optional_arg("D"),
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SymbolName(("cv", ), (), "imread"): make_optional_none_return,
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SymbolName(("cv", ), (), "imdecode"): make_optional_none_return,
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}
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|
|
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@ -707,6 +707,11 @@ enum VideoCaptureOBSensorProperties{
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CAP_PROP_OBSENSOR_INTRINSIC_FY=26002,
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CAP_PROP_OBSENSOR_INTRINSIC_CX=26003,
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CAP_PROP_OBSENSOR_INTRINSIC_CY=26004,
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CAP_PROP_OBSENSOR_RGB_POS_MSEC=26005,
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CAP_PROP_OBSENSOR_DEPTH_POS_MSEC=26006,
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CAP_PROP_OBSENSOR_DEPTH_WIDTH=26007,
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CAP_PROP_OBSENSOR_DEPTH_HEIGHT=26008,
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CAP_PROP_OBSENSOR_DEPTH_FPS=26009
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};
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//! @} OBSENSOR
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|
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@ -376,7 +376,7 @@ Ptr<IVideoWriter> createAndroidVideoWriter(const std::string& filename, int four
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double fps, const Size& frameSize,
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const VideoWriterParameters& params);
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Ptr<IVideoCapture> create_obsensor_capture(int index);
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Ptr<IVideoCapture> create_obsensor_capture(int index, const cv::VideoCaptureParameters& params);
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bool VideoCapture_V4L_waitAny(
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const std::vector<VideoCapture>& streams,
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|
|
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@ -23,15 +23,20 @@
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|
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#include "cap_obsensor_capture.hpp"
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#include "cap_obsensor/obsensor_stream_channel_interface.hpp"
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#include <cstdint>
|
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#define OB_WIDTH_ANY 0
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#define OB_HEIGHT_ANY 0
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#define OB_FPS_ANY 0
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|
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#if defined(HAVE_OBSENSOR) && !defined(HAVE_OBSENSOR_ORBBEC_SDK)
|
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namespace cv {
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Ptr<IVideoCapture> create_obsensor_capture(int index)
