MRPT  1.9.9
CKinect.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include "hwdrivers-precomp.h" // Precompiled headers
11 
12 #include <mrpt/hwdrivers/CKinect.h>
13 #include <mrpt/img/TStereoCamera.h>
14 #include <mrpt/poses/CPose3DQuat.h>
16 
17 // Universal include for all versions of OpenCV
18 #include <mrpt/otherlibs/do_opencv_includes.h>
19 
20 using namespace mrpt::hwdrivers;
21 using namespace mrpt::system;
22 using namespace mrpt::serialization;
23 using namespace mrpt::math;
24 using namespace mrpt::obs;
25 using namespace mrpt::poses;
26 using namespace std;
27 
29 
30 // Whether to profile memory allocations:
31 //#define KINECT_PROFILE_MEM_ALLOC
32 
33 #if MRPT_HAS_KINECT_FREENECT
34 #if defined(__APPLE__)
35 #include <libfreenect/libfreenect.h>
36 #else
37 #include <libfreenect.h>
38 #endif
39 #else
40 #define KINECT_W 640
41 #define KINECT_H 480
42 #endif
43 
44 #if MRPT_HAS_KINECT_FREENECT
45 // Macros to convert the opaque pointers in the class header:
46 #define f_ctx reinterpret_cast<freenect_context*>(m_f_ctx)
47 #define f_ctx_ptr reinterpret_cast<freenect_context**>(&m_f_ctx)
48 #define f_dev reinterpret_cast<freenect_device*>(m_f_dev)
49 #define f_dev_ptr reinterpret_cast<freenect_device**>(&m_f_dev)
50 #endif // MRPT_HAS_KINECT_FREENECT
51 
52 #ifdef KINECT_PROFILE_MEM_ALLOC
54 #endif
55 // int int a;
56 
58 {
59 #ifdef MRPT_KINECT_DEPTH_10BIT
60  const float k1 = 1.1863f;
61  const float k2 = 2842.5f;
62  const float k3 = 0.1236f;
63 
64  for (size_t i = 0; i < KINECT_RANGES_TABLE_LEN; i++)
65  m_range2meters[i] = k3 * tanf(i / k2 + k1);
66 
67 #else
68  for (size_t i = 0; i < KINECT_RANGES_TABLE_LEN; i++)
69  m_range2meters[i] = 1.0f / (i * (-0.0030711016) + 3.3309495161);
70 #endif
71 
72  // Minimum/Maximum range means error:
73  m_range2meters[0] = 0;
74  m_range2meters[KINECT_RANGES_TABLE_LEN - 1] = 0;
75 }
76 
77 /*-------------------------------------------------------------
78  ctor
79  -------------------------------------------------------------*/
81  : m_sensorPoseOnRobot(),
82  m_relativePoseIntensityWRTDepth(
83  0, -0.02, 0, DEG2RAD(-90), DEG2RAD(0), DEG2RAD(-90))
84 {
86 
87  // Get maximum range:
88  m_maxRange =
89  m_range2meters[KINECT_RANGES_TABLE_LEN - 2]; // Recall: r[Max-1] means
90  // error.
91 
92  // Default label:
93  m_sensorLabel = "KINECT";
94 
95  // =========== Default params ===========
96  // ----- RGB -----
98  640; // By default set 640x480, on connect we'll update this.
100 
101  m_cameraParamsRGB.cx(328.94272028759258);
102  m_cameraParamsRGB.cy(267.48068171871557);
103  m_cameraParamsRGB.fx(529.2151);
104  m_cameraParamsRGB.fy(525.5639);
105 
106  m_cameraParamsRGB.dist.fill(0);
107 
108  // ----- Depth -----
111 
112  m_cameraParamsDepth.cx(339.30781);
113  m_cameraParamsDepth.cy(242.7391);
114  m_cameraParamsDepth.fx(594.21434);
115  m_cameraParamsDepth.fy(591.04054);
116 
117  m_cameraParamsDepth.dist.fill(0);
118 
119 #if !MRPT_HAS_KINECT
121  "MRPT was compiled without support for Kinect. Please, rebuild it.");
122 #endif
123 }
124 
125 /*-------------------------------------------------------------
126  dtor
127  -------------------------------------------------------------*/
128 CKinect::~CKinect() { this->close(); }
129 /** This method can or cannot be implemented in the derived class, depending on
130  * the need for it.
131  * \exception This method must throw an exception with a descriptive message if
132  * some critical error is found.
133  */
135 /** This method will be invoked at a minimum rate of "process_rate" (Hz)
136  * \exception This method must throw an exception with a descriptive message if
137  * some critical error is found.
