Merge pull request #24877 from zzuliys:feature/mac

zzuliys · web-flow · commit 2b9d1a2ff856 · 2024-03-29T11:23:41.000+03:00
Orbbec Camera supports MacOS，Gemini2 and Gemini2L support Y16 format #24877 note: 1.Gemini2 and Gemini2L must use the latest firmware -- https://github.com/orbbec/OrbbecFirmware; 2.Administrator privileges are necessary to run on MacOS.
diff --git a/3rdparty/orbbecsdk/orbbecsdk.cmake b/3rdparty/orbbecsdk/orbbecsdk.cmake
@@ -0,0 +1,18 @@
+function(download_orbbec_sdk root_var)
+    set(ORBBECSDK_DOWNLOAD_DIR "${OpenCV_BINARY_DIR}/3rdparty/orbbecsdk")
+    set(ORBBECSDK_FILE_HASH_CMAKE "2624c84837d3416fd8b3e95750e6e725")
+    ocv_download(FILENAME "v1.9.4.tar.gz"
+                HASH ${ORBBECSDK_FILE_HASH_CMAKE}
+                URL "https://github.com/orbbec/OrbbecSDK/archive/refs/tags/v1.9.4/"
+                DESTINATION_DIR ${ORBBECSDK_DOWNLOAD_DIR}
+                ID OrbbecSDK
+                STATUS res
+                UNPACK RELATIVE_URL
+                )
+    if(${res})
+        message(STATUS "orbbec sdk downloaded to: ${ORBBECSDK_DOWNLOAD_DIR}")
+        set(${root_var} "${ORBBECSDK_DOWNLOAD_DIR}/OrbbecSDK-1.9.4" PARENT_SCOPE)
+    else()
+        message(FATAL_ERROR "Failed to download orbbec sdk")
+    endif()
+endfunction()
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -478,9 +478,11 @@ OCV_OPTION(WITH_ONNX "Include Microsoft ONNX Runtime support" OFF
 OCV_OPTION(WITH_TIMVX "Include Tim-VX support" OFF
   VISIBLE_IF TRUE
   VERIFY HAVE_TIMVX)
-# attention: Astra2, Gemini2, and Gemini2L cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
-OCV_OPTION(WITH_OBSENSOR "Include obsensor support (Orbbec RGB-D modules: Astra+/Femto)" ON
-  VISIBLE_IF (WIN32 AND NOT ARM AND NOT WINRT AND NOT MINGW) OR ( UNIX AND NOT APPLE AND NOT ANDROID)
+# Attention when OBSENSOR_USE_ORBBEC_SDK set to off:
+#   Astra2 cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
+OCV_OPTION(OBSENSOR_USE_ORBBEC_SDK "Use Orbbec SDK as backend to support more camera models and platforms (force to ON on MacOS)" OFF)
+OCV_OPTION(WITH_OBSENSOR "Include obsensor support (Orbbec 3D Cameras)" ON
+  VISIBLE_IF (WIN32 AND NOT ARM AND NOT WINRT AND NOT MINGW) OR ( UNIX AND NOT APPLE AND NOT ANDROID) OR (APPLE AND AARCH64 AND NOT IOS)
   VERIFY HAVE_OBSENSOR)
 OCV_OPTION(WITH_CANN "Include CANN support" OFF
   VISIBLE_IF TRUE
diff --git a/modules/videoio/CMakeLists.txt b/modules/videoio/CMakeLists.txt
@@ -236,25 +236,31 @@ if(TARGET ocv.3rdparty.android_native_camera)
 endif()
 