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Ptr<IVideoCapture> create_obsensor_capture(int index, const cv::VideoCaptureParameters& params)
|
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{
|
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return makePtr<VideoCapture_obsensor>(index);
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return makePtr<VideoCapture_obsensor>(index, params);
|
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}
|
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|
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VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
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VideoCapture_obsensor::VideoCapture_obsensor(int index, const cv::VideoCaptureParameters& params) : isOpened_(false)
|
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{
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static const obsensor::StreamProfile colorProfile = { 640, 480, 30, obsensor::FRAME_FORMAT_MJPG };
|
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static const obsensor::StreamProfile depthProfile = { 640, 480, 30, obsensor::FRAME_FORMAT_Y16 };
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|
|
@ -55,15 +60,23 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
|
|||
{
|
||||
case obsensor::OBSENSOR_STREAM_COLOR:
|
||||
{
|
||||
auto profile = colorProfile;
|
||||
if(OBSENSOR_FEMTO_MEGA_PID == channel->getPid()){
|
||||
profile = megaColorProfile;
|
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}else if(OBSENSOR_GEMINI2L_PID == channel->getPid()){
|
||||
profile = gemini2lColorProfile;
|
||||
}else if(OBSENSOR_ASTRA2_PID == channel->getPid()){
|
||||
profile = astra2ColorProfile;
|
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}else if(OBSENSOR_GEMINI2XL_PID == channel->getPid()){
|
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profile = gemini2XlColorProfile;
|
||||
uint32_t color_width = params.get<uint32_t>(CAP_PROP_FRAME_WIDTH, OB_WIDTH_ANY);
|
||||
uint32_t color_height = params.get<uint32_t>(CAP_PROP_FRAME_HEIGHT, OB_HEIGHT_ANY);
|
||||
uint32_t color_fps = params.get<uint32_t>(CAP_PROP_FPS, OB_FPS_ANY);
|
||||
|
||||
obsensor::StreamProfile profile = colorProfile;
|
||||
if (color_width != OB_WIDTH_ANY || color_height != OB_HEIGHT_ANY || color_fps != OB_FPS_ANY) {
|
||||
profile = { color_width, color_height, color_fps, obsensor::FRAME_FORMAT_MJPG };
|
||||
} else {
|
||||
if(OBSENSOR_FEMTO_MEGA_PID == channel->getPid()){
|
||||
profile = megaColorProfile;
|
||||
}else if(OBSENSOR_GEMINI2L_PID == channel->getPid()){
|
||||
profile = gemini2lColorProfile;
|
||||
}else if(OBSENSOR_ASTRA2_PID == channel->getPid()){
|
||||
profile = astra2ColorProfile;
|
||||
}else if(OBSENSOR_GEMINI2XL_PID == channel->getPid()){
|
||||
profile = gemini2XlColorProfile;
|
||||
}
|
||||
}
|
||||
channel->start(profile, [&](obsensor::Frame* frame) {
|
||||
std::unique_lock<std::mutex> lk(frameMutex_);
|
||||
|
|
@ -77,17 +90,25 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
|
|||
uint8_t data = 1;
|
||||
channel->setProperty(obsensor::DEPTH_TO_COLOR_ALIGN, &data, 1);
|
||||
|
||||
uint32_t depth_width = params.get<uint32_t>(CAP_PROP_OBSENSOR_DEPTH_WIDTH, OB_WIDTH_ANY);