138  */
140 {
141  bool thereIs, hwError;
142 
144  std::make_shared<CObservation3DRangeScan>();
145  CObservationIMU::Ptr newObs_imu = std::make_shared<CObservationIMU>();
146 
147  getNextObservation(*newObs, *newObs_imu, thereIs, hwError);
148 
149  if (hwError)
150  {
151  m_state = ssError;
152  THROW_EXCEPTION("Couldn't communicate to the Kinect sensor!");
153  }
154 
155  if (thereIs)
156  {
157  m_state = ssWorking;
158 
159  vector<CSerializable::Ptr> objs;
161  objs.push_back(newObs);
162  if (m_grab_IMU) objs.push_back(newObs_imu);
163 
164  appendObservations(objs);
165  }
166 }
167 
168 /** Loads specific configuration for the device from a given source of
169  * configuration parameters, for example, an ".ini" file, loading from the
170  * section "[iniSection]" (see config::CConfigFileBase and derived classes)
171  * \exception This method must throw an exception with a descriptive message if
172  * some critical parameter is missing or has an invalid value.
173  */
175  const mrpt::config::CConfigFileBase& configSource,
176  const std::string& iniSection)
177 {
179  configSource.read_float(iniSection, "pose_x", 0),
180  configSource.read_float(iniSection, "pose_y", 0),
181  configSource.read_float(iniSection, "pose_z", 0),
182  DEG2RAD(configSource.read_float(iniSection, "pose_yaw", 0)),
183  DEG2RAD(configSource.read_float(iniSection, "pose_pitch", 0)),
184  DEG2RAD(configSource.read_float(iniSection, "pose_roll", 0)));
185 
187  configSource.read_bool(iniSection, "preview_window", m_preview_window);
188 
189  // "Stereo" calibration data:
190  // [<SECTION>_LEFT] // Depth
191  // ...
192  // [<SECTION>_RIGHT] // RGB
193  // ...
194  // [<SECTION>_LEFT2RIGHT_POSE]
195  // pose_quaternion = [x y z qr qx qy qz]
196 
198  0, 0, 0, DEG2RAD(-90), DEG2RAD(0), DEG2RAD(-90));
199 
201  sc.leftCamera = m_cameraParamsDepth; // Load default values so that if we
202  // fail to load from cfg at least we
203  // have some reasonable numbers.
205  sc.rightCameraPose =
207  .asTPose();
208 
209  try
210  {
211  sc.loadFromConfigFile(iniSection, configSource);
212  }
213  catch (const std::exception& e)
214  {
215  std::cout << "[CKinect::loadConfig_sensorSpecific] Warning: Ignoring "
216  "error loading calibration parameters:\n"
217  << e.what();
218  }
223 
224  // Id:
225  m_user_device_number = configSource.read_int(
226  iniSection, "device_number", m_user_device_number);
227 
228  m_grab_image =
229  configSource.read_bool(iniSection, "grab_image", m_grab_image);
230  m_grab_depth =
231  configSource.read_bool(iniSection, "grab_depth", m_grab_depth);
233  configSource.read_bool(iniSection, "grab_3D_points", m_grab_3D_points);
234  m_grab_IMU = configSource.read_bool(iniSection, "grab_IMU", m_grab_IMU);
235 
236  m_video_channel = configSource.read_enum<TVideoChannel>(
237  iniSection, "video_channel", m_video_channel);
238 
239  {
240  std::string s = configSource.read_string(
241  iniSection, "relativePoseIntensityWRTDepth", "");
243  }
244 
245  m_initial_tilt_angle = configSource.read_int(
246  iniSection, "initial_tilt_angle", m_initial_tilt_angle);
247 }
248 
249 bool CKinect::isOpen() const
250 {
251 #if MRPT_HAS_KINECT_FREENECT
252  return f_dev != nullptr;
253 #else
254  return false;
255 #endif
256 
257 #
258 }
259 
260 #if MRPT_HAS_KINECT_FREENECT
261 // ======== GLOBAL CALLBACK FUNCTIONS ========
262 void depth_cb(freenect_device* dev, void* v_depth, uint32_t timestamp)
263 {
264  const freenect_frame_mode frMode = freenect_get_current_video_mode(dev);
265 
266  auto* depth = reinterpret_cast<uint16_t*>(v_depth);
267 
268  auto* obj = reinterpret_cast<CKinect*>(freenect_get_user(dev));
269 
270  // Update of the timestamps at the end:
271  std::lock_guard<std::mutex> lock(obj->internal_latest_obs_cs());
272  CObservation3DRangeScan& obs = obj->internal_latest_obs();