 if(TARGET ocv.3rdparty.obsensor)
-  list(APPEND videoio_srcs
-    ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor_capture.cpp)
-  list(APPEND videoio_hdrs
-    ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor_capture.hpp
-    ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_interface.hpp)
-  if(HAVE_OBSENSOR_MSMF)
+if(OBSENSOR_USE_ORBBEC_SDK)
     list(APPEND videoio_srcs
-      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
-      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_msmf.cpp)
-    list(APPEND videoio_hdrs
-      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.hpp
-      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_msmf.hpp)
-  elseif(HAVE_OBSENSOR_V4L2)
+      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor_liborbbec.hpp
+      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor_liborbbec.cpp)
+  else()
     list(APPEND videoio_srcs
-      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
-      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_v4l2.cpp)
+      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor_capture.cpp)
     list(APPEND videoio_hdrs
-      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.hpp
-      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_v4l2.hpp)
+      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor_capture.hpp
+      ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_interface.hpp)
+    if(HAVE_OBSENSOR_MSMF)
+      list(APPEND videoio_srcs
+        ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_msmf.cpp)
+      list(APPEND videoio_hdrs
+        ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.hpp
+        ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_msmf.hpp)
+    elseif(HAVE_OBSENSOR_V4L2)
+      list(APPEND videoio_srcs
+        ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_v4l2.cpp)
+      list(APPEND videoio_hdrs
+        ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_uvc_stream_channel.hpp
+        ${CMAKE_CURRENT_LIST_DIR}/src/cap_obsensor/obsensor_stream_channel_v4l2.hpp)
+    endif()
   endif()
   list(APPEND tgts ocv.3rdparty.obsensor)
 endif()
diff --git a/modules/videoio/cmake/detect_obsensor.cmake b/modules/videoio/cmake/detect_obsensor.cmake
@@ -1,28 +1,54 @@
 # --- obsensor ---
 if(NOT HAVE_OBSENSOR)
-  if(WIN32)
-    check_include_file(mfapi.h HAVE_MFAPI)
-    check_include_file(vidcap.h HAVE_VIDCAP)
-    if(HAVE_MFAPI AND HAVE_VIDCAP)
-      set(HAVE_OBSENSOR TRUE)
-      set(HAVE_OBSENSOR_MSMF TRUE)
-      ocv_add_external_target(obsensor "" "" "HAVE_OBSENSOR;HAVE_OBSENSOR_MSMF")
-    else()
-      set(HAVE_OBSENSOR OFF)
-      set(HAVE_OBSENSOR_MSMF OFF)
-      if(NOT HAVE_MFAPI)
-        MESSAGE(STATUS "Could not find mfapi.h. Turning HAVE_OBSENSOR OFF")
-      endif()
-      if(NOT HAVE_VIDCAP)
-        MESSAGE(STATUS "Could not find vidcap.h. Turning HAVE_OBSENSOR OFF")
+  if(APPLE)
+    # force to use orbbec sdk on mac
+    set(OBSENSOR_USE_ORBBEC_SDK ON)
+  endif()
+
+  if(OBSENSOR_USE_ORBBEC_SDK)
+    include(${CMAKE_SOURCE_DIR}/3rdparty/orbbecsdk/orbbecsdk.cmake)
+    download_orbbec_sdk(ORBBEC_SDK_ROOT_DIR)
+    message(STATUS "ORBBEC_SDK_ROOT_DIR: ${ORBBEC_SDK_ROOT_DIR}")
+    if(ORBBEC_SDK_ROOT_DIR)
+      set(OrbbecSDK_DIR "${ORBBEC_SDK_ROOT_DIR}")
+      find_package(OrbbecSDK REQUIRED)
+      message(STATUS "OrbbecSDK_FOUND: ${OrbbecSDK_FOUND}")
+      message(STATUS "OrbbecSDK_INCLUDE_DIRS: ${OrbbecSDK_INCLUDE_DIRS}")
+      if(OrbbecSDK_FOUND)
+        set(HAVE_OBSENSOR TRUE)
+        set(HAVE_OBSENSOR_ORBBEC_SDK TRUE)
+        ocv_add_external_target(obsensor "${OrbbecSDK_INCLUDE_DIRS}" "${OrbbecSDK_LIBRARY}" "HAVE_OBSENSOR;HAVE_OBSENSOR_ORBBEC_SDK")
+        file(COPY ${OrbbecSDK_DLL_FILES} DESTINATION ${CMAKE_BINARY_DIR}/bin)
+        file(COPY ${OrbbecSDK_DLL_FILES} DESTINATION ${CMAKE_BINARY_DIR}/lib)
+        install(FILES ${OrbbecSDK_DLL_FILES} DESTINATION ${OPENCV_LIB_INSTALL_PATH})
+        ocv_install_3rdparty_licenses(OrbbecSDK ${OrbbecSDK_DIR}/LICENSE.txt)
       endif()
     endif()
-  elseif(UNIX)
-    check_include_file(linux/videodev2.h HAVE_CAMV4L2_OBSENSOR)
-    if(HAVE_CAMV4L2_OBSENSOR)
-      set(HAVE_OBSENSOR TRUE)
-      set(HAVE_OBSENSOR_V4L2 TRUE)
-      ocv_add_external_target(obsensor "" "" "HAVE_OBSENSOR;HAVE_OBSENSOR_V4L2")
+  else()
+    if(WIN32)
+      check_include_file(mfapi.h HAVE_MFAPI)
+      check_include_file(vidcap.h HAVE_VIDCAP)
+      if(HAVE_MFAPI AND HAVE_VIDCAP)
+        set(HAVE_OBSENSOR TRUE)
+        set(HAVE_OBSENSOR_MSMF TRUE)
+        ocv_add_external_target(obsensor "" "" "HAVE_OBSENSOR;HAVE_OBSENSOR_MSMF")
+      else()
+        set(HAVE_OBSENSOR OFF)
+        set(HAVE_OBSENSOR_MSMF OFF)
+        if(NOT HAVE_MFAPI)
+          MESSAGE(STATUS "Could not find mfapi.h. Turning HAVE_OBSENSOR OFF")
+        endif()
+        if(NOT HAVE_VIDCAP)
+          MESSAGE(STATUS "Could not find vidcap.h. Turning HAVE_OBSENSOR OFF")
+        endif()
+      endif()
+    elseif(UNIX)
+      check_include_file(linux/videodev2.h HAVE_CAMV4L2_OBSENSOR)
+      if(HAVE_CAMV4L2_OBSENSOR)
+        set(HAVE_OBSENSOR TRUE)
+        set(HAVE_OBSENSOR_V4L2 TRUE)
+        ocv_add_external_target(obsensor "" "" "HAVE_OBSENSOR;HAVE_OBSENSOR_V4L2")
+      endif()
     endif()
   endif()
 endif()
diff --git a/modules/videoio/include/opencv2/videoio.hpp b/modules/videoio/include/opencv2/videoio.hpp
@@ -128,7 +128,7 @@ enum VideoCaptureAPIs {
        CAP_INTEL_MFX    = 2300,         //!< Intel MediaSDK
        CAP_XINE         = 2400,         //!< XINE engine (Linux)
        CAP_UEYE         = 2500,         //!< uEye Camera API
-       CAP_OBSENSOR     = 2600,         //!< For Orbbec 3D-Sensor device/module (Astra+, Femto, Astra2, Gemini2, Gemini2L, Gemini2XL, Femto Mega) attention: Astra2, Gemini2, and Gemini2L cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
+       CAP_OBSENSOR     = 2600,         //!< For Orbbec 3D-Sensor device/module (Astra+, Femto, Astra2, Gemini2, Gemini2L, Gemini2XL, Femto Mega) attention: Astra2 cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
      };
 