|
||||
uint32_t depth_height = params.get<uint32_t>(CAP_PROP_OBSENSOR_DEPTH_HEIGHT, OB_HEIGHT_ANY);
|
||||
uint32_t depth_fps = params.get<uint32_t>(CAP_PROP_OBSENSOR_DEPTH_FPS, OB_FPS_ANY);
|
||||
|
||||
obsensor::StreamProfile profile = depthProfile;
|
||||
if(OBSENSOR_GEMINI2_PID == channel->getPid()){
|
||||
profile = gemini2DepthProfile;
|
||||
}else if(OBSENSOR_ASTRA2_PID == channel->getPid()){
|
||||
profile = astra2DepthProfile;
|
||||
}else if(OBSENSOR_FEMTO_MEGA_PID == channel->getPid()){
|
||||
profile = megaDepthProfile;
|
||||
}else if(OBSENSOR_GEMINI2L_PID == channel->getPid()){
|
||||
profile = gemini2lDepthProfile;
|
||||
}else if(OBSENSOR_GEMINI2XL_PID == channel->getPid()){
|
||||
profile = gemini2XlDepthProfile;
|
||||
if (depth_width != OB_WIDTH_ANY || depth_height != OB_HEIGHT_ANY || depth_fps != OB_FPS_ANY) {
|
||||
profile = { depth_width, depth_height, depth_fps, obsensor::FRAME_FORMAT_Y16 };
|
||||
} else {
|
||||
if(OBSENSOR_GEMINI2_PID == channel->getPid()){
|
||||
profile = gemini2DepthProfile;
|
||||
}else if(OBSENSOR_ASTRA2_PID == channel->getPid()){
|
||||
profile = astra2DepthProfile;
|
||||
}else if(OBSENSOR_FEMTO_MEGA_PID == channel->getPid()){
|
||||
profile = megaDepthProfile;
|
||||
}else if(OBSENSOR_GEMINI2L_PID == channel->getPid()){
|
||||
profile = gemini2lDepthProfile;
|
||||
}else if(OBSENSOR_GEMINI2XL_PID == channel->getPid()){
|
||||
profile = gemini2XlDepthProfile;
|
||||
}
|
||||
}
|
||||
channel->start(profile, [&](obsensor::Frame* frame) {
|
||||
std::unique_lock<std::mutex> lk(frameMutex_);
|
||||
|
|
@ -218,7 +239,22 @@ double VideoCapture_obsensor::getProperty(int propIdx) const {
|
|||
|
||||
bool VideoCapture_obsensor::setProperty(int propIdx, double /*propVal*/)
|
||||
{
|
||||
CV_LOG_WARNING(NULL, "Unsupported or read only property, id=" << propIdx);
|
||||
switch(propIdx)
|
||||
{
|
||||
case CAP_PROP_OBSENSOR_DEPTH_WIDTH:
|
||||
case CAP_PROP_OBSENSOR_DEPTH_HEIGHT:
|
||||
case CAP_PROP_OBSENSOR_DEPTH_FPS:
|
||||
CV_LOG_WARNING(NULL, "CAP_PROP_OBSENSOR_DEPTH_WIDTH, CAP_PROP_OBSENSOR_DEPTH_HEIGHT, CAP_PROP_OBSENSOR_DEPTH_FPS options are supported during camera initialization only");
|
||||
break;
|
||||
case CAP_PROP_FRAME_WIDTH:
|
||||
case CAP_PROP_FRAME_HEIGHT:
|
||||
case CAP_PROP_FPS:
|
||||
CV_LOG_WARNING(NULL, "CAP_PROP_FRAME_WIDTH, CAP_PROP_FRAME_HEIGHT, CAP_PROP_FPS options are supported during camera initialization only");
|
||||
break;
|
||||
default:
|
||||
CV_LOG_WARNING(NULL, "Unsupported or read only property, id=" << propIdx);
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -34,7 +34,7 @@ namespace cv {
|
|||
class VideoCapture_obsensor : public IVideoCapture
|
||||
{
|
||||
public:
|
||||
VideoCapture_obsensor(int index);
|
||||
VideoCapture_obsensor(int index, const cv::VideoCaptureParameters& params);
|
||||
virtual ~VideoCapture_obsensor();
|
||||
|
||||
virtual double getProperty(int propIdx) const CV_OVERRIDE;
|
||||
|
|
|
|||
|
|
@ -28,23 +28,52 @@
|
|||
|
||||
namespace cv
|
||||
{
|
||||
Ptr<IVideoCapture> create_obsensor_capture(int index)
|
||||
Ptr<IVideoCapture> create_obsensor_capture(int index, const cv::VideoCaptureParameters& params)
|
||||
{
|
||||
