CSwissRanger3DCamera.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 CSwissRanger3DCamera_H
#define CSwissRanger3DCamera_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/obs/CObservationImage.h>
#include <mrpt/obs/CObservation3DRangeScan.h>

#include <mrpt/gui/CDisplayWindow.h>

namespace mrpt::hwdrivers
{
/** A class for grabing "range images" from a MESA imaging SwissRanger 3D
  *cameras (SR-2, SR-3000, SR-4k).
  *
  * NOTES:
  *     - This class requires a vendor specific driver installed in the system
  *in
  *order to build MRPT with support for this sensor. Download and install the
  *driver from: http://www.mesa-imaging.ch/drivers.php
  *     - The intensity channel (grayscale image) is converted from 16bit to
  *standard 8bit-per-pixel using a logarithmic, modified A-law compression. This
  *allows exploiting the full dynamic range of the sensor and provides quite
  *good results.
  *
  * As with any other CGenericSensor class, the normal sequence of methods to be
  *called is:
  *   - loadConfig() - Or calls to the individual setXXX() to configure the
  *camera parameters.
  *   - initialize() - to init the comms with the camera
  *   - call getNextObservation() for getting the frames.
  *
  *  This sensor can be also used from within rawlog-grabber.
  *
  *  \code
  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  * -------------------------------------------------------
  *   [supplied_section_name]
  *    sensorLabel  = CAM3D         // A text description
  *    preview_window  = true       // Show a window with a preview of the
  *grabbed data in real-time
  *
  *    open_USB     = true          // false means ethernet (default: true)
  *    USB_serial   = 0x4000002f    // only for open_USB=true. If not set, the
  *first camera will be open. Serial is the last part of S/N (e.g.  for the
  *camera SN: 00-00-40-00-00-2F).
  *    IP_address   = 192.168.2.14  // only for open_USB=false. The IP of the
  *camera.
  *
  *    // Options for the data to save in each CObservation3DRangeScan
  *    save_3d            = true            // Save the 3D point cloud (default:
  *true)
  *    save_range_img     = true            // Save the 2D range image (default:
  *true)
  *    save_intensity_img = true            // Save the 2D intensity image
  *(default:
  *true)
  *    save_confidence    = true            // Save the estimated confidence 2D
  *image
  *(default: false)
  *
  *    enable_img_hist_equal = false        // Enable intensity image histogram
  *equalization (default: false)
  *    enable_median_filter  = true         // Enable median filter in range
  *data
  *(default: true)
  *    enable_mediancross_filter = false    // Enable median cross-filter
  *(default:
  *false)
  *    enable_conv_gray      = false        // Enable intensity image scale with
  *range
  *(default: false)
  *    enable_denoise_anf    = true         // Enable this noise filter
  *(default:
  *true)
  *
  *    // Camera calibration parameters: See mrpt::img::TCamera
  *    //  If not provided, a set of default parameters for a SR4000 camera will
  *be loaded.
  *    resolution = [176 144]
  *    cx         = 87.99958
  *    cy         = 68.99957
  *    fx         = 262.9201
  *    fy         = 262.9218
  *    dist       = [-8.258543e-01 6.561022e-01 2.699818e-06 -3.263559e-05 0]
  *
  *    // For externaly stored images, the format of image files (default=jpg)
  *    //external_images_format  = jpg
  *    // (Only when external_images_format=jpg): Optional parameter to set the
  *JPEG compression quality:
  *    //external_images_jpeg_quality = 95    // [1-100]. Default: 95
  *
  *    pose_x=0.21  // Camera position in the robot (meters)
  *    pose_y=0
  *    pose_z=0.34
  *    pose_yaw=0   // Angles in degrees
  *    pose_pitch=0
  *    pose_roll=0
  *
  *  \endcode
  * \ingroup mrpt_hwdrivers_grp
  */
class CSwissRanger3DCamera : public mrpt::hwdrivers::CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CSwissRanger3DCamera)

   public:
    /** Default ctor */
    CSwissRanger3DCamera();
    /** Default ctor */
    ~CSwissRanger3DCamera();

    /** Initializes the 3D camera - should be invoked after calling loadConfig()
      *  \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);

    /** return false on error - Called automatically from initialize(), no need
     * normally for the user to call this. */
    bool open();
    void close();

    /** whether the camera is open and comms work ok. To be called after
     * initialize() */
    bool isOpen() const;

