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Orbbec tutorial: Sync frames from two streams and process depth & color simultaneously

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This commit is contained in:
Igor Murzov
2020-11-23 14:05:55 +03:00
parent ef0eed8d3c
commit 38a4eaf8a3
2 changed files with 76 additions and 56 deletions
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87
samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp
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@@ -69,7 +69,6 @@ int main()
//! [Read streams]
// Create two lists to store frames
std::list<Frame> depthFrames, colorFrames;
std::mutex depthFramesMtx, colorFramesMtx;
const std::size_t maxFrames = 64;
// Synchronization objects
@@ -90,8 +89,6 @@ int main()
Frame f;
f.timestamp = cv::getTickCount();
depthStream.retrieve(f.frame, CAP_OPENNI_DEPTH_MAP);
//depthStream.retrieve(f.frame, CAP_OPENNI_DISPARITY_MAP);
//depthStream.retrieve(f.frame, CAP_OPENNI_IR_IMAGE);
if (f.frame.empty())
{
cerr << "ERROR: Failed to decode frame from depth stream" << endl;
@@ -99,7 +96,7 @@ int main()
}
{
std::lock_guard<std::mutex> lk(depthFramesMtx);
std::lock_guard<std::mutex> lk(mtx);
if (depthFrames.size() >= maxFrames)
depthFrames.pop_front();
depthFrames.push_back(f);
@@ -127,7 +124,7 @@ int main()
}
{
std::lock_guard<std::mutex> lk(colorFramesMtx);
std::lock_guard<std::mutex> lk(mtx);
if (colorFrames.size() >= maxFrames)
colorFrames.pop_front();
colorFrames.push_back(f);
@@ -138,56 +135,66 @@ int main()
});
//! [Read streams]
while (true)
//! [Pair frames]
// Pair depth and color frames
while (!isFinish)
{
std::unique_lock<std::mutex> lk(mtx);
while (depthFrames.empty() && colorFrames.empty())
while (!isFinish && (depthFrames.empty() || colorFrames.empty()))
dataReady.wait(lk);
depthFramesMtx.lock();
if (depthFrames.empty())
while (!depthFrames.empty() && !colorFrames.empty())
{
depthFramesMtx.unlock();
}
else
{
// Get a frame from the list
Mat depthMap = depthFrames.front().frame;
depthFrames.pop_front();
depthFramesMtx.unlock();
if (!lk.owns_lock())
lk.lock();
// Get a frame from the list
Frame depthFrame = depthFrames.front();
int64 depthT = depthFrame.timestamp;
// Get a frame from the list
Frame colorFrame = colorFrames.front();
int64 colorT = colorFrame.timestamp;
// Half of frame period is a maximum time diff between frames
const int64 maxTdiff = int64(1000000000 / (2 * colorStream.get(CAP_PROP_FPS)));
if (depthT + maxTdiff < colorT)
{
depthFrames.pop_front();
continue;
}
else if (colorT + maxTdiff < depthT)
{
colorFrames.pop_front();
continue;
}
depthFrames.pop_front();
colorFrames.pop_front();
lk.unlock();
//! [Show frames]
// Show depth frame
Mat d8, dColor;
depthMap.convertTo(d8, CV_8U, 255.0 / 2500);
depthFrame.frame.convertTo(d8, CV_8U, 255.0 / 2500);
applyColorMap(d8, dColor, COLORMAP_OCEAN);
imshow("Depth (colored)", dColor);
}
//! [Show color frame]
colorFramesMtx.lock();
if (colorFrames.empty())
{
colorFramesMtx.unlock();
}
else
{
// Get a frame from the list
Mat colorFrame = colorFrames.front().frame;
colorFrames.pop_front();
colorFramesMtx.unlock();
// Show color frame
imshow("Color", colorFrame);
imshow("Color", colorFrame.frame);
//! [Show frames]
// Exit on Esc key press
int key = waitKey(1);
if (key == 27) // ESC
{
isFinish = true;
break;
}
}
//! [Show color frame]
// Exit on Esc key press
int key = waitKey(1);
if (key == 27) // ESC
break;
}
//! [Pair frames]
isFinish = true;
dataReady.notify_one();
depthReader.join();
colorReader.join();