COpenNI2_RGBD360.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "hwdrivers-precomp.h"  // Precompiled header

#include <mrpt/hwdrivers/COpenNI2_RGBD360.h>
#include <mrpt/obs/CObservationRGBD360.h>
#include <mrpt/system/CTimeLogger.h>

// Universal include for all versions of OpenCV
#include <mrpt/3rdparty/do_opencv_includes.h>

using namespace mrpt::hwdrivers;
using namespace mrpt::system;
using namespace mrpt::obs;
using namespace mrpt::math;
using namespace std;
using mrpt::DEG2RAD;
using mrpt::obs::CObservationRGBD360;
using mrpt::system::CTicTac;

IMPLEMENTS_GENERIC_SENSOR(COpenNI2_RGBD360, mrpt::hwdrivers)

/*-------------------------------------------------------------
ctor
-------------------------------------------------------------*/
COpenNI2_RGBD360::COpenNI2_RGBD360() : m_sensorPoseOnRobot()

{
    // Default label:
    m_sensorLabel = "RGBD360";
}

/*-------------------------------------------------------------
dtor
-------------------------------------------------------------*/
COpenNI2_RGBD360::~COpenNI2_RGBD360()
{
#if MRPT_HAS_OPENNI2
    kill();
#endif  // MRPT_HAS_OPENNI2
}

/** This method can or cannot be implemented in the derived class, depending on
 * the need for it.
 *  \exception This method must throw an exception with a descriptive message if
 * some critical error is found.
 */
void COpenNI2_RGBD360::initialize()
{
#if MRPT_HAS_OPENNI2
    // Check and list the available devices
    getConnectedDevices();

    if (getNumDevices() < NUM_SENSORS)
    {
        cout << "Num required sensors " << NUM_SENSORS << endl;
        cout << "Not enough devices connected -> EXIT\n";
        return;
    }
    cout << "COpenNI2_RGBD360 initializes correctly.\n";

    for (unsigned sensor_id = 0; sensor_id < (unsigned int)NUM_SENSORS;
         sensor_id++)
        open(sensor_id);
#else
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

/** This method will be invoked at a minimum rate of "process_rate" (Hz)
 *  \exception This method must throw an exception with a descriptive message if
 * some critical error is found.
 */
void COpenNI2_RGBD360::doProcess()
{
#if MRPT_HAS_OPENNI2
    cout << "COpenNI2_RGBD360::doProcess...\n";

    bool thereIs, hwError;

    CObservationRGBD360::Ptr newObs = std::make_shared<CObservationRGBD360>();
    //  CObservation3DRangeScan::Ptr newObs =
    // std::make_shared<CObservation3DRangeScan>();

    assert(getNumDevices() > 0);
    //  unsigned sensor_id = COpenNI2Generic::vOpenDevices.front();
    getNextObservation(*newObs, thereIs, hwError);

    if (hwError)
    {
        m_state = ssError;
        THROW_EXCEPTION("Couldn't communicate to the OpenNI2 sensor!");
    }

    if (thereIs)
    {
        m_state = ssWorking;

        std::vector<mrpt::serialization::CSerializable::Ptr> objs;
        if (m_grab_rgb || m_grab_depth || m_grab_3D_points)
            objs.push_back(newObs);

        appendObservations(objs);
    }
#else
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

/** Loads specific configuration for the device from a given source of
 * configuration parameters, for example, an ".ini" file, loading from the
 * section "[iniSection]" (see config::CConfigFileBase and derived classes)
 *  \exception This method must throw an exception with a descriptive message if
 * some critical parameter is missing or has an invalid value.
 */
void COpenNI2_RGBD360::loadConfig_sensorSpecific(
    const mrpt::config::CConfigFileBase& configSource,
    const std::string& iniSection)
{
    cout << "COpenNI2_RGBD360::loadConfig_sensorSpecific...\n";

    m_sensorPoseOnRobot.setFromValues(
        configSource.read_float(iniSection, "pose_x", 0),
        configSource.read_float(iniSection, "pose_y", 0),
        configSource.read_float(iniSection, "pose_z", 0),
        DEG2RAD(configSource.read_float(iniSection, "pose_yaw", 0)),
        DEG2RAD(configSource.read_float(iniSection, "pose_pitch", 0)),
        DEG2RAD(configSource.read_float(iniSection, "pose_roll", 0)));

    m_preview_window =
        configSource.read_bool(iniSection, "preview_window", m_preview_window);

    m_width = configSource.read_int(iniSection, "width", 0);
    m_height = configSource.read_int(iniSection, "height", 0);
    m_fps = configSource.read_float(iniSection, "fps", 0);
    std::cout << "width " << m_width << " height " << m_height << " fps "
              << m_fps << endl;

    m_grab_rgb = configSource.read_bool(iniSection, "grab_image", m_grab_rgb);
    m_grab_depth =
        configSource.read_bool(iniSection, "grab_depth", m_grab_depth);
    m_grab_3D_points =
        configSource.read_bool(iniSection, "grab_3D_points", m_grab_3D_points);