    /** Get the row count in the camera images, loaded automatically upon camera
     * open(). */
    size_t rows() const { return m_rows; }
    /** Get the col count in the camera images, loaded automatically upon camera
     * open(). */
    size_t cols() const { return m_cols; }
    /** Get the camera serial number, loaded automatically upon camera open().
     */
    unsigned int getCameraSerialNumber() const { return m_cam_serial_num; }
    /** Returns the maximum camera range, as deduced from its operating
     * frequency. */
    double getMaxRange() const { return m_maxRange; }
    /**  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 Capture configuration methods (apart from loadConfig)
        @{ */

    /** true: open from USB, false: open from ethernet. */
    inline void setOpenFromUSB(bool USB) { m_open_from_usb = USB; }
    inline bool getOpenFromUSBMode() const { return m_open_from_usb; }
    inline void setOpenIPAddress(const std::string& IP) { m_ip_address = IP; }
    inline std::string getOpenIPAddress() const { return m_ip_address; }
    inline void setSave3D(bool save) { m_save_3d = save; }
    inline void setSaveRangeImage(bool save) { m_save_range_img = save; }
    inline void setSaveIntensityImage(bool save)
    {
        m_save_intensity_img = save;
    }
    inline void setSaveConfidenceImage(bool save) { m_save_confidence = save; }
    inline void enableImageHistEqualization(bool enable)
    {
        m_enable_img_hist_equal = enable;
    }
    inline bool isEnabledImageHistEqualization() const
    {
        return m_enable_img_hist_equal;
    }

    inline void enableMedianFilter(bool enable)
    {
        m_enable_median_filter = enable;
        internal_resendParamsToCamera();
    }
    inline bool isEnabledMedianFilter() const { return m_enable_median_filter; }
    inline void enableMedianCrossFilter(bool enable)
    {
        m_enable_mediancross_filter = enable;
        internal_resendParamsToCamera();
    }
    inline bool isEnabledMedianCrossFilter() const
    {
        return m_enable_mediancross_filter;
    }

    inline void enableConvGray(bool enable)
    {
        m_enable_conv_gray = enable;
        internal_resendParamsToCamera();
    }
    inline bool isEnabledConvGray() const { return m_enable_conv_gray; }
    inline void enableDenoiseANF(bool enable)
    {
        m_enable_denoise_anf = enable;
        internal_resendParamsToCamera();
    }
    inline bool isEnabledDenoiseANF() const { return m_enable_denoise_anf; }
    inline void enablePreviewWindow(bool enable = true)
    {
        m_preview_window = enable;
    }
    inline bool isEnabledPreviewWindow() const { return m_preview_window; }
    /** @} */

    // List of small functions to be implemented differently in Win/Lin.

    /** Get the version of the MESA library.
      * \return false on error
      */
    bool getMesaLibVersion(std::string& out_version) const;

   protected:
    /** See the class documentation at the top for expected parameters */
    virtual void loadConfig_sensorSpecific(
        const mrpt::config::CConfigFileBase& configSource,
        const std::string& section);

    void internal_resendParamsToCamera() const;

    mrpt::poses::CPose3D m_sensorPoseOnRobot;

    /** Save the 3D point cloud (default: true) */
    bool m_save_3d;
    /** Save the 2D range image (default: true) */
    bool m_save_range_img;
    /** Save the 2D intensity image (default: true) */
    bool m_save_intensity_img;
    /** Save the estimated confidence 2D image (default: false) */
    bool m_save_confidence;

    bool m_enable_img_hist_equal;
    bool m_enable_median_filter;
    bool m_enable_mediancross_filter;
    bool m_enable_conv_gray;
    bool m_enable_denoise_anf;

    /** true: USB, false: ETH */
    bool m_open_from_usb;
    size_t m_usb_serial;
    std::string m_ip_address;

    /** Size of camera images, set on open() */
    size_t m_rows, m_cols;
    /** Serial number of the camera, set on open() */
    unsigned int m_cam_serial_num;
    /** Max range, as deducted from the camera frequency. */
    double m_maxRange;

    /** Show preview window while grabbing */
    bool m_preview_window;
    mrpt::gui::CDisplayWindow::Ptr m_win_range, m_win_int;

    /** opaque handler to SRCAM. nullptr means it's not open yet. */
    void* m_cam;

    mrpt::img::TCamera m_cameraParams;

   private:
};  // End of class

}
#endif