CSwissRanger3DCamera.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/obs/CObservationImage.h>

#include <mrpt/gui/CDisplayWindow.h>

namespace mrpt::hwdrivers
{
/** A class for grabing "range images" from a MESA imaging SwissRanger 3D
 *cameras (SR-2, SR-3000, SR-4k).
 *
 * NOTES:
 *      - This class requires a vendor specific driver installed in the system
 *in
 *order to build MRPT with support for this sensor. Download and install the
 *driver from: http://www.mesa-imaging.ch/drivers.php
 *      - The intensity channel (grayscale image) is converted from 16bit to
 *standard 8bit-per-pixel using a logarithmic, modified A-law compression. This
 *allows exploiting the full dynamic range of the sensor and provides quite
 *good results.
 *
 * As with any other CGenericSensor class, the normal sequence of methods to be
 *called is:
 *   - loadConfig() - Or calls to the individual setXXX() to configure the
 *camera parameters.
 *   - initialize() - to init the comms with the camera
 *   - call getNextObservation() for getting the frames.
 *
 *  This sensor can be also used from within rawlog-grabber.
 *
 *  \code
 *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 * -------------------------------------------------------
 *   [supplied_section_name]
 *    sensorLabel  = CAM3D         // A text description
 *    preview_window  = true       // Show a window with a preview of the
 *grabbed data in real-time
 *
 *    open_USB     = true          // false means ethernet (default: true)
 *    USB_serial   = 0x4000002f    // only for open_USB=true. If not set, the
 *first camera will be open. Serial is the last part of S/N (e.g.  for the
 *camera SN: 00-00-40-00-00-2F).
 *    IP_address   = 192.168.2.14  // only for open_USB=false. The IP of the
 *camera.
 *
 *    // Options for the data to save in each CObservation3DRangeScan
 *    save_3d            = true         // Save the 3D point cloud (default:
 *true)
 *    save_range_img     = true         // Save the 2D range image (default:
 *true)
 *    save_intensity_img = true         // Save the 2D intensity image
 *(default:
 *true)
 *    save_confidence    = true         // Save the estimated confidence 2D
 *image
 *(default: false)
 *
 *    enable_img_hist_equal = false     // Enable intensity image histogram
 *equalization (default: false)
 *    enable_median_filter  = true          // Enable median filter in range
 *data
 *(default: true)
 *    enable_mediancross_filter = false // Enable median cross-filter
 *(default:
 *false)
 *    enable_conv_gray      = false     // Enable intensity image scale with
 *range
 *(default: false)
 *    enable_denoise_anf    = true          // Enable this noise filter
 *(default:
 *true)
 *
 *    // Camera calibration parameters: See mrpt::img::TCamera
 *    //  If not provided, a set of default parameters for a SR4000 camera will
 *be loaded.
 *    resolution = [176 144]
 *    cx         = 87.99958
 *    cy         = 68.99957
 *    fx         = 262.9201
 *    fy         = 262.9218
 *    dist       = [-8.258543e-01 6.561022e-01 2.699818e-06 -3.263559e-05 0]
 *
 *    // For externaly stored images, the format of image files (default=jpg)
 *    //external_images_format  = jpg
 *    // (Only when external_images_format=jpg): Optional parameter to set the
 *JPEG compression quality:
 *    //external_images_jpeg_quality = 95    // [1-100]. Default: 95
 *
 *    pose_x=0.21   // Camera position in the robot (meters)
 *    pose_y=0
 *    pose_z=0.34
 *    pose_yaw=0    // Angles in degrees
 *    pose_pitch=0
 *    pose_roll=0
 *
 *  \endcode
 * \ingroup mrpt_hwdrivers_grp
 */
class CSwissRanger3DCamera : public mrpt::hwdrivers::CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CSwissRanger3DCamera)

   public:
    /** Default ctor */
    CSwissRanger3DCamera();
    /** Default ctor */
    ~CSwissRanger3DCamera() override;

    /** Initializes the 3D camera - should be invoked after calling loadConfig()
     *  \exception This method must throw an exception with a descriptive
     * message if some critical error is found.
     */
    void initialize() override;

    /** To be called  at a high rate (>XX Hz), this method populates the
     * internal buffer of received observations.
     *  This method is mainly intended for usage within rawlog-grabber or
     * similar programs.
     *  For an alternative, see getNextObservation()
     *  \exception This method must throw an exception with a descriptive
     * message if some critical error is found.
     * \sa getNextObservation
     */
    void doProcess() override;

    /** The main data retrieving function, to be called after calling
     * loadConfig() and initialize().
     *  \param out_obs The output retrieved observation (only if
     * there_is_obs=true).
     *  \param there_is_obs If set to false, there was no new observation.
     *  \param hardware_error True on hardware/comms error.
     *
     * \sa doProcess
     */
    void getNextObservation(
        mrpt::obs::CObservation3DRangeScan& out_obs, bool& there_is_obs,
        bool& hardware_error);