273 
274  obs.hasRangeImage = true;
275  obs.range_is_depth = true;
276 
277 #ifdef KINECT_PROFILE_MEM_ALLOC
278  alloc_tim.enter("depth_cb alloc");
279 #endif
280 
281  // This method will try to exploit memory pooling if possible:
282  obs.rangeImage_setSize(frMode.height, frMode.width);
283 
284 #ifdef KINECT_PROFILE_MEM_ALLOC
285  alloc_tim.leave("depth_cb alloc");
286 #endif
287 
288  const CKinect::TDepth2RangeArray& r2m = obj->getRawDepth2RangeConversion();
289  for (int r = 0; r < frMode.height; r++)
290  for (int c = 0; c < frMode.width; c++)
291  {
292  // For now, quickly save the depth as it comes from the sensor,
293  // it'll
294  // transformed later on in getNextObservation()
295  const uint16_t v = *depth++;
296  obs.rangeImage.coeffRef(r, c) = r2m[v & KINECT_RANGES_TABLE_MASK];
297  }
298  obj->internal_tim_latest_depth() = timestamp;
299 }
300 
301 void rgb_cb(freenect_device* dev, void* img_data, uint32_t timestamp)
302 {
303  auto* obj = reinterpret_cast<CKinect*>(freenect_get_user(dev));
304  const freenect_frame_mode frMode = freenect_get_current_video_mode(dev);
305 
306  // Update of the timestamps at the end:
307  std::lock_guard<std::mutex> lock(obj->internal_latest_obs_cs());
308  CObservation3DRangeScan& obs = obj->internal_latest_obs();
309 
310 #ifdef KINECT_PROFILE_MEM_ALLOC
311  alloc_tim.enter("depth_rgb loadFromMemoryBuffer");
312 #endif
313 
314  obs.hasIntensityImage = true;
315  if (obj->getVideoChannel() == CKinect::VIDEO_CHANNEL_RGB)
316  {
317  // Color image: We asked for Bayer data, so we can decode it outselves
318  // here
319  // and avoid having to reorder Green<->Red channels, as would be needed
320  // with
321  // the RGB image from freenect.
322  obs.intensityImageChannel =
324  obs.intensityImage.resize(
325  frMode.width, frMode.height, mrpt::img::CH_RGB);
326 
327 #if MRPT_HAS_OPENCV
328  const cv::Mat src_img_bayer(
329  frMode.height, frMode.width, CV_8UC1, img_data, frMode.width);
330 
331  cv::Mat& dst_img_RGB = obs.intensityImage.asCvMatRef();
332 
333  // Decode Bayer image:
334  cv::cvtColor(src_img_bayer, dst_img_RGB, cv::COLOR_BayerGB2BGR);
335 #else
336  THROW_EXCEPTION("Need building with OpenCV!");
337 #endif
338  }
339  else
340  {
341  // IR data: grayscale 8bit
342  obs.intensityImageChannel = mrpt::obs::CObservation3DRangeScan::CH_IR;
343  obs.intensityImage.loadFromMemoryBuffer(
344  frMode.width, frMode.height,
345  false, // Color image?
346  reinterpret_cast<unsigned char*>(img_data));
347  }
348 
349  // obs.intensityImage.setChannelsOrder_RGB();
350 
351 #ifdef KINECT_PROFILE_MEM_ALLOC
352  alloc_tim.leave("depth_rgb loadFromMemoryBuffer");
353 #endif
354 
355  obj->internal_tim_latest_rgb() = timestamp;
356 }
357 // ======== END OF GLOBAL CALLBACK FUNCTIONS ========
358 #endif // MRPT_HAS_KINECT_FREENECT
359 
361 {
362  if (isOpen()) close();
363 
364  // Alloc memory, if this is the first time:
365  m_buf_depth.resize(640 * 480 * 3); // We'll resize this below if needed
366  m_buf_rgb.resize(640 * 480 * 3);
367 
368 #if MRPT_HAS_KINECT_FREENECT // ----> libfreenect
369  // Try to open the device:
370  if (freenect_init(f_ctx_ptr, nullptr) < 0)
371  THROW_EXCEPTION("freenect_init() failed");
372 
373  freenect_set_log_level(
374  f_ctx,
375 #ifdef _DEBUG
376  FREENECT_LOG_DEBUG
377 #else
378  FREENECT_LOG_WARNING
379 #endif
380  );
381 
382  int nr_devices = freenect_num_devices(f_ctx);
383  // printf("[CKinect] Number of devices found: %d\n", nr_devices);
384 
385  if (!nr_devices) THROW_EXCEPTION("No Kinect devices found.");
386 
387  // Open the given device number:
388  if (freenect_open_device(f_ctx, f_dev_ptr, m_user_device_number) < 0)
390  "Error opening Kinect sensor with index: %d", m_user_device_number);
391 
392  // Setup:
393  if (m_initial_tilt_angle != 360) // 360 means no motor command.
