COpenNI2Sensor.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef mrpt_COpenNI2Sensor_H
#define mrpt_COpenNI2Sensor_H

#include <mrpt/hwdrivers/COpenNI2Generic.h>
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/typemeta/TEnumType.h>
#include <mrpt/gui/CDisplayWindow.h>

namespace mrpt::hwdrivers
{
/** A class for grabing "range images", intensity images (either RGB or IR) and
  *other information from an OpenNI2 sensor.
  * This class permits to access several sensors simultaneously. The same
  *options (resolution, fps, etc.) are used for every sensor.
  *
  *  <h2>Configuration and usage:</h2> <hr>
  * Data is returned as observations of type mrpt::obs::CObservation3DRangeScan.
  *  See those classes for documentation on their fields.
  *
  * As with any other CGenericSensor class, the normal sequence of methods to be
  *called is:
  *   - CGenericSensor::loadConfig() - Or calls to the individual setXXX() to
  *configure the sensor parameters.
  *   - COpenNI2Sensor::initialize() - to start the communication with the
  *sensor.
  *   - call COpenNI2Sensor::getNextObservation() for getting the data.
  *
  * <h2>Calibration parameters</h2><hr>
  *  In this class we employ the OpenNI2 method to return depth images refered
  *to the RGB camera. Otherwise we could specify
  *   an accurate transformation of depth images to 3D points, you'll have to
  *calibrate your RGBD sensor for that, and supply
  *   the following <b>threee pieces of information</b> (default calibration
  *data will be used otherwise, but they'll be not optimal for all sensors!):
  *    - Camera parameters for the RGB camera. See
  *COpenNI2Sensor::setCameraParamsIntensity()
  *    - Camera parameters for the depth camera. See
  *COpenNI2Sensor::setCameraParamsDepth()
  *    - The 3D relative pose of the two cameras. See
  *COpenNI2Sensor::setRelativePoseIntensityWrtDepth()
  *
  *   See http://www.mrpt.org/Kinect_calibration for a procedure to calibrate
  *RGBD sensors with an interactive GUI program.
  *
  * <h2>Coordinates convention</h2><hr>
  *   The origin of coordinates is the focal point of the depth camera, with the
  *axes oriented as in the
  *   diagram shown in mrpt::obs::CObservation3DRangeScan. Notice in that
  *picture that the RGB camera is
  *   assumed to have axes as usual in computer vision, which differ from those
  *for the depth camera.
  *
  *   The X,Y,Z axes used to report the data from accelerometers coincide with
  *those of the depth camera
  *    (e.g. the camera standing on a table would have an ACC_Z=-9.8m/s2).
  *
  *   Notice however that, for consistency with stereo cameras, when loading the
  *calibration parameters from
  *    a configuration file, the left-to-right pose increment is expected as if
  *both RGB & IR cameras had
  *    their +Z axes pointing forward, +X to the right, +Y downwards (just like
  *it's the standard in stereo cameras
  *    and in computer vision literature). In other words: the pose stored in
  *this class uses a different
  *    axes convention for the depth camera than in a stereo camera, so when a
  *pose L2R is loaded from a calibration file
  *    it's actually converted like:
  *
  *      L2R(this class convention) = CPose3D(0,0,0,-90deg,0deg,-90deg) (+)
  *L2R(in the config file)
  *
  *
  * <h2>Some general comments</h2><hr>
  *     - Depth is grabbed in millimeters
  *     - This sensor can be also used from within rawlog-grabber to grab
  *datasets
  *within a robot with more sensors.
  *     - There is no built-in threading support, so if you use this class
  *manually
  *(not with-in rawlog-grabber),
  *         the ideal would be to create a thread and continuously request data
  *from
  *that thread (see mrpt::system::createThread ).
  *     - The intensity channel default to the RGB images, but it can be changed
  *with setVideoChannel() to read the IR camera images (useful for calibrating).
  *     - There is a built-in support for an optional preview of the data on a
  *window, so you don't need to even worry on creating a window to show them.
  *     - This class relies on an embedded version of libfreenect (you do NOT
  *need
  *to install it in your system). Thanks guys for the great job!
  *
  * <h2>Converting to 3D point cloud </h2><hr>
  *   You can convert the 3D observation into a 3D point cloud with this piece
  *of code:
  *
  * \code
  * mrpt::obs::CObservation3DRangeScan  obs3D;
