Merge pull request #24666 from zzuliys:4.x

zzuliys · web-flow · commit dfc61fbfaa03 · 2023-12-19T18:34:21.000+03:00
Add support for Orbbec Gemini2 and Gemini2 XL camera #24666 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -5,7 +5,6 @@
 #      $ cmake <PATH_TO_OPENCV_ROOT>
 #
 # ----------------------------------------------------------------------------
-
 # Disable in-source builds to prevent source tree corruption.
 if(" ${CMAKE_SOURCE_DIR}" STREQUAL " ${CMAKE_BINARY_DIR}")
   message(FATAL_ERROR "
@@ -471,6 +470,7 @@ 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)
   VERIFY HAVE_OBSENSOR)
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)
+       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.
      };
 
 
diff --git a/modules/videoio/src/cap_obsensor/obsensor_stream_channel_interface.hpp b/modules/videoio/src/cap_obsensor/obsensor_stream_channel_interface.hpp
@@ -37,6 +37,8 @@ namespace obsensor {
 #define OBSENSOR_ASTRA2_PID 0x0660 // pid of Orbbec Astra 2 Camera
 #define OBSENSOR_GEMINI2_PID 0x0670 // pid of Orbbec Gemini 2 Camera
 #define OBSENSOR_FEMTO_MEGA_PID 0x0669 // pid of Orbbec Femto Mega Camera
+#define OBSENSOR_GEMINI2L_PID 0x0673 // pid of Orbbec Gemini 2 L Camera
+#define OBSENSOR_GEMINI2XL_PID 0x0671 // pid of Orbbec Gemini 2 XL Camera
 
 enum StreamType
 {
diff --git a/modules/videoio/src/cap_obsensor/obsensor_uvc_stream_channel.cpp b/modules/videoio/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
@@ -46,6 +46,9 @@ const uint8_t OB_EXT_CMD7[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x12
 const uint8_t OB_EXT_CMD8[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
 const uint8_t OB_EXT_CMD9[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x13, 0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
 const uint8_t OB_EXT_CMD10[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00 };
+const uint8_t OB_EXT_CMD11[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
+const uint8_t OB_EXT_CMD12[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00 };
+const uint8_t OB_EXT_CMD13[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x13, 0x4b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
 