395  freenect_set_led(f_dev, LED_RED);
396  freenect_set_depth_callback(f_dev, depth_cb);
397  freenect_set_video_callback(f_dev, rgb_cb);
398 
399  // rgb or IR channel:
400  const freenect_frame_mode desiredFrMode = freenect_find_video_mode(
401  FREENECT_RESOLUTION_MEDIUM,
403  ? FREENECT_VIDEO_IR_8BIT
404  : FREENECT_VIDEO_BAYER // FREENECT_VIDEO_RGB: Use Bayer instead so
405  // we can directly decode it here
406  );
407 
408  // Switch to that video mode:
409  if (freenect_set_video_mode(f_dev, desiredFrMode) < 0)
410  THROW_EXCEPTION("Error setting Kinect video mode.");
411 
412  // Get video mode:
413  const freenect_frame_mode frMode = freenect_get_current_video_mode(f_dev);
414 
415  // Realloc mem:
416  m_buf_depth.resize(frMode.width * frMode.height * 3);
417  m_buf_rgb.resize(frMode.width * frMode.height * 3);
418 
419  // Save resolution:
420  m_cameraParamsRGB.ncols = frMode.width;
421  m_cameraParamsRGB.nrows = frMode.height;
422 
423  m_cameraParamsDepth.ncols = frMode.width;
424  m_cameraParamsDepth.nrows = frMode.height;
425 
426  freenect_set_video_buffer(f_dev, &m_buf_rgb[0]);
427  freenect_set_depth_buffer(f_dev, &m_buf_depth[0]);
428 
429  freenect_set_depth_mode(
430  f_dev, freenect_find_depth_mode(
431  FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_10BIT));
432 
433  // Set user data = pointer to "this":
434  freenect_set_user(f_dev, this);
435 
436  if (freenect_start_depth(f_dev) < 0)
437  THROW_EXCEPTION("Error starting depth streaming.");
438 
439  if (freenect_start_video(f_dev) < 0)
440  THROW_EXCEPTION("Error starting video streaming.");
441 
442 #endif // MRPT_HAS_KINECT_FREENECT
443 }
444 
446 {
447 #if MRPT_HAS_KINECT_FREENECT
448  if (f_dev)
449  {
450  freenect_stop_depth(f_dev);
451  freenect_stop_video(f_dev);
452  freenect_close_device(f_dev);
453  }
454  m_f_dev = nullptr;
455 
456  if (f_ctx) freenect_shutdown(f_ctx);
457  m_f_ctx = nullptr;
458 #endif // MRPT_HAS_KINECT_FREENECT
459 }
460 
461 /** Changes the video channel to open (RGB or IR) - you can call this method
462  before start grabbing or in the middle of streaming and the video source will
463  change on the fly.
464  Default is RGB channel.
465 */
467 {
468 #if MRPT_HAS_KINECT_FREENECT
469  m_video_channel = vch;
470  if (!isOpen()) return; // Nothing else to do here.
471 
472  // rgb or IR channel:
473  freenect_stop_video(f_dev);
474 
475  // rgb or IR channel:
476  const freenect_frame_mode desiredFrMode = freenect_find_video_mode(
477  FREENECT_RESOLUTION_MEDIUM,
479  ? FREENECT_VIDEO_IR_8BIT
480  : FREENECT_VIDEO_BAYER // FREENECT_VIDEO_RGB: Use Bayer instead so
481  // we can directly decode it here
482  );
483 
484  // Switch to that video mode:
485  if (freenect_set_video_mode(f_dev, desiredFrMode) < 0)
486  THROW_EXCEPTION("Error setting Kinect video mode.");
487 
488  freenect_start_video(f_dev);
489 
490 #else
491  MRPT_UNUSED_PARAM(vch);
492 #endif // MRPT_HAS_KINECT_FREENECT
493 }
494 
495 /** The main data retrieving function, to be called after calling loadConfig()
496  * and initialize().
497  * \param out_obs The output retrieved observation (only if
498  * there_is_obs=true).
499  * \param there_is_obs If set to false, there was no new observation.
500  * \param hardware_error True on hardware/comms error.
501  *
502  * \sa doProcess
503  */
505  mrpt::obs::CObservation3DRangeScan& _out_obs, bool& there_is_obs,
506  bool& hardware_error)
507 {
508  there_is_obs = false;
509  hardware_error = false;
510 
511 #if MRPT_HAS_KINECT_FREENECT
512 
513  using namespace std::chrono_literals;
514  const auto max_wait = 40ms; // 1/25 FPS
515 
516  // Mark previous observation's timestamp as out-dated:
517  m_latest_obs.hasPoints3D = false;
518  m_latest_obs.hasRangeImage = false;
519  m_latest_obs.hasIntensityImage = false;
520  m_latest_obs.hasConfidenceImage = false;
521 
522  const TTimeStamp tim0 = mrpt::system::now();
523 
524  // Reset these timestamp flags so if they are !=0 in the next call we're
525  // sure they're new frames.
