MRPT  1.9.9
CSwissRanger3DCamera.h
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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 #pragma once
10 
14 
16 
17 namespace mrpt::hwdrivers
18 {
19 /** A class for grabing "range images" from a MESA imaging SwissRanger 3D
20  *cameras (SR-2, SR-3000, SR-4k).
21  *
22  * NOTES:
23  * - This class requires a vendor specific driver installed in the system
24  *in
25  *order to build MRPT with support for this sensor. Download and install the
26  *driver from: http://www.mesa-imaging.ch/drivers.php
27  * - The intensity channel (grayscale image) is converted from 16bit to
28  *standard 8bit-per-pixel using a logarithmic, modified A-law compression. This
29  *allows exploiting the full dynamic range of the sensor and provides quite
30  *good results.
31  *
32  * As with any other CGenericSensor class, the normal sequence of methods to be
33  *called is:
34  * - loadConfig() - Or calls to the individual setXXX() to configure the
35  *camera parameters.
36  * - initialize() - to init the comms with the camera
37  * - call getNextObservation() for getting the frames.
38  *
39  * This sensor can be also used from within rawlog-grabber.
40  *
41  * \code
42  * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
43  * -------------------------------------------------------
44  * [supplied_section_name]
45  * sensorLabel = CAM3D // A text description
46  * preview_window = true // Show a window with a preview of the
47  *grabbed data in real-time
48  *
49  * open_USB = true // false means ethernet (default: true)
50  * USB_serial = 0x4000002f // only for open_USB=true. If not set, the
51  *first camera will be open. Serial is the last part of S/N (e.g. for the
52  *camera SN: 00-00-40-00-00-2F).
53  * IP_address = 192.168.2.14 // only for open_USB=false. The IP of the
54  *camera.
55  *
56  * // Options for the data to save in each CObservation3DRangeScan
57  * save_3d = true // Save the 3D point cloud (default:
58  *true)
59  * save_range_img = true // Save the 2D range image (default:
60  *true)
61  * save_intensity_img = true // Save the 2D intensity image
62  *(default:
63  *true)
64  * save_confidence = true // Save the estimated confidence 2D
65  *image
66  *(default: false)
67  *
68  * enable_img_hist_equal = false // Enable intensity image histogram
69  *equalization (default: false)
70  * enable_median_filter = true // Enable median filter in range
71  *data
72  *(default: true)
73  * enable_mediancross_filter = false // Enable median cross-filter
74  *(default:
75  *false)
76  * enable_conv_gray = false // Enable intensity image scale with
77  *range
78  *(default: false)
79  * enable_denoise_anf = true // Enable this noise filter
80  *(default:
81  *true)
82  *
83  * // Camera calibration parameters: See mrpt::img::TCamera
84  * // If not provided, a set of default parameters for a SR4000 camera will
85  *be loaded.
86  * resolution = [176 144]
87  * cx = 87.99958
88  * cy = 68.99957
89  * fx = 262.9201
90  * fy = 262.9218
91  * dist = [-8.258543e-01 6.561022e-01 2.699818e-06 -3.263559e-05 0]
92  *
93  * // For externaly stored images, the format of image files (default=jpg)
94  * //external_images_format = jpg
95  * // (Only when external_images_format=jpg): Optional parameter to set the
96  *JPEG compression quality:
97  * //external_images_jpeg_quality = 95 // [1-100]. Default: 95
98  *
99  * pose_x=0.21 // Camera position in the robot (meters)
100  * pose_y=0
101  * pose_z=0.34
102  * pose_yaw=0 // Angles in degrees
103  * pose_pitch=0
104  * pose_roll=0
105  *
106  * \endcode
107  * \ingroup mrpt_hwdrivers_grp
108  */
110 {
112 
113  public:
114  /** Default ctor */
116  /** Default ctor */
117  ~CSwissRanger3DCamera() override;
118 
119  /** Initializes the 3D camera - should be invoked after calling loadConfig()
120  * \exception This method must throw an exception with a descriptive
121  * message if some critical error is found.