    /** return false on error - Called automatically from initialize(), no need
     * normally for the user to call this. */
    bool open();
    void close();

    /** whether the camera is open and comms work ok. To be called after
     * initialize() */
    bool isOpen() const;

    /** Get the row count in the camera images, loaded automatically upon camera
     * open(). */
    size_t rows() const { return m_rows; }
    /** Get the col count in the camera images, loaded automatically upon camera
     * open(). */
    size_t cols() const { return m_cols; }
    /** Get the camera serial number, loaded automatically upon camera open().
     */
    unsigned int getCameraSerialNumber() const { return m_cam_serial_num; }
    /** Returns the maximum camera range, as deduced from its operating
     * frequency. */
    double getMaxRange() const { return m_maxRange; }
    /**  Set the path where to save off-rawlog image files (this class DOES take
     * into account this path).
     *  An  empty string (the default value at construction) means to save
     * images embedded in the rawlog, instead of on separate files.
     * \exception std::exception If the directory doesn't exists and cannot be
     * created.
     */
    void setPathForExternalImages(const std::string& directory) override;

    /** @name Capture configuration methods (apart from loadConfig)
        @{ */

    /** true: open from USB, false: open from ethernet. */
    inline void setOpenFromUSB(bool USB) { m_open_from_usb = USB; }
    inline bool getOpenFromUSBMode() const { return m_open_from_usb; }
    inline void setOpenIPAddress(const std::string& IP) { m_ip_address = IP; }
    inline std::string getOpenIPAddress() const { return m_ip_address; }
    inline void setSave3D(bool save) { m_save_3d = save; }
    inline void setSaveRangeImage(bool save) { m_save_range_img = save; }
    inline void setSaveIntensityImage(bool save)
    {
        m_save_intensity_img = save;
    }
    inline void setSaveConfidenceImage(bool save) { m_save_confidence = save; }
    inline void enableImageHistEqualization(bool enable)
    {
        m_enable_img_hist_equal = enable;
    }
    inline bool isEnabledImageHistEqualization() const
    {
        return m_enable_img_hist_equal;
    }

    inline void enableMedianFilter(bool enable)
    {
        m_enable_median_filter = enable;
        internal_resendParamsToCamera();
    }
    inline bool isEnabledMedianFilter() const { return m_enable_median_filter; }
    inline void enableMedianCrossFilter(bool enable)
    {
        m_enable_mediancross_filter = enable;
        internal_resendParamsToCamera();
    }
    inline bool isEnabledMedianCrossFilter() const
    {
        return m_enable_mediancross_filter;
    }

    inline void enableConvGray(bool enable)
    {
        m_enable_conv_gray = enable;
        internal_resendParamsToCamera();
    }
    inline bool isEnabledConvGray() const { return m_enable_conv_gray; }
    inline void enableDenoiseANF(bool enable)
    {
        m_enable_denoise_anf = enable;
        internal_resendParamsToCamera();
    }
    inline bool isEnabledDenoiseANF() const { return m_enable_denoise_anf; }
    inline void enablePreviewWindow(bool enable = true)
    {
        m_preview_window = enable;
    }
    inline bool isEnabledPreviewWindow() const { return m_preview_window; }
    /** @} */

    // List of small functions to be implemented differently in Win/Lin.

    /** Get the version of the MESA library.
     * \return false on error
     */
    bool getMesaLibVersion(std::string& out_version) const;

   protected:
    /** See the class documentation at the top for expected parameters */
    void loadConfig_sensorSpecific(
        const mrpt::config::CConfigFileBase& configSource,
        const std::string& section) override;

    void internal_resendParamsToCamera() const;

    mrpt::poses::CPose3D m_sensorPoseOnRobot;

    /** Save the 3D point cloud (default: true) */
    bool m_save_3d{true};
    /** Save the 2D range image (default: true) */
    bool m_save_range_img{true};
    /** Save the 2D intensity image (default: true) */
    bool m_save_intensity_img{true};
    /** Save the estimated confidence 2D image (default: false) */
    bool m_save_confidence{false};

    bool m_enable_img_hist_equal{false};
    bool m_enable_median_filter{true};
    bool m_enable_mediancross_filter{false};
    bool m_enable_conv_gray{false};
    bool m_enable_denoise_anf{true};

    /** true: USB, false: ETH */
    bool m_open_from_usb{true};
    size_t m_usb_serial{0};
    std::string m_ip_address;

    /** Size of camera images, set on open() */
    size_t m_rows{0}, m_cols{0};
    /** Serial number of the camera, set on open() */
    unsigned int m_cam_serial_num{0};
    /** Max range, as deducted from the camera frequency. */
    double m_maxRange{5};

    /** Show preview window while grabbing */
    bool m_preview_window{false};
    mrpt::gui::CDisplayWindow::Ptr m_win_range, m_win_int;

    /** opaque handler to SRCAM. nullptr means it's not open yet. */
    void* m_cam;

    mrpt::img::TCamera m_cameraParams;

   private:
};  // End of class

}  // namespace mrpt::hwdrivers