526  m_latest_obs_cs.lock();
527  m_tim_latest_rgb = 0;
528  m_tim_latest_depth = 0;
529  m_latest_obs_cs.unlock();
530 
531  while (freenect_process_events(f_ctx) >= 0 &&
532  mrpt::system::now() < (tim0 + max_wait))
533  {
534  // Got a new frame?
535  if ((!m_grab_image ||
536  m_tim_latest_rgb != 0) && // If we are NOT grabbing RGB or we are
537  // and there's a new frame...
538  (!m_grab_depth ||
539  m_tim_latest_depth != 0) // If we are NOT grabbing Depth or we are
540  // and there's a new frame...
541  )
542  {
543  // Approx: 0.5ms delay between depth frame (first) and RGB frame
544  // (second).
545  // cout << "m_tim_latest_rgb: " << m_tim_latest_rgb << "
546  // m_tim_latest_depth: "<< m_tim_latest_depth <<endl;
547  there_is_obs = true;
548  break;
549  }
550  }
551 
552  // Handle the case when there is NOT depth frames (if there's something very
553  // close blocking the IR sensor) but we have RGB:
554  if ((m_grab_image && m_tim_latest_rgb != 0) &&
555  (m_grab_depth && m_tim_latest_depth == 0))
556  {
557  // Mark the entire range data as invalid:
558  m_latest_obs.hasRangeImage = true;
559  m_latest_obs.range_is_depth = true;
560 
561  m_latest_obs_cs.lock(); // Important: if system is running slow, etc.
562  // we cannot tell for sure that the depth
563  // buffer is not beeing filled right now:
564  m_latest_obs.rangeImage.setSize(
566  m_latest_obs.rangeImage.fill(0); // "0" means: error in range
567  m_latest_obs_cs.unlock();
568  there_is_obs = true;
569  }
570 
571  if (!there_is_obs) return;
572 
573  // We DO have a fresh new observation:
574 
575  // Quick save the observation to the user's object:
576  m_latest_obs_cs.lock();
577  _out_obs.swap(m_latest_obs);
578  m_latest_obs_cs.unlock();
579 #endif
580 
581  // Set common data into observation:
582  // --------------------------------------
583  _out_obs.sensorLabel = m_sensorLabel;
584  _out_obs.timestamp = mrpt::system::now();
585  _out_obs.sensorPose = m_sensorPoseOnRobot;
587 
590 
591  // 3D point cloud:
592  if (_out_obs.hasRangeImage && m_grab_3D_points)
593  {
595 
596  if (!m_grab_depth)
597  {
598  _out_obs.hasRangeImage = false;
599  _out_obs.rangeImage.resize(0, 0);
600  }
601  }
602 
603  // preview in real-time?
604  if (m_preview_window)
605  {
606  if (_out_obs.hasRangeImage)
607  {
609  {
611  if (!m_win_range)
612  {
613  m_win_range =
614  mrpt::gui::CDisplayWindow::Create("Preview RANGE");
615  m_win_range->setPos(5, 5);
616  }
617 
618  // Normalize the image
620  img.setFromMatrix(_out_obs.rangeImage);
621  CMatrixFloat r = _out_obs.rangeImage;
622  r *= float(1.0 / this->m_maxRange);
623  m_win_range->showImage(img);
624  }
625  }
626  if (_out_obs.hasIntensityImage)
627  {
629  {
631  if (!m_win_int)
632  {
633  m_win_int =
634  mrpt::gui::CDisplayWindow::Create("Preview INTENSITY");
635  m_win_int->setPos(300, 5);
636  }
637  m_win_int->showImage(_out_obs.intensityImage);
638  }
639  }
640  }
641  else
642  {
643  if (m_win_range) m_win_range.reset();
644  if (m_win_int) m_win_int.reset();
645  }
646 }
647 
648 /* -----------------------------------------------------
649  getNextObservation (with IMU)
650 ----------------------------------------------------- */
653  mrpt::obs::CObservationIMU& out_obs_imu, bool& there_is_obs,
654  bool& hardware_error)
655 {
656  // First, try getting the RGB+Depth data:
657  getNextObservation(out_obs, there_is_obs, hardware_error);
658 
659  // If successful, fill out the accelerometer data:
660  if (there_is_obs && this->m_grab_IMU)
661  {
662  double acc_x = 0, acc_y = 0, acc_z = 0; // In m/s^2
663  bool has_good_acc = false;
664 
665 #if MRPT_HAS_KINECT_FREENECT
666  {
