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switched to royale 5 #2

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switched to royale 5 #2

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19f69be
switched to royale 5
pmdSchmidt Apr 17, 2023
ca3f73d
added <float> for std::min to resolve error
pmdSchmidt Jun 16, 2023
760f09d
updated path to royale installation in readme
pmdSchmidt Jun 19, 2023
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -5,7 +5,7 @@ This tutorial explains the "sampleOpenCV" which shows how you can use [OpenCV](h
To run this sample you need to install a Royale binary version and additionaly the OpenCV library. This sample was tested with OpenCV version 4.6.0.

After installing everything, you can start CMake. There you have to set the OpenCV_DIR to your OpenCV installation (e.g. C:/projects/opencv-4.6.0/opencv/build)
and the royale_DIR to the share folder of your Royale binary installation (e.g. D:\Program Files\royale\4.23.0.1062\share) and click **Generate**.
and the royale_DIR to the share folder of your Royale binary installation (e.g. D:\Program Files\royale\5.4.0.2112\lib\cmake) and click **Generate**.

## Code explanation
In the beginning we declare a data listener and a camera device. We also declare the platform resources as this will call the CoInitializeEx function on Windows. Otherwise
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15 changes: 9 additions & 6 deletions sampleOpenCV.cpp
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Expand Up @@ -7,7 +7,6 @@
* PARTICULAR PURPOSE.
*
\****************************************************************************/

#include <royale.hpp>
#include <iostream>
#include <mutex>
Expand Down Expand Up @@ -67,13 +66,17 @@ public :
float *grayRowPtr = grayImage.ptr<float> (y);
for (int x = 0; x < zImage.cols; x++, k++)
{
auto curPoint = data->points.at (k);
if (curPoint.depthConfidence > 0)
auto curX = data->getX(k);
auto curY = data->getY(k);
auto curZ = data->getZ(k);
auto curConf = data->getDepthConfidence(k);
auto curGray = data->getGrayValue(k);
if (curConf > 0)
{
// if the point is valid, map the pixel from 3D world
// coordinates to a 2D plane (this will distort the image)
zRowPtr[x] = adjustZValue (curPoint.z);
grayRowPtr[x] = static_cast<float> (curPoint.grayValue);
zRowPtr[x] = adjustZValue (curZ);
grayRowPtr[x] = static_cast<float> (curGray);
}
}
}
Expand Down Expand Up @@ -169,7 +172,7 @@ public :
// the max dist here is used as an example and can be modified
float adjustZValue (float zValue)
{
float clampedDist = std::min (2.5f, zValue);
float clampedDist = std::min<float> (2.5f, zValue);
float newZValue = clampedDist / 2.5f * 255.0f;
return newZValue;
}
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