    //  m_num_sensors = configSource.read_int(iniSection,"m_num_sensors",0);
}

/** 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 COpenNI2_RGBD360::getNextObservation(
    [[maybe_unused]] CObservationRGBD360& out_obs,
    [[maybe_unused]] bool& there_is_obs, [[maybe_unused]] bool& hardware_error)
{
#if MRPT_HAS_OPENNI2
    CTicTac tictac;
    tictac.Tic();
    //  cout << "COpenNI2_RGBD360::getNextObservation \n";

    there_is_obs = false;
    hardware_error = false;

    CObservationRGBD360 newObs;
    // Set intensity image ----------------------
    if (m_grab_rgb) newObs.hasIntensityImage = true;
    // Set range image --------------------------
    if (m_grab_depth || m_grab_3D_points) newObs.hasRangeImage = true;

    newObs.timestamp = mrpt::system::getCurrentTime();

    for (unsigned sensor_id = 0; sensor_id < (unsigned int)NUM_SENSORS;
         sensor_id++)
    {
        getNextFrameRGB(
            newObs.intensityImages[sensor_id], newObs.timestamps[sensor_id],
            there_is_obs, hardware_error, sensor_id);
        getNextFrameD(
            newObs.rangeImages[sensor_id], newObs.timestamps[sensor_id],
            there_is_obs, hardware_error, sensor_id);
    }

    // preview in real-time?
    for (unsigned sensor_id = 0; sensor_id < (unsigned int)NUM_SENSORS;
         sensor_id++)
    {
        if (m_preview_window)
        {
            if (out_obs.hasRangeImage)
            {
                if (++m_preview_decim_counter_range >
                    m_preview_window_decimation)
                {
                    m_preview_decim_counter_range = 0;
                    if (!m_win_range[sensor_id])
                    {
                        m_win_range[sensor_id] =
                            mrpt::gui::CDisplayWindow::Create("Preview RANGE");
                        m_win_range[sensor_id]->setPos(5, 5 + 250 * sensor_id);
                    }

                    // Normalize the image
                    mrpt::img::CImage img;
                    const Eigen::MatrixXf r =
                        out_obs.rangeImages[sensor_id].asEigen().cast<float>() *
                        out_obs.rangeUnits * float(1.0 / this->m_maxRange);
                    img.setFromMatrix(r, true /*normalized 0-1 */);
                    m_win_range[sensor_id]->showImage(img);
                }
            }
            if (out_obs.hasIntensityImage)
            {
                if (++m_preview_decim_counter_rgb > m_preview_window_decimation)
                {
                    m_preview_decim_counter_rgb = 0;
                    if (!m_win_int[sensor_id])
                    {
                        m_win_int[sensor_id] =
                            mrpt::gui::CDisplayWindow::Create(
                                "Preview INTENSITY");
                        m_win_int[sensor_id]->setPos(330, 5 + 250 * sensor_id);
                    }
                    m_win_int[sensor_id]->showImage(
                        out_obs.intensityImages[sensor_id]);
                }
            }
        }
        else
        {
            if (m_win_range[sensor_id]) m_win_range[sensor_id].reset();
            if (m_win_int[sensor_id]) m_win_int[sensor_id].reset();
        }
    }
    cout << "getNextObservation took " << 1000 * tictac.Tac() << "ms\n";
#else
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

/* -----------------------------------------------------
setPathForExternalImages
----------------------------------------------------- */
void COpenNI2_RGBD360::setPathForExternalImages([
    [maybe_unused]] const std::string& directory)
{
    // Ignore for now. It seems performance is better grabbing everything
    // to a single big file than creating hundreds of smaller files per
    // second...
    return;

    //  if (!mrpt::system::createDirectory( directory ))
    //  {
    //      THROW_EXCEPTION_FMT("Error: Cannot create the directory for
    // externally
    // saved images: %s",directory.c_str() )
    //  }
    //  m_path_for_external_images = directory;
}