667  freenect_update_tilt_state(f_dev);
668  freenect_raw_tilt_state* state = freenect_get_tilt_state(f_dev);
669  if (state)
670  {
671  has_good_acc = true;
672  double lx, ly, lz;
673  freenect_get_mks_accel(state, &lx, &ly, &lz);
674 
675  // Convert to a unified coordinate system:
676  // +x: forward
677  // +y: left
678  // +z: upward
679  acc_x = -lz;
680  acc_y = -lx;
681  acc_z = -ly;
682  }
683  }
684 #endif
685 
686  // Common part for any implementation:
687  if (has_good_acc)
688  {
689  out_obs_imu.sensorLabel = out_obs.sensorLabel + "_IMU";
690  out_obs_imu.timestamp = out_obs.timestamp;
691  out_obs_imu.sensorPose = out_obs.sensorPose;
692 
693  for (auto&& i : out_obs_imu.dataIsPresent) i = false;
694 
695  out_obs_imu.dataIsPresent[IMU_X_ACC] = true;
696  out_obs_imu.dataIsPresent[IMU_Y_ACC] = true;
697  out_obs_imu.dataIsPresent[IMU_Z_ACC] = true;
698 
699  out_obs_imu.rawMeasurements[IMU_X_ACC] = acc_x;
700  out_obs_imu.rawMeasurements[IMU_Y_ACC] = acc_y;
701  out_obs_imu.rawMeasurements[IMU_Z_ACC] = acc_z;
702  }
703  }
704 }
705 
706 /* -----------------------------------------------------
707  setPathForExternalImages
708 ----------------------------------------------------- */
710 {
711  MRPT_UNUSED_PARAM(directory);
712  // Ignore for now. It seems performance is better grabbing everything
713  // to a single big file than creating hundreds of smaller files per
714  // second...
715  return;
716 
717  // if (!mrpt::system::createDirectory( directory ))
718  // {
719  // THROW_EXCEPTION_FMT("Error: Cannot create the directory for
720  // externally
721  // saved images: %s",directory.c_str() );
722  // }
723  // m_path_for_external_images = directory;
724 }
725 
726 /** Change tilt angle \note Sensor must be open first. */
728 {
729  ASSERTMSG_(isOpen(), "Sensor must be open first");
730 
731 #if MRPT_HAS_KINECT_FREENECT
732  freenect_set_tilt_degs(f_dev, angle);
733 #else
734  MRPT_UNUSED_PARAM(angle);
735 #endif
736 }
737 
739 {
740  ASSERTMSG_(isOpen(), "Sensor must be open first");
741 
742 #if MRPT_KINECT_WITH_FREENECT
743  freenect_update_tilt_state(f_dev);
744  freenect_raw_tilt_state* ts = freenect_get_tilt_state(f_dev);
745  return freenect_get_tilt_degs(ts);
746 #else
747  return 0;
748 #endif
749 }
mrpt::img::TCamera m_cameraParamsRGB
Params for the RGB camera.
Definition: CKinect.h:512
mrpt::img::TCamera m_cameraParamsDepth
Params for the Depth camera.
Definition: CKinect.h:514
uint32_t nrows
Definition: TCamera.h:37
void doProcess() override
To be called at a high rate (>XX Hz), this method populates the internal buffer of received observati...
Definition: CKinect.cpp:139
mrpt::img::TCamera cameraParams
Projection parameters of the depth camera.
std::vector< bool > dataIsPresent
Each entry in this vector is true if the corresponding data index contains valid data (the IMU unit s...
unsigned __int16 uint16_t
Definition: rptypes.h:47
void resize(size_t row, size_t col)
std::string read_string(const std::string &section, const std::string &name, const std::string &defaultValue, bool failIfNotFound=false) const
std::vector< double > rawMeasurements
The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.
TVideoChannel m_video_channel
The video channel to open: RGB or IR.
Definition: CKinect.h:533
#define THROW_EXCEPTION(msg)
Definition: exceptions.h:67
double fx() const
Get the value of the focal length x-value (in pixels).
Definition: TCamera.h:172
double getTiltAngleDegrees()
Definition: CKinect.cpp:738
std::string m_sensorLabel
See CGenericSensor.
mrpt::gui::CDisplayWindow::Ptr m_win_int
Definition: CKinect.h:496
size_t m_preview_window_decimation
If preview is enabled, only show 1 out of N images.