122  */
123  void initialize() override;
124 
125  /** To be called at a high rate (>XX Hz), this method populates the
126  * internal buffer of received observations.
127  * This method is mainly intended for usage within rawlog-grabber or
128  * similar programs.
129  * For an alternative, see getNextObservation()
130  * \exception This method must throw an exception with a descriptive
131  * message if some critical error is found.
132  * \sa getNextObservation
133  */
134  void doProcess() override;
135 
136  /** The main data retrieving function, to be called after calling
137  * loadConfig() and initialize().
138  * \param out_obs The output retrieved observation (only if
139  * there_is_obs=true).
140  * \param there_is_obs If set to false, there was no new observation.
141  * \param hardware_error True on hardware/comms error.
142  *
143  * \sa doProcess
144  */
145  void getNextObservation(
146  mrpt::obs::CObservation3DRangeScan& out_obs, bool& there_is_obs,
147  bool& hardware_error);
148 
149  /** return false on error - Called automatically from initialize(), no need
150  * normally for the user to call this. */
151  bool open();
152  void close();
153 
154  /** whether the camera is open and comms work ok. To be called after
155  * initialize() */
156  bool isOpen() const;
157 
158  /** Get the row count in the camera images, loaded automatically upon camera
159  * open(). */
160  size_t rows() const { return m_rows; }
161  /** Get the col count in the camera images, loaded automatically upon camera
162  * open(). */
163  size_t cols() const { return m_cols; }
164  /** Get the camera serial number, loaded automatically upon camera open().
165  */
166  unsigned int getCameraSerialNumber() const { return m_cam_serial_num; }
167  /** Returns the maximum camera range, as deduced from its operating
168  * frequency. */
169  double getMaxRange() const { return m_maxRange; }
170  /** Set the path where to save off-rawlog image files (this class DOES take
171  * into account this path).
172  * An empty string (the default value at construction) means to save
173  * images embedded in the rawlog, instead of on separate files.
174  * \exception std::exception If the directory doesn't exists and cannot be
175  * created.
176  */
177  void setPathForExternalImages(const std::string& directory) override;
178 
179  /** @name Capture configuration methods (apart from loadConfig)
180  @{ */
181 
182  /** true: open from USB, false: open from ethernet. */
183  inline void setOpenFromUSB(bool USB) { m_open_from_usb = USB; }
184  inline bool getOpenFromUSBMode() const { return m_open_from_usb; }
185  inline void setOpenIPAddress(const std::string& IP) { m_ip_address = IP; }
186  inline std::string getOpenIPAddress() const { return m_ip_address; }
187  inline void setSave3D(bool save) { m_save_3d = save; }
188  inline void setSaveRangeImage(bool save) { m_save_range_img = save; }
189  inline void setSaveIntensityImage(bool save)
190  {
191  m_save_intensity_img = save;
192  }
193  inline void setSaveConfidenceImage(bool save) { m_save_confidence = save; }
194  inline void enableImageHistEqualization(bool enable)
195  {
196  m_enable_img_hist_equal = enable;
197  }
198  inline bool isEnabledImageHistEqualization() const
199  {
201  }
202 
203  inline void enableMedianFilter(bool enable)
204  {
205  m_enable_median_filter = enable;
207  }
208  inline bool isEnabledMedianFilter() const { return m_enable_median_filter; }
209  inline void enableMedianCrossFilter(bool enable)
210  {
213  }
214  inline bool isEnabledMedianCrossFilter() const
215  {
217  }
218 
219  inline void enableConvGray(bool enable)
220  {
221  m_enable_conv_gray = enable;
223  }
224  inline bool isEnabledConvGray() const { return m_enable_conv_gray; }
225  inline void enableDenoiseANF(bool enable)
226  {
227  m_enable_denoise_anf = enable;
229  }
230  inline bool isEnabledDenoiseANF() const { return m_enable_denoise_anf; }
231  inline void enablePreviewWindow(bool enable = true)
232  {
233  m_preview_window = enable;
234  }
235  inline bool isEnabledPreviewWindow() const { return m_preview_window; }
236  /** @} */
237 
238  // List of small functions to be implemented differently in Win/Lin.