 
diff --git a/modules/videoio/src/cap_obsensor/obsensor_uvc_stream_channel.cpp b/modules/videoio/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
@@ -316,14 +316,14 @@ bool IUvcStreamChannel::getProperty(int propId, uint8_t* recvData, uint32_t* rec
         if(OBSENSOR_GEMINI2_PID == devInfo_.pid){
             // return default param
             CameraParam param;
-            param.p0[0] = 516.652f;
-            param.p0[1] = 516.692f;
-            param.p0[2] = 322.988f;
-            param.p0[3] = 235.787f;
-            param.p1[0] = 516.652f;
-            param.p1[1] = 516.692f;
-            param.p1[2] = 322.988f;
-            param.p1[3] = 235.787f;
+            param.p0[0] = 519.342f;
+            param.p0[1] = 519.043f;
+            param.p0[2] = 319.41f;
+            param.p0[3] = 240.839f;
+            param.p1[0] = 519.342f;
+            param.p1[1] = 519.043f;
+            param.p1[2] = 319.41f;
+            param.p1[3] = 240.839f;
             param.p6[0] = 640;
             param.p6[1] = 480;
             param.p7[0] = 640;
@@ -421,7 +421,7 @@ bool IUvcStreamChannel::getProperty(int propId, uint8_t* recvData, uint32_t* rec
 