  * mrpt::maps::CColouredPointsMap       pntsMap;
  * pntsMap.colorScheme.scheme = CColouredPointsMap::cmFromIntensityImage;
  * pntsMap.loadFromRangeScan(obs3D);
  * \endcode
  *
  *   Then the point cloud mrpt::maps::CColouredPointsMap can be converted into
  *an OpenGL object for
  *    rendering with mrpt::maps::CMetricMap::getAs3DObject() or alternatively
  *with:
  *
  *  \code
  *    mrpt::opengl::CPointCloudColoured::Ptr gl_points =
  *mrpt::make_aligned_shared<mrpt::opengl::CPointCloudColoured>();
  *    gl_points->loadFromPointsMap(&pntsMap);
  *  \endcode
  *
  *
  * <h2>Platform-specific comments</h2><hr>
  *   For more details, refer to <a href="http://openkinect.org/wiki/Main_Page"
  *>libfreenect</a> documentation:
  *     - Linux: You'll need root privileges to access Kinect. Or, install
  *<code>
  *MRPT/scripts/51-kinect.rules </code> in <code>/etc/udev/rules.d/</code> to
  *allow access to all users.
  *     - Windows:
  *         - Since MRPT 0.9.4 you'll only need to install <a
  *href="http://sourceforge.net/projects/libusb-win32/files/libusb-win32-releases/"
  *>libusb-win32</a>: download and extract the latest
  *libusb-win32-bin-x.x.x.x.zip
  *         - To install the drivers, read this:
  *http://openkinect.org/wiki/Getting_Started#Windows
  *     - MacOS: (write me!)
  *
  *
  * <h2>Format of parameters for loading from a .ini file</h2><hr>
  *
  *  \code
  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  * -------------------------------------------------------
  *   [supplied_section_name]
  *    sensorLabel     = OPENNI2       // A text description
  *    preview_window  = false        // Show a window with a preview of the
  *grabbed data in real-time
  *
  *    device_number   = 0           // Device index to open (0:first Kinect,
  *1:second Kinect,...)
  *
  *    grab_image      = true        // Grab the RGB image channel?
  *(Default=true)
  *    grab_depth      = true        // Grab the depth channel? (Default=true)
  *    grab_3D_points  = true        // Grab the 3D point cloud? (Default=true)
  *If disabled, points can be generated later on.
  *
  *    video_channel   = VIDEO_CHANNEL_RGB // Optional. Can be:
  *VIDEO_CHANNEL_RGB (default) or VIDEO_CHANNEL_IR
  *
  *    pose_x=0 // Camera position in the robot (meters)
  *    pose_y=0
  *    pose_z=0
  *    pose_yaw=0   // Angles in degrees
  *    pose_pitch=0
  *    pose_roll=0
  *
  *
  *    // Kinect sensor calibration:
  *    // See http://www.mrpt.org/Kinect_and_MRPT
  *
  *    // Left/Depth camera
  *    [supplied_section_name_LEFT]
  *    rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this
  *section (it is not a separate device!)
  *
  *    resolution = [640 488]
  *    cx         = 314.649173
  *    cy         = 240.160459
  *    fx         = 572.882768
  *    fy         = 542.739980
  *    dist       = [-4.747169e-03 -4.357976e-03 0.000000e+00 0.000000e+00
  *0.000000e+00]    // The order is: [K1 K2 T1 T2 K3]
  *
  *    // Right/RGB camera
  *    [supplied_section_name_RIGHT]
  *    rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this
  *section (it is not a separate device!)
  *
  *    resolution = [640 480]
  *    cx         = 322.515987
  *    cy         = 259.055966
  *    fx         = 521.179233
  *    fy         = 493.033034
  *    dist       = [5.858325e-02 3.856792e-02 0.000000e+00 0.000000e+00
  *0.000000e+00]    // The order is: [K1 K2 T1 T2 K3]
  *
  *    // Relative pose of the right camera wrt to the left camera:
  *    // This assumes that both camera frames are such that +Z points
  *    // forwards, and +X and +Y to the right and downwards.
  *    // For the actual coordinates employed in 3D observations, see figure in
  *mrpt::obs::CObservation3DRangeScan
  *    [supplied_section_name_LEFT2RIGHT_POSE]
  *    rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this
  *section (it is not a separate device!)
  *
  *    pose_quaternion      = [0.025575 -0.000609 -0.001462 0.999987 0.002038
  *0.004335 -0.001693]
  *
  *  \endcode
  *
  *  More references to read:IMPEXP mrpt
  *     - http://http://www.openni.org/
  * \ingroup mrpt_hwdrivers_grp
  */
class COpenNI2Sensor : public mrpt::hwdrivers::CGenericSensor,
                       public mrpt::hwdrivers::COpenNI2Generic
{
    DEFINE_GENERIC_SENSOR(COpenNI2Sensor)

   public:
    /** Default ctor
 */
    COpenNI2Sensor();
    /** Default ctor
 */
    ~COpenNI2Sensor();