239 
240  /** Get the version of the MESA library.
241  * \return false on error
242  */
243  bool getMesaLibVersion(std::string& out_version) const;
244 
245  protected:
246  /** See the class documentation at the top for expected parameters */
248  const mrpt::config::CConfigFileBase& configSource,
249  const std::string& section) override;
250 
251  void internal_resendParamsToCamera() const;
252 
254 
255  /** Save the 3D point cloud (default: true) */
256  bool m_save_3d{true};
257  /** Save the 2D range image (default: true) */
258  bool m_save_range_img{true};
259  /** Save the 2D intensity image (default: true) */
261  /** Save the estimated confidence 2D image (default: false) */
262  bool m_save_confidence{false};
263 
267  bool m_enable_conv_gray{false};
269 
270  /** true: USB, false: ETH */
271  bool m_open_from_usb{true};
272  size_t m_usb_serial{0};
274 
275  /** Size of camera images, set on open() */
276  size_t m_rows{0}, m_cols{0};
277  /** Serial number of the camera, set on open() */
278  unsigned int m_cam_serial_num{0};
279  /** Max range, as deducted from the camera frequency. */
280  double m_maxRange{5};
281 
282  /** Show preview window while grabbing */
283  bool m_preview_window{false};
285 
286  /** opaque handler to SRCAM. nullptr means it's not open yet. */
287  void* m_cam;
288 
290 
291  private:
292 }; // End of class
293 
294 } // namespace mrpt::hwdrivers
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
size_t m_rows
Size of camera images, set on open()
void setOpenFromUSB(bool USB)
true: open from USB, false: open from ethernet.
A class for grabing "range images" from a MESA imaging SwissRanger 3D cameras (SR-2, SR-3000, SR-4k).
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.
double getMaxRange() const
Returns the maximum camera range, as deduced from its operating frequency.
Contains classes for various device interfaces.
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)...
bool m_save_3d
Save the 3D point cloud (default: true)
bool m_save_confidence
Save the estimated confidence 2D image (default: false)
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &section) override
See the class documentation at the top for expected parameters.
void initialize() override
Initializes the 3D camera - should be invoked after calling loadConfig()
void doProcess() override
To be called at a high rate (>XX Hz), this method populates the internal buffer of received observati...
mrpt::gui::CDisplayWindow::Ptr m_win_range
This class allows loading and storing values and vectors of different types from a configuration text...
bool getMesaLibVersion(std::string &out_version) const
Get the version of the MESA library.
bool m_save_intensity_img
Save the 2D intensity image (default: true)
size_t rows() const
Get the row count in the camera images, loaded automatically upon camera open().
bool m_open_from_usb
true: USB, false: ETH
Parameters for the Brown-Conrady camera lens distortion model.
Definition: TCamera.h:25
double m_maxRange
Max range, as deducted from the camera frequency.
bool m_save_range_img
Save the 2D range image (default: true)
GLsizei const GLchar ** string
Definition: glext.h:4116
void setOpenIPAddress(const std::string &IP)
bool m_preview_window
Show preview window while grabbing.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
~CSwissRanger3DCamera() override
Default ctor.
bool isOpen() const
whether the camera is open and comms work ok.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:85
unsigned int m_cam_serial_num
Serial number of the camera, set on open()
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().
unsigned int getCameraSerialNumber() const
Get the camera serial number, loaded automatically upon camera open().
size_t cols() const
Get the col count in the camera images, loaded automatically upon camera open().
void * m_cam
opaque handler to SRCAM.
mrpt::gui::CDisplayWindow::Ptr m_win_int
bool open()
return false on error - Called automatically from initialize(), no need normally for the user to call...



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