 #if defined(HAVE_OBSENSOR_V4L2)
 #define fourCc2Int(a, b, c, d) \
@@ -269,14 +272,22 @@ bool IUvcStreamChannel::setProperty(int propId, const uint8_t* /*data*/, uint32_
             rst &= getXu(2, &rcvData, &rcvLen);
             rst &= setXu(2, OB_EXT_CMD6, sizeof(OB_EXT_CMD6));
             rst &= getXu(2, &rcvData, &rcvLen);
-        }
-        else if(OBSENSOR_ASTRA2_PID == devInfo_.pid ){
-            rst &= setXu(2, OB_EXT_CMD10, sizeof(OB_EXT_CMD8));
+        }else if(OBSENSOR_ASTRA2_PID == devInfo_.pid ){
+            rst &= setXu(2, OB_EXT_CMD12, sizeof(OB_EXT_CMD12));
             rst &= getXu(2, &rcvData, &rcvLen);
             rst &= setXu(2, OB_EXT_CMD6, sizeof(OB_EXT_CMD6));
             rst &= getXu(2, &rcvData, &rcvLen);
-        }
-        else{
+        }else if(OBSENSOR_GEMINI2L_PID == devInfo_.pid){
+            rst &= setXu(2, OB_EXT_CMD11, sizeof(OB_EXT_CMD11));
+            rst &= getXu(2, &rcvData, &rcvLen);
+            rst &= setXu(2, OB_EXT_CMD6, sizeof(OB_EXT_CMD6));
+            rst &= getXu(2, &rcvData, &rcvLen);
+        }else if(OBSENSOR_GEMINI2XL_PID == devInfo_.pid){
+            rst &= setXu(2, OB_EXT_CMD11, sizeof(OB_EXT_CMD11));
+            rst &= getXu(2, &rcvData, &rcvLen);
+            rst &= setXu(2, OB_EXT_CMD6, sizeof(OB_EXT_CMD6));
+            rst &= getXu(2, &rcvData, &rcvLen);
+        }else{
             rst &= setXu(2, OB_EXT_CMD0, sizeof(OB_EXT_CMD0));
             rst &= getXu(2, &rcvData, &rcvLen);
             rst &= setXu(2, OB_EXT_CMD1, sizeof(OB_EXT_CMD1));
@@ -319,6 +330,40 @@ bool IUvcStreamChannel::getProperty(int propId, uint8_t* recvData, uint32_t* rec
             param.p7[1] = 480;
             *recvDataSize = sizeof(CameraParam);
             memcpy(recvData, &param, *recvDataSize);
+        }else if(OBSENSOR_GEMINI2L_PID == devInfo_.pid){
+            // return default param
+            CameraParam param;
+            param.p0[0] = 688.87f;
+            param.p0[1] = 688.922f;
+            param.p0[2] = 644.317f;
+            param.p0[3] = 354.382f;
+            param.p1[0] = 688.87f;
+            param.p1[1] = 688.922f;
+            param.p1[2] = 644.317f;
+            param.p1[3] = 354.382f;
+            param.p6[0] = 1280;
+            param.p6[1] = 720;
+            param.p7[0] = 1280;
+            param.p7[1] = 720;
+            *recvDataSize = sizeof(CameraParam);
+            memcpy(recvData, &param, *recvDataSize);
+        }else if(OBSENSOR_GEMINI2XL_PID == devInfo_.pid){
+            // return default param
+            CameraParam param;
+            param.p0[0] = 610.847f;
+            param.p0[1] = 610.829f;
+            param.p0[2] = 640.647f;
+            param.p0[3] = 401.817f;
+            param.p1[0] = 610.847f;
+            param.p1[1] = 610.829f;
+            param.p1[2] = 640.647f;
+            param.p1[3] = 401.817f;
+            param.p6[0] = 640;
+            param.p6[1] = 480;
+            param.p7[0] = 640;
+            param.p7[1] = 480;
+            *recvDataSize = sizeof(CameraParam);
+            memcpy(recvData, &param, *recvDataSize);
         }
         else if(OBSENSOR_ASTRA2_PID == devInfo_.pid){
             // return default param
@@ -376,7 +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){
+    if(OBSENSOR_GEMINI2_PID == devInfo_.pid || OBSENSOR_ASTRA2_PID == devInfo_.pid || OBSENSOR_GEMINI2L_PID == devInfo_.pid){
         uint8_t* rcvData;
         uint32_t rcvLen;
 
@@ -387,6 +432,17 @@ bool IUvcStreamChannel::initDepthFrameProcessor()
         getXu(2, &rcvData, &rcvLen);
 
         depthFrameProcessor_ = makePtr<DepthFrameUnpacker>();
+        return true;
+    }else if(OBSENSOR_GEMINI2XL_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_CMD13, sizeof(OB_EXT_CMD13));
+        getXu(2, &rcvData, &rcvLen);
+
         return true;
     }
     else if (streamType_ == OBSENSOR_STREAM_DEPTH && setXu(2, OB_EXT_CMD4, sizeof(OB_EXT_CMD4)))
diff --git a/modules/videoio/src/cap_obsensor_capture.cpp b/modules/videoio/src/cap_obsensor_capture.cpp
@@ -35,9 +35,14 @@ 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 astra2DepthProfile = {640, 480, 30, obsensor::FRAME_FORMAT_Y14};
+    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 gemini2XlColorProfile = { 1280, 800, 10, obsensor::FRAME_FORMAT_MJPG};
+    static const obsensor::StreamProfile gemini2XlDepthProfile = {1280, 800, 10, obsensor::FRAME_FORMAT_Y16};
 