return makePtr<VideoCapture_obsensor>(index);
|
||||
return makePtr<VideoCapture_obsensor>(index, params);
|
||||
}
|
||||
|
||||
VideoCapture_obsensor::VideoCapture_obsensor(int)
|
||||
VideoCapture_obsensor::VideoCapture_obsensor(int, const cv::VideoCaptureParameters& params)
|
||||
{
|
||||
ob::Context::setLoggerToFile(OB_LOG_SEVERITY_OFF, "");
|
||||
config = std::make_shared<ob::Config>();
|
||||
pipe = std::make_shared<ob::Pipeline>();
|
||||
|
||||
int color_width = params.get<double>(CAP_PROP_FRAME_WIDTH, OB_WIDTH_ANY);
|
||||
int color_height = params.get<double>(CAP_PROP_FRAME_HEIGHT, OB_HEIGHT_ANY);
|
||||
int color_fps = params.get<double>(CAP_PROP_FPS, OB_FPS_ANY);
|
||||
|
||||
auto colorProfiles = pipe->getStreamProfileList(OB_SENSOR_COLOR);
|
||||
auto colorProfile = colorProfiles->getProfile(OB_PROFILE_DEFAULT);
|
||||
config->enableStream(colorProfile->as<ob::VideoStreamProfile>());
|
||||
if (color_width == OB_WIDTH_ANY && color_height == OB_HEIGHT_ANY && color_fps == OB_FPS_ANY)
|
||||
{
|
||||
CV_LOG_INFO(NULL, "Use default color stream profile");
|
||||
auto colorProfile = colorProfiles->getProfile(OB_PROFILE_DEFAULT);
|
||||
config->enableStream(colorProfile->as<ob::VideoStreamProfile>());
|
||||
}
|
||||
else
|
||||
{
|
||||
CV_LOG_INFO(NULL, "Looking for custom color profile " << color_width << "x" << color_height << "@" << color_fps << " fps");
|
||||
auto colorProfile = colorProfiles->getVideoStreamProfile(color_width, color_height, OB_FORMAT_MJPG, color_fps);
|
||||
config->enableStream(colorProfile->as<ob::VideoStreamProfile>());
|
||||
}
|
||||
|
||||
int depth_width = params.get<double>(CAP_PROP_OBSENSOR_DEPTH_WIDTH, OB_WIDTH_ANY);
|
||||
int depth_height = params.get<double>(CAP_PROP_OBSENSOR_DEPTH_HEIGHT, OB_HEIGHT_ANY);
|
||||
int depth_fps = params.get<double>(CAP_PROP_OBSENSOR_DEPTH_FPS, OB_FPS_ANY);
|
||||
|
||||
auto depthProfiles = pipe->getStreamProfileList(OB_SENSOR_DEPTH);
|
||||
auto depthProfile = depthProfiles->getProfile(OB_PROFILE_DEFAULT);
|
||||
config->enableStream(depthProfile->as<ob::VideoStreamProfile>());
|
||||
if (depth_width == OB_WIDTH_ANY && depth_height == OB_HEIGHT_ANY && depth_fps == OB_FPS_ANY)
|
||||
{
|
||||
CV_LOG_INFO(NULL, "Use default depth stream profile");
|
||||
auto depthProfile = depthProfiles->getProfile(OB_PROFILE_DEFAULT);
|
||||
config->enableStream(depthProfile->as<ob::VideoStreamProfile>());
|
||||
}
|
||||
else
|
||||
{
|
||||
CV_LOG_INFO(NULL, "Looking for custom color profile " << depth_width << "x" << depth_height << "@" << depth_fps << " fps");
|
||||
auto depthProfile = depthProfiles->getVideoStreamProfile(depth_width, depth_height, OB_FORMAT_Y14, depth_fps);
|
||||
config->enableStream(depthProfile->as<ob::VideoStreamProfile>());
|
||||
}
|
||||
|
||||
config->setAlignMode(ALIGN_D2C_SW_MODE);
|
||||
|
||||
|
|
@ -83,12 +112,50 @@ double VideoCapture_obsensor::getProperty(int propIdx) const
|
|||
case CAP_PROP_OBSENSOR_INTRINSIC_CY:
|
||||
rst = camParam.p1[3];
|
||||
break;
|
||||
case CAP_PROP_POS_MSEC:
|
||||
case CAP_PROP_OBSENSOR_RGB_POS_MSEC:
|
||||
if (grabbedColorFrame)
|
||||
{
|
||||
rst = grabbedColorFrame->globalTimeStampUs();
|
||||
if (rst == 0.0)
|
||||
{