 bool IUvcStreamChannel::initDepthFrameProcessor()
 {
-    if(OBSENSOR_GEMINI2_PID == devInfo_.pid || OBSENSOR_ASTRA2_PID == devInfo_.pid || OBSENSOR_GEMINI2L_PID == devInfo_.pid){
+    if( OBSENSOR_ASTRA2_PID == devInfo_.pid){
         uint8_t* rcvData;
         uint32_t rcvLen;
 
@@ -433,7 +433,19 @@ bool IUvcStreamChannel::initDepthFrameProcessor()
 
         depthFrameProcessor_ = makePtr<DepthFrameUnpacker>();
         return true;
-    }else if(OBSENSOR_GEMINI2XL_PID == devInfo_.pid){
+    }
+    else if(OBSENSOR_GEMINI2_PID == devInfo_.pid || OBSENSOR_GEMINI2L_PID == devInfo_.pid){
+        uint8_t* rcvData;
+        uint32_t rcvLen;
+
+        setXu(2, OB_EXT_CMD7, sizeof(OB_EXT_CMD7));
+        getXu(2, &rcvData, &rcvLen);
+
+        setXu(2, OB_EXT_CMD9, sizeof(OB_EXT_CMD9));
+        getXu(2, &rcvData, &rcvLen);
+        return true;
+    }
+    else if(OBSENSOR_GEMINI2XL_PID == devInfo_.pid){
         uint8_t* rcvData;
         uint32_t rcvLen;
 
@@ -445,7 +457,7 @@ bool IUvcStreamChannel::initDepthFrameProcessor()
 
         return true;
     }
-    else if (streamType_ == OBSENSOR_STREAM_DEPTH && setXu(2, OB_EXT_CMD4, sizeof(OB_EXT_CMD4)))
+    else if(streamType_ == OBSENSOR_STREAM_DEPTH && setXu(2, OB_EXT_CMD4, sizeof(OB_EXT_CMD4)))
     {
         uint8_t* rcvData;
         uint32_t rcvLen;
diff --git a/modules/videoio/src/cap_obsensor_capture.cpp b/modules/videoio/src/cap_obsensor_capture.cpp
@@ -23,7 +23,8 @@
 
 #include "cap_obsensor_capture.hpp"
 #include "cap_obsensor/obsensor_stream_channel_interface.hpp"
-#ifdef HAVE_OBSENSOR
+
+#if defined(HAVE_OBSENSOR) && !defined(HAVE_OBSENSOR_ORBBEC_SDK)
 namespace cv {
 Ptr<IVideoCapture> create_obsensor_capture(int index)
 {
@@ -34,13 +35,13 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
 {
     static const obsensor::StreamProfile colorProfile = { 640, 480, 30, obsensor::FRAME_FORMAT_MJPG };
     static const obsensor::StreamProfile depthProfile = {640, 480, 30, obsensor::FRAME_FORMAT_Y16};
-    static const obsensor::StreamProfile gemini2DepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y14};
+    static const obsensor::StreamProfile gemini2DepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y16};
     static const obsensor::StreamProfile astra2ColorProfile = {800, 600, 30, obsensor::FRAME_FORMAT_MJPG};
     static const obsensor::StreamProfile astra2DepthProfile = {800, 600, 30, obsensor::FRAME_FORMAT_Y14};
     static const obsensor::StreamProfile megaColorProfile = {1280, 720, 30, obsensor::FRAME_FORMAT_MJPG};
     static const obsensor::StreamProfile megaDepthProfile = {640, 576, 30, obsensor::FRAME_FORMAT_Y16};
     static const obsensor::StreamProfile gemini2lColorProfile = { 1280, 720, 30, obsensor::FRAME_FORMAT_MJPG};
-    static const obsensor::StreamProfile gemini2lDepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y14};
+    static const obsensor::StreamProfile gemini2lDepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y16};
     static const obsensor::StreamProfile gemini2XlColorProfile = { 1280, 800, 10, obsensor::FRAME_FORMAT_MJPG};
     static const obsensor::StreamProfile gemini2XlDepthProfile = {1280, 800, 10, obsensor::FRAME_FORMAT_Y16};
 