     streamChannelGroup_ = obsensor::getStreamChannelGroup(index);
     if (!streamChannelGroup_.empty())
@@ -52,6 +57,12 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
                 auto profile = colorProfile;
                 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_);
@@ -74,8 +85,11 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
                 }
                 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_);
                     depthFrame_ = Mat(frame->height, frame->width, CV_16UC1, frame->data, frame->width * 2).clone();
@@ -140,8 +154,13 @@ bool VideoCapture_obsensor::retrieveFrame(int outputType, OutputArray frame)
             else if(OBSENSOR_FEMTO_MEGA_PID == streamChannelGroup_.front()->getPid()){
                 Rect rect(0, 0, 640, 360);
                 grabbedDepthFrame_(rect).copyTo(frame);
-            }
-            else{
+            }else if(OBSENSOR_GEMINI2L_PID == streamChannelGroup_.front()->getPid()){
+                grabbedDepthFrame_ = grabbedDepthFrame_*0.8;
+                Rect rect(0, 40, 1280, 720);
+                grabbedDepthFrame_(rect).copyTo(frame);
+            }else if(OBSENSOR_GEMINI2XL_PID == streamChannelGroup_.front()->getPid()){
+                grabbedDepthFrame_.copyTo(frame);
+            }else{
                 grabbedDepthFrame_.copyTo(frame);
             }
             grabbedDepthFrame_.release();
diff --git a/samples/cpp/videocapture_obsensor.cpp b/samples/cpp/videocapture_obsensor.cpp
@@ -1,3 +1,7 @@
+/**
+ * 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.
+*/
+
 #include <opencv2/videoio.hpp>
 #include <opencv2/highgui.hpp>
 #include <opencv2/imgproc.hpp>
@@ -21,6 +25,11 @@ int main()
     Mat image;
     Mat depthMap;
     Mat adjDepthMap;
+
+    // Minimum depth value
+    const double minVal = 300;
+    // Maximum depth value
+    const double maxVal = 5000;
     while (true)
     {
         // Grab depth map like this:
@@ -36,7 +45,7 @@ int main()
 
             if (obsensorCapture.retrieve(depthMap, CAP_OBSENSOR_DEPTH_MAP))
             {
-                normalize(depthMap, adjDepthMap, 0, 255, NORM_MINMAX, CV_8UC1);
+                depthMap.convertTo(adjDepthMap, CV_8U, 255.0 / (maxVal - minVal), -minVal * 255.0 / (maxVal - minVal));
                 applyColorMap(adjDepthMap, adjDepthMap, COLORMAP_JET);
                 imshow("DEPTH", adjDepthMap);
             }
@@ -45,7 +54,7 @@ int main()
             static const float alpha = 0.6f;
             if (!image.empty() && !depthMap.empty())
             {
-                normalize(depthMap, adjDepthMap, 0, 255, NORM_MINMAX, CV_8UC1);
+                depthMap.convertTo(adjDepthMap, CV_8U, 255.0 / (maxVal - minVal), -minVal * 255.0 / (maxVal - minVal));
                 cv::resize(adjDepthMap, adjDepthMap, cv::Size(image.cols, image.rows));
                 for (int i = 0; i < image.rows; i++)
                 {
@@ -71,4 +80,4 @@ int main()
             break;
     }
     return 0;
-}
+}

Original file line number	Diff line number	Diff line change
`@@ -37,6 +37,8 @@ namespace obsensor {`
`37`	`37`	`#define OBSENSOR_ASTRA2_PID 0x0660 // pid of Orbbec Astra 2 Camera`
`38`	`38`	`#define OBSENSOR_GEMINI2_PID 0x0670 // pid of Orbbec Gemini 2 Camera`
`39`	`39`	`#define OBSENSOR_FEMTO_MEGA_PID 0x0669 // pid of Orbbec Femto Mega Camera`
	`40`	`+#define OBSENSOR_GEMINI2L_PID 0x0673 // pid of Orbbec Gemini 2 L Camera`
	`41`	`+#define OBSENSOR_GEMINI2XL_PID 0x0671 // pid of Orbbec Gemini 2 XL Camera`
`40`	`42`
`41`	`43`	`enum StreamType`
`42`	`44`	`{`