|
||||
CV_LOG_ONCE_WARNING(NULL, "Camera reports zero global timestamp. System timestamp is used instead.");
|
||||
rst = grabbedColorFrame->systemTimeStamp();
|
||||
}
|
||||
}
|
||||
break;
|
||||
case CAP_PROP_OBSENSOR_DEPTH_POS_MSEC:
|
||||
if (grabbedDepthFrame)
|
||||
{
|
||||
rst = grabbedDepthFrame->systemTimeStamp();
|
||||
if (rst == 0.0)
|
||||
{
|
||||
CV_LOG_ONCE_WARNING(NULL, "Camera reports zero global timestamp. System timestamp is used instead.");
|
||||
rst = grabbedDepthFrame->systemTimeStamp();
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
return rst;
|
||||
}
|
||||
|
||||
bool VideoCapture_obsensor::setProperty(int, double)
|
||||
bool VideoCapture_obsensor::setProperty(int prop, double)
|
||||
{
|
||||
switch(prop)
|
||||
{
|
||||
case CAP_PROP_OBSENSOR_DEPTH_WIDTH:
|
||||
case CAP_PROP_OBSENSOR_DEPTH_HEIGHT:
|
||||
case CAP_PROP_OBSENSOR_DEPTH_FPS:
|
||||
CV_LOG_WARNING(NULL, "CAP_PROP_OBSENSOR_DEPTH_WIDTH, CAP_PROP_OBSENSOR_DEPTH_HEIGHT, CAP_PROP_OBSENSOR_DEPTH_FPS options are supported during camera initialization only");
|
||||
break;
|
||||
case CAP_PROP_FRAME_WIDTH:
|
||||
case CAP_PROP_FRAME_HEIGHT:
|
||||
case CAP_PROP_FPS:
|
||||
CV_LOG_WARNING(NULL, "CAP_PROP_FRAME_WIDTH, CAP_PROP_FRAME_HEIGHT, CAP_PROP_FPS options are supported during camera initialization only");
|
||||
break;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -46,7 +46,7 @@ struct CameraParam
|
|||
class VideoCapture_obsensor : public IVideoCapture
|
||||
{
|
||||
public:
|
||||
VideoCapture_obsensor(int index);
|
||||
VideoCapture_obsensor(int index, const cv::VideoCaptureParameters& params);
|
||||
virtual ~VideoCapture_obsensor();
|
||||
|
||||
virtual double getProperty(int propIdx) const CV_OVERRIDE;
|
||||
|
|
|
|||
|
|
@ -50,7 +50,7 @@ CURRENT_FILE_DIR = os.path.dirname(__file__)
|
|||
|
||||
|
||||
class Builder:
|
||||
def __init__(self, opencv, contrib, dynamic, bitcodedisabled, exclude, disable, enablenonfree, targets, debug, debug_info, framework_name, run_tests, build_docs, swiftdisabled):
|
||||
def __init__(self, opencv, contrib, dynamic, embed_bitcode, exclude, disable, enablenonfree, targets, debug, debug_info, framework_name, run_tests, build_docs, swiftdisabled):
|
||||
self.opencv = os.path.abspath(opencv)
|
||||
self.contrib = None
|
||||
if contrib:
|
||||
|
|
@ -60,7 +60,7 @@ class Builder:
|
|||
else:
|
||||
print("Note: contrib repository is bad - modules subfolder not found", file=sys.stderr)
|
||||
self.dynamic = dynamic
|
||||
self.bitcodedisabled = bitcodedisabled
|
||||
self.embed_bitcode = embed_bitcode
|
||||
self.exclude = exclude
|
||||
self.build_objc_wrapper = not "objc" in self.exclude
|
||||
self.disable = disable
|
||||
|
|
@ -112,7 +112,7 @@ class Builder:
|
|||
cmake_flags = []
|
||||
if self.contrib:
|
||||
cmake_flags.append("-DOPENCV_EXTRA_MODULES_PATH=%s" % self.contrib)
|
||||
if xcode_ver >= 7 and target[1] == 'iPhoneOS' and self.bitcodedisabled == False:
|
||||
if xcode_ver >= 7 and target[1] == 'iPhoneOS' and self.embed_bitcode:
|
||||
cmake_flags.append("-DCMAKE_C_FLAGS=-fembed-bitcode")
|
||||
cmake_flags.append("-DCMAKE_CXX_FLAGS=-fembed-bitcode")
|
||||
if xcode_ver >= 7 and target[1] == 'Catalyst':