@@ -143,19 +144,22 @@ bool VideoCapture_obsensor::retrieveFrame(int outputType, OutputArray frame)
         if (!grabbedDepthFrame_.empty())
         {
             if(OBSENSOR_GEMINI2_PID == streamChannelGroup_.front()->getPid()){
-                grabbedDepthFrame_ = grabbedDepthFrame_*0.8;
+                const double DepthValueScaleGemini2 = 0.2;
+                grabbedDepthFrame_ = grabbedDepthFrame_*DepthValueScaleGemini2;
                 Rect rect(320, 160, 640, 480);
                 grabbedDepthFrame_(rect).copyTo(frame);
             }
             else if(OBSENSOR_ASTRA2_PID == streamChannelGroup_.front()->getPid()){
-                grabbedDepthFrame_ = grabbedDepthFrame_*0.8;
+                const double DepthValueScaleAstra2 = 0.8;
+                grabbedDepthFrame_ = grabbedDepthFrame_*DepthValueScaleAstra2;
                 grabbedDepthFrame_.copyTo(frame);
             }
             else if(OBSENSOR_FEMTO_MEGA_PID == streamChannelGroup_.front()->getPid()){
                 Rect rect(0, 0, 640, 360);
                 grabbedDepthFrame_(rect).copyTo(frame);
             }else if(OBSENSOR_GEMINI2L_PID == streamChannelGroup_.front()->getPid()){
-                grabbedDepthFrame_ = grabbedDepthFrame_*0.8;
+                const double DepthValueScaleGemini2L = 0.2;
+                grabbedDepthFrame_ = grabbedDepthFrame_*DepthValueScaleGemini2L;
                 Rect rect(0, 40, 1280, 720);
                 grabbedDepthFrame_(rect).copyTo(frame);
             }else if(OBSENSOR_GEMINI2XL_PID == streamChannelGroup_.front()->getPid()){
diff --git a/modules/videoio/src/cap_obsensor_capture.hpp b/modules/videoio/src/cap_obsensor_capture.hpp
@@ -28,7 +28,8 @@
 
 #include "cap_obsensor/obsensor_stream_channel_interface.hpp"
 
-#ifdef HAVE_OBSENSOR
+#if defined(HAVE_OBSENSOR) && !defined(HAVE_OBSENSOR_ORBBEC_SDK)
+
 namespace cv {
 class VideoCapture_obsensor : public IVideoCapture
 {
diff --git a/modules/videoio/src/cap_obsensor_liborbbec.cpp b/modules/videoio/src/cap_obsensor_liborbbec.cpp
diff --git a/modules/videoio/src/cap_obsensor_liborbbec.hpp b/modules/videoio/src/cap_obsensor_liborbbec.hpp
diff --git a/samples/cpp/videocapture_obsensor.cpp b/samples/cpp/videocapture_obsensor.cpp

Original file line number	Diff line number	Diff line change
`@@ -28,7 +28,8 @@`
`28`	`28`
`29`	`29`	`#include "cap_obsensor/obsensor_stream_channel_interface.hpp"`
`30`	`30`
`31`		`-#ifdef HAVE_OBSENSOR`
	`31`	`+#if defined(HAVE_OBSENSOR) && !defined(HAVE_OBSENSOR_ORBBEC_SDK)`
	`32`	`+`
`32`	`33`	`namespace cv {`
`33`	`34`	`class VideoCapture_obsensor : public IVideoCapture`
`34`	`35`	`{`