Definition: CKinect.h:494
double DEG2RAD(const double x)
Degrees to radians.
void project3DPointsFromDepthImage(const bool PROJ3D_USE_LUT=true)
This method is equivalent to project3DPointsFromDepthImageInto() storing the projected 3D points (wit...
void setTiltAngleDegrees(double angle)
Change tilt angle.
Definition: CKinect.cpp:727
mrpt::math::CMatrixF rangeImage
If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters) ...
double m_maxRange
Sensor max range (meters)
Definition: CKinect.h:523
double fy() const
Get the value of the focal length y-value (in pixels).
Definition: TCamera.h:174
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
mrpt::system::TTimeStamp now()
A shortcut for system::getCurrentTime.
Definition: datetime.h:86
Contains classes for various device interfaces.
mrpt::math::TPose3DQuat asTPose() const
float read_float(const std::string &section, const std::string &name, float defaultValue, bool failIfNotFound=false) const
GLint GLint GLsizei GLsizei GLsizei depth
Definition: glext.h:3606
y-axis acceleration (local/vehicle frame) (m/sec2)
STL namespace.
This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers.
z-axis acceleration (local/vehicle frame) (m/sec2)
GLdouble s
Definition: glext.h:3682
GLsizei GLsizei GLuint * obj
Definition: glext.h:4085
#define KINECT_RANGES_TABLE_LEN
Definition: CKinect.h:30
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &section) override
See the class documentation at the top for expected parameters.
Definition: CKinect.cpp:174
void close()
Close the Connection to the sensor (not need to call it manually unless desired for some reason...
Definition: CKinect.cpp:445
std::vector< uint8_t > m_buf_rgb
Definition: CKinect.h:537
int read_int(const std::string &section, const std::string &name, int defaultValue, bool failIfNotFound=false) const
#define KINECT_RANGES_TABLE_MASK
Definition: CKinect.h:31
ENUMTYPE read_enum(const std::string &section, const std::string &name, const ENUMTYPE &defaultValue, bool failIfNotFound=false) const
Reads an "enum" value, where the value in the config file can be either a numerical value or the symb...
void appendObservations(const std::vector< mrpt::serialization::CSerializable::Ptr > &obj)
This method must be called by derived classes to enqueue a new observation in the list to be returned...
void calculate_range2meters()
Compute m_range2meters at construction.
Definition: CKinect.cpp:57
mrpt::Clock::time_point TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
Definition: datetime.h:40
A class for grabing "range images", intensity images (either RGB or IR) and other information from an...
Definition: CKinect.h:265
This class allows loading and storing values and vectors of different types from a configuration text...
This base provides a set of functions for maths stuff.
mrpt::poses::CPose3D relativePoseIntensityWRTDepth
Relative pose of the intensity camera wrt the depth camera (which is the coordinates origin for this ...
double cy() const
Get the value of the principal point y-coordinate (in pixels).
Definition: TCamera.h:170
const GLubyte * c
Definition: glext.h:6406
GLint GLvoid * img
Definition: glext.h:3769
int m_initial_tilt_angle
Set Kinect tilt to an initial deegre (it should be take in account in the sensor pose by the user) ...
Definition: CKinect.h:520
void swap(CObservation3DRangeScan &o)
Very efficient method to swap the contents of two observations.
mrpt::img::CImage intensityImage
If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage"...
TDepth2RangeArray m_range2meters
The table raw depth -> range in meters.
Definition: CKinect.h:539
This namespace contains representation of robot actions and observations.
void initialize() override
Initializes the 3D camera - should be invoked after calling loadConfig() or setting the different par...
Definition: CKinect.cpp:134
bool hasRangeImage
true means the field rangeImage contains valid data
#define ASSERTMSG_(f, __ERROR_MSG)
Defines an assertion mechanism.
Definition: exceptions.h:108
void loadFromConfigFile(const std::string &section, const mrpt::config::CConfigFileBase &cfg)
Load all the params from a config source, in the same format that used in saveToConfigFile().
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).
Definition: CPose3DQuat.h:45
GLsizei const GLchar ** string
Definition: glext.h:4116
void setPathForExternalImages(const std::string &directory) override
Set the path where to save off-rawlog image files (this class DOES take into account this path)...
Definition: CKinect.cpp:709
#define IMPLEMENTS_GENERIC_SENSOR(class_name, NameSpace)
This must be inserted in all CGenericSensor classes implementation files:
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
std::array< double, 8 > dist
[k1 k2 t1 t2 k3 k4 k5 k6] -> k_i: parameters of radial distortion, t_i: parameters of tangential dist...
Definition: TCamera.h:50
int m_user_device_number
Number of device to open (0:first,...)
Definition: CKinect.h:526
void setVideoChannel(const TVideoChannel vch)
Changes the video channel to open (RGB or IR) - you can call this method before start grabbing or in ...