    /** Set the serial number of the device to open.
      *  \exception This method must throw an exception when such serial number
     * is not found among the connected devices.
      */
    inline void setSerialToOpen(const unsigned serial)
    {
        m_serial_number = serial;
    }

    /** Set the sensor_id of the device to open.
      *  \exception This method must throw an exception when such serial number
     * is not found among the connected devices.
      */
    inline void setSensorIDToOpen(const unsigned sensor_id)
    {
        m_user_device_number = sensor_id;
    }

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

    /** 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
      */
    virtual void doProcess();

    /** 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);

    /**  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.
      */
    virtual void setPathForExternalImages(const std::string& directory);

    /** @name Sensor parameters (alternative to \a loadConfig ) and manual
       control
        @{ */

    /** Get the maximum range (meters) that can be read in the observation field
     * "rangeImage" */
    inline double getMaxRange() const { return m_maxRange; }
    /** Get the row count in the camera images, loaded automatically upon camera
     * open(). */
    inline size_t rows() const { return m_cameraParamsRGB.nrows; }
    /** Get the col count in the camera images, loaded automatically upon camera
     * open(). */
    inline size_t cols() const { return m_cameraParamsRGB.ncols; }
    /** Get a const reference to the depth camera calibration parameters */
    inline const mrpt::img::TCamera& getCameraParamsIntensity() const
    {
        return m_cameraParamsRGB;
    }
    inline void setCameraParamsIntensity(const mrpt::img::TCamera& p)
    {
        m_cameraParamsRGB = p;
    }

    /** Get a const reference to the depth camera calibration parameters */
    inline const mrpt::img::TCamera& getCameraParamsDepth() const
    {
        return m_cameraParamsDepth;
    }
    inline void setCameraParamsDepth(const mrpt::img::TCamera& p)
    {
        m_cameraParamsDepth = p;
    }

    /** Set the pose of the intensity camera wrt the depth camera \sa See
     * mrpt::obs::CObservation3DRangeScan for a 3D diagram of this pose */
    inline void setRelativePoseIntensityWrtDepth(const mrpt::poses::CPose3D& p)
    {
        m_relativePoseIntensityWRTDepth = p;
    }
    inline const mrpt::poses::CPose3D& getRelativePoseIntensityWrtDepth() const
    {
        return m_relativePoseIntensityWRTDepth;
    }

    /** Enable/disable the grabbing of the RGB channel */
    inline void enableGrabRGB(bool enable = true) { m_grab_image = enable; }
    inline bool isGrabRGBEnabled() const { return m_grab_image; }
    /** Enable/disable the grabbing of the depth channel */
    inline void enableGrabDepth(bool enable = true) { m_grab_depth = enable; }
    inline bool isGrabDepthEnabled() const { return m_grab_depth; }
    /** Enable/disable the grabbing of the 3D point clouds */
    inline void enableGrab3DPoints(bool enable = true)
    {
        m_grab_3D_points = enable;
    }
    inline bool isGrab3DPointsEnabled() const { return m_grab_3D_points; }
    /** @} */

   protected:
    virtual void loadConfig_sensorSpecific(
        const mrpt::config::CConfigFileBase& configSource,
        const std::string& section);

    mrpt::poses::CPose3D m_sensorPoseOnRobot;

    /** Show preview window while grabbing
 */
    bool m_preview_window;
    /** If preview is enabled, only show 1 out of N images.
 */
    size_t m_preview_window_decimation;
    size_t m_preview_decim_counter_range, m_preview_decim_counter_rgb;
    mrpt::gui::CDisplayWindow::Ptr m_win_range, m_win_int;

    /** Params for the RGB camera
 */
    mrpt::img::TCamera m_cameraParamsRGB;
    /** Params for the Depth camera
 */
    mrpt::img::TCamera m_cameraParamsDepth;
    /** See mrpt::obs::CObservation3DRangeScan for a diagram of this pose
 */
    mrpt::poses::CPose3D m_relativePoseIntensityWRTDepth;

    /** Sensor max range (meters)
 */
    double m_maxRange;

    /** Number of device to open (0:first,...)
 */
    int m_user_device_number;
    /** Serial number of device to open
 */
    int m_serial_number;

};  // End of class
}
#endif