COpenNI2Generic.h

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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          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/obs/CObservation3DRangeScan.h>

namespace mrpt::hwdrivers
{
/** An abstract class for accessing OpenNI2 compatible sensors.
 * This class permits to access several sensors simultaneously. The same
 *options (resolution, fps, etc.) are used for every sensor.
 *
 *  More references to read:
 *      - http://http://www.openni.org/
 * \ingroup mrpt_hwdrivers_grp
 */
class COpenNI2Generic
{
   public:
    /** Default ctor (width=640, height=480, fps=30)
     */
    COpenNI2Generic();
    /** Ctor. \sa start()
     */
    COpenNI2Generic(
        int width, int height, float fps = 30.0f, bool open_streams_now = true);

    /** Default ctor
     */
    ~COpenNI2Generic();

    /**Get the number of OpenNI2 cameras currently open via COpenNI2Generic*/
    static int getNumInstances();

    /** The main data retrieving function, to be called after calling
     * loadConfig() and initialize().
     *  \param out_img The output retrieved RGB image (only if
     * there_is_obs=true).
     *  \param timestamp The timestamp of the capture (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.
     *  \param sensor_id The index of the sensor accessed.  */
    void getNextFrameRGB(
        mrpt::img::CImage& rgb_img, mrpt::system::TTimeStamp& timestamp,
        bool& there_is_obs, bool& hardware_error, unsigned sensor_id = 0);

    /** The main data retrieving function, to be called after calling
     * loadConfig() and initialize().
     *  \param depth_img The output retrieved depth image (only if
     * there_is_obs=true).
     *  \param timestamp The timestamp of the capture (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.
     *  \param sensor_id The index of the sensor accessed. */
    void getNextFrameD(
        mrpt::math::CMatrix_u16& depth_img_mm,
        mrpt::system::TTimeStamp& timestamp, bool& there_is_obs,
        bool& hardware_error, unsigned sensor_id = 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.
     *  \param sensor_id The index of the sensor accessed.
     *
     * \sa doProcess
     */
    void getNextFrameRGBD(
        mrpt::obs::CObservation3DRangeScan& out_obs, bool& there_is_obs,
        bool& hardware_error, unsigned sensor_id = 0);

    /** @name Open/Close device methods
        @{ */
    /** Try to open the camera (all the parameters [resolution,fps,...] must be
     * set before calling this) - users may also call initialize(), which in
     * turn calls this method.
     *  Raises an exception upon error.
     * \exception std::exception A textual description of the error.
     */
    void open(unsigned sensor_id = 0);

    /** Open a set of RGBD devices specified by their serial number. Raises an
     * exception when the demanded serial numbers
     *  are not among the connected devices. This function also fills a vector
     * with the serial numbers of the connected
     *  OpenNI2 sensors (this requires openning the sensors which are still
     * closed to read their serial)
     */
    unsigned int openDevicesBySerialNum(
        const std::set<unsigned>& vSerialRequired);

    /** Open a RGBD device specified by its serial number. This method is a
     * wrapper for
     *  openDevicesBySerialNum(const std::set<unsigned>& vSerialRequired)
     *  This method requires to open the sensors which are still closed to read
     * their serial.
     */
    unsigned int openDeviceBySerial(const unsigned int SerialRequired);

    /** Get the ID of the device corresponding to 'SerialRequired'.
     */
    bool getDeviceIDFromSerialNum(
        const unsigned int SerialRequired, int& sensor_id) const;
    /** Open all sensor streams (normally called automatically at constructor,
     * no need to call it manually). \return false on error \sa kill() to close
     */
    bool start();
    /** Kill the OpenNI2 driver \sa start()
     */
    void kill();
    /** Whether there is a working connection to the sensor
     */
    bool isOpen(const unsigned sensor_id) const;
    /** Close the connection to the sensor (no need to call it manually unless
     * desired for some reason, since it's called at destructor
     */
    void close(unsigned sensor_id = 0);
    /** The number of available devices at initialization
     */
    int getNumDevices() const;
    /** Get a list of the connected OpenNI2 sensors.
     */
    int getConnectedDevices();

    /** @} */

    void setVerbose(bool verbose);
    bool isVerbose() const;

    bool getColorSensorParam(
        mrpt::img::TCamera& param, unsigned sensor_id = 0) const;
    bool getDepthSensorParam(
        mrpt::img::TCamera& param, unsigned sensor_id = 0) const;

    class CDevice;

   protected:
    /** A vector with the serial numbers of the available devices */
    std::vector<int> vSerialNums;

    /** The same options (width, height and fps) are set for all the sensors.
     * (This could be changed if necessary) */
    int m_width{640}, m_height{480};
    float m_fps{30.0f};
    int m_rgb_format, m_depth_format;
    bool m_verbose{false};
    void showLog(const std::string& message) const;
    /** The data that the RGBD sensors can return */
    /** Default: all true
     */
    bool m_grab_image{true}, m_grab_depth{true}, m_grab_3D_points{true};
};  // End of class
}  // namespace mrpt::hwdrivers