Definition: CKinect.cpp:466
void getNextObservation(mrpt::obs::CObservation3DRangeScan &out_obs, bool &there_is_obs, bool &hardware_error)
The main data retrieving function, to be called after calling loadConfig() and initialize().
Definition: CKinect.cpp:504
CKinect()
Default ctor.
Definition: CKinect.cpp:80
double cx() const
Get the value of the principal point x-coordinate (in pixels).
Definition: TCamera.h:168
void enter(const std::string_view &func_name) noexcept
Start of a named section.
~CKinect() override
Default ctor.
Definition: CKinect.cpp:128
std::string sensorLabel
An arbitrary label that can be used to identify the sensor.
Definition: CObservation.h:62
const GLdouble * v
Definition: glext.h:3684
void fromString(const std::string &s)
Set the current object value from a string generated by &#39;asString&#39; (eg: "[x y z yaw pitch roll]"...
Definition: CPose3D.cpp:769
mrpt::system::TTimeStamp timestamp
The associated UTC time-stamp.
Definition: CObservation.h:60
GLdouble GLdouble GLdouble r
Definition: glext.h:3711
mrpt::poses::CPose3D sensorPose
The 6D pose of the sensor on the robot.
size_t m_preview_decim_counter_range
Definition: CKinect.h:495
A versatile "profiler" that logs the time spent within each pair of calls to enter(X)-leave(X), among other stats.
mrpt::poses::CPose3D sensorPose
The pose of the sensor on the robot.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:84
bool read_bool(const std::string &section, const std::string &name, bool defaultValue, bool failIfNotFound=false) const
float[KINECT_RANGES_TABLE_LEN] TDepth2RangeArray
A type for an array that converts raw depth to ranges in meters.
Definition: CKinect.h:271
mrpt::poses::CPose3D m_relativePoseIntensityWRTDepth
See mrpt::obs::CObservation3DRangeScan for a diagram of this pose.
Definition: CKinect.h:516
bool hasIntensityImage
true means the field intensityImage contains valid data
void setFromValues(const double x0, const double y0, const double z0, const double yaw=0, const double pitch=0, const double roll=0)
Set the pose from a 3D position (meters) and yaw/pitch/roll angles (radians) - This method recomputes...
Definition: CPose3D.cpp:255
TCamera leftCamera
Intrinsic and distortion parameters of the left and right cameras.
Definition: TStereoCamera.h:28
bool isOpen() const
Whether there is a working connection to the sensor.
Definition: CKinect.cpp:249
double leave(const std::string_view &func_name) noexcept
End of a named section.
bool m_preview_window
Show preview window while grabbing.
Definition: CKinect.h:492
mrpt::math::TPose3DQuat rightCameraPose
Pose of the right camera with respect to the coordinate origin of the left camera.
Definition: TStereoCamera.h:31
std::vector< uint8_t > m_buf_depth
Temporary buffers for image grabbing.
Definition: CKinect.h:537
uint32_t twist(const uint32_t m, const uint32_t s0, const uint32_t s1)
static CDisplayWindow::Ptr Create(const std::string &windowCaption, unsigned int initWidth=400, unsigned int initHeight=400)
Class factory returning a smart pointer.
mrpt::img::TCamera cameraParamsIntensity
Projection parameters of the intensity (graylevel or RGB) camera.
#define THROW_EXCEPTION_FMT(_FORMAT_STRING,...)
Definition: exceptions.h:69
unsigned __int32 uint32_t
Definition: rptypes.h:50
This template class provides the basic functionality for a general 2D any-size, resizable container o...
x-axis acceleration (local/vehicle frame) (m/sec2)
uint32_t ncols
Camera resolution.
Definition: TCamera.h:37
mrpt::gui::CDisplayWindow::Ptr m_win_range
Definition: CKinect.h:496
bool m_grab_image
Default: all true.
Definition: CKinect.h:529
Structure to hold the parameters of a pinhole stereo camera model.
Definition: TStereoCamera.h:23
size_t m_preview_decim_counter_rgb
Definition: CKinect.h:495
mrpt::poses::CPose3D m_sensorPoseOnRobot
Definition: CKinect.h:489
Grayscale or RGB visible channel of the camera sensor.
A class for storing images as grayscale or RGB bitmaps.
Definition: img/CImage.h:147
TVideoChannel
RGB or IR video channel identifiers.
Definition: CKinect.h:274
#define MRPT_UNUSED_PARAM(a)
Determines whether this is an X86 or AMD64 platform.
Definition: common.h:186
void open()
Try to open the camera (set all the parameters before calling this) - users may also call initialize(...
Definition: CKinect.cpp:360



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