|
||||
|
|
@ -123,7 +123,7 @@ class Builder:
|
|||
"-iframework %s/System/iOSSupport/System/Library/Frameworks" % sdk_path,
|
||||
"-isystem %s/System/iOSSupport/usr/include" % sdk_path,
|
||||
]
|
||||
if self.bitcodedisabled == False:
|
||||
if self.embed_bitcode:
|
||||
c_flags.append("-fembed-bitcode")
|
||||
cmake_flags.append("-DCMAKE_C_FLAGS=" + " ".join(c_flags))
|
||||
cmake_flags.append("-DCMAKE_CXX_FLAGS=" + " ".join(c_flags))
|
||||
|
|
@ -139,12 +139,20 @@ class Builder:
|
|||
cmake_flags.append("-DCMAKE_OSX_SYSROOT=%s" % sdk_path)
|
||||
cmake_flags.append("-DCMAKE_CXX_COMPILER_WORKS=TRUE")
|
||||
cmake_flags.append("-DCMAKE_C_COMPILER_WORKS=TRUE")
|
||||
|
||||
print("::group::Building target", target[0], target[1], flush=True)
|
||||
self.buildOne(target[0], target[1], main_build_dir, cmake_flags)
|
||||
print("::endgroup::", flush=True)
|
||||
|
||||
if not self.dynamic:
|
||||
print("::group::Merge libs", target[0], target[1], flush=True)
|
||||
self.mergeLibs(main_build_dir)
|
||||
print("::endgroup::", flush=True)
|
||||
else:
|
||||
print("::group::Make dynamic lib", target[0], target[1], flush=True)
|
||||
self.makeDynamicLib(main_build_dir)
|
||||
print("::endgroup::", flush=True)
|
||||
|
||||
self.makeFramework(outdir, dirs)
|
||||
if self.build_objc_wrapper:
|
||||
if self.run_tests:
|
||||
|
|
@ -232,7 +240,7 @@ class Builder:
|
|||
"xcodebuild",
|
||||
]
|
||||
|
||||
if (self.dynamic or self.build_objc_wrapper) and not self.bitcodedisabled and target == "iPhoneOS":
|
||||
if (self.dynamic or self.build_objc_wrapper) and self.embed_bitcode and target == "iPhoneOS":
|
||||
buildcmd.append("BITCODE_GENERATION_MODE=bitcode")
|
||||
|
||||
buildcmd += [
|
||||
|
|
@ -364,7 +372,7 @@ class Builder:
|
|||
link_target = "%s-apple-ios14.0-macabi" % target[:target.find("-")]
|
||||
else:
|
||||
link_target = "%s-apple-darwin" % target[:target.find("-")]
|
||||
bitcode_flags = ["-fembed-bitcode", "-Xlinker", "-bitcode_verify"] if is_device and not self.bitcodedisabled else []
|
||||
bitcode_flags = ["-fembed-bitcode", "-Xlinker", "-bitcode_verify"] if is_device and self.embed_bitcode else []
|
||||
toolchain_dir = get_xcode_setting("TOOLCHAIN_DIR", builddir)
|
||||
sdk_dir = get_xcode_setting("SDK_DIR", builddir)
|
||||
framework_options = []
|
||||
|
|
@ -532,7 +540,7 @@ if __name__ == "__main__":
|
|||
parser.add_argument('--without', metavar='MODULE', default=[], action='append', help='OpenCV modules to exclude from the framework. To exclude multiple, specify this flag again, e.g. "--without video --without objc"')
|
||||
parser.add_argument('--disable', metavar='FEATURE', default=[], action='append', help='OpenCV features to disable (add WITH_*=OFF). To disable multiple, specify this flag again, e.g. "--disable tbb --disable openmp"')
|
||||
parser.add_argument('--dynamic', default=False, action='store_true', help='build dynamic framework (default is "False" - builds static framework)')
|
||||
parser.add_argument('--disable-bitcode', default=False, dest='bitcodedisabled', action='store_true', help='disable bitcode (enabled by default)')
|
||||
parser.add_argument('--embed_bitcode', default=False, dest='embed_bitcode', action='store_true', help='disable bitcode (enabled by default)')
|
||||
parser.add_argument('--iphoneos_deployment_target', default=os.environ.get('IPHONEOS_DEPLOYMENT_TARGET', IPHONEOS_DEPLOYMENT_TARGET), help='specify IPHONEOS_DEPLOYMENT_TARGET')
|
||||
parser.add_argument('--build_only_specified_archs', default=False, action='store_true', help='if enabled, only directly specified archs are built and defaults are ignored')
|
||||
parser.add_argument('--iphoneos_archs', default=None, help='select iPhoneOS target ARCHS. Default is "arm64"')
|
||||
|
|
@ -598,6 +606,6 @@ if __name__ == "__main__":
|
|||
if iphonesimulator_archs:
|
||||
targets.append((iphonesimulator_archs, "iPhoneSimulator"))
|
||||
|
||||
b = iOSBuilder(args.opencv, args.contrib, args.dynamic, args.bitcodedisabled, args.without, args.disable, args.enablenonfree, targets, args.debug, args.debug_info, args.framework_name, args.run_tests, args.build_docs, args.swiftdisabled)
|
||||
b = iOSBuilder(args.opencv, args.contrib, args.dynamic, args.embed_bitcode, args.without, args.disable, args.enablenonfree, targets, args.debug, args.debug_info, args.framework_name, args.run_tests, args.build_docs, args.swiftdisabled)
|
||||
|
||||
b.build(args.out)
|
||||
|
|
|
|||
|
|
@ -8,10 +8,68 @@
|
|||
#include <iostream>
|
||||
|
||||
using namespace cv;
|
||||
int main()
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
VideoCapture obsensorCapture(0, CAP_OBSENSOR);
|
||||
if(!obsensorCapture.isOpened()){
|
||||
cv::CommandLineParser parser(argc, argv,
|
||||
"{help h ? | | help message}"
|
||||
"{dw | | depth width }"
|
||||
"{dh | | depth height }"
|
||||
"{df | | depth fps }"
|
||||
"{cw | | color width }"
|
||||
"{ch | | color height }"
|
||||
"{cf | | depth fps }"
|
||||
|
||||
);
|
||||
if (parser.has("help"))
|
||||
{
|
||||
parser.printMessage();
|
||||
return 0;
|
||||
}
|
||||
|
||||
std::vector<int> params;
|
||||
if (parser.has("dw"))
|
||||
{
|
||||
params.push_back(CAP_PROP_OBSENSOR_DEPTH_WIDTH);
|
||||
params.push_back(parser.get<int>("dw"));
|
||||
}
|
||||
|
||||
if (parser.has("dh"))
|
||||
{
|
||||
params.push_back(CAP_PROP_OBSENSOR_DEPTH_HEIGHT);
|
||||
params.push_back(parser.get<int>("dh"));
|
||||
}
|
||||
|
||||
if (parser.has("df"))
|
||||
{
|
||||
params.push_back(CAP_PROP_OBSENSOR_DEPTH_FPS);
|
||||
params.push_back(parser.get<int>("df"));
|
||||
}
|
||||
|
||||
if (parser.has("cw"))
|
||||
{
|
||||
params.push_back(CAP_PROP_FRAME_WIDTH);
|
||||
params.push_back(parser.get<int>("cw"));
|
||||
}
|
||||
|
||||
if (parser.has("ch"))
|
||||
{
|
||||
params.push_back(CAP_PROP_FRAME_HEIGHT);
|
||||
params.push_back(parser.get<int>("ch"));
|
||||
}
|
||||
|
||||
if (parser.has("cf"))
|
||||
{
|
||||
params.push_back(CAP_PROP_FPS);
|
||||
params.push_back(parser.get<int>("cf"));
|
||||
}
|
||||
|
||||
VideoCapture obsensorCapture;
|
||||
|
||||
if (params.empty())
|
||||
obsensorCapture.open(0, CAP_OBSENSOR);
|
||||
else
|
||||
obsensorCapture.open(0, CAP_OBSENSOR, params);
|
||||
if(!obsensorCapture.isOpened()) {
|
||||
std::cerr << "Failed to open obsensor capture! Index out of range or no response from device";
|
||||
return -1;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user