test.cpp

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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 |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/hwdrivers/COpenNI2Sensor.h>
#include <mrpt/gui.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/opengl.h>
#include <mrpt/opengl/CPlanarLaserScan.h>  // This class is in mrpt-maps
#include <mrpt/img/TColor.h>
#include <iostream>
 
using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::opengl;
using namespace mrpt::hwdrivers;
using namespace mrpt::img;
using namespace std;
 
const float vert_FOV = DEG2RAD(4.0);
 
// This demo records from an OpenNI2 device, convert observations to 2D scans
// and runs 2d-icp-slam with them.
 
int main(int argc, char** argv)
{
        try
        {
                if (argc > 2)
                {
                        cerr << "Usage: " << argv[0] << " <sensor_id/sensor_serial\n";
                        cerr << "Example: " << argv[0] << " 0 \n";
                        return 1;
                }
 
                // const unsigned sensor_id = 0;
                COpenNI2Sensor rgbd_sensor;
                // rgbd_sensor.loadConfig_sensorSpecific(const
                // mrpt::config::CConfigFileBase &configSource, const std::string
                // &iniSection );
 
                unsigned sensor_id_or_serial = 0;
                if (argc == 2)
                {
                        sensor_id_or_serial = atoi(argv[1]);
                        if (sensor_id_or_serial > 10)
                                rgbd_sensor.setSerialToOpen(sensor_id_or_serial);
                        else
                                rgbd_sensor.setSensorIDToOpen(sensor_id_or_serial);
                }
 
                // Open:
                // cout << "Calling COpenNI2Sensor::initialize()...";
                rgbd_sensor.initialize();
 
                if (rgbd_sensor.getNumDevices() == 0) return 0;
 
                cout << "OK " << rgbd_sensor.getNumDevices() << " available devices."
                         << endl;
                cout << "\nUse device " << sensor_id_or_serial << endl << endl;
 
                // Create window and prepare OpenGL object in the scene:
                // --------------------------------------------------------
                mrpt::gui::CDisplayWindow3D win3D("OpenNI2 3D view", 800, 600);
 
                win3D.setCameraAzimuthDeg(140);
                win3D.setCameraElevationDeg(20);
                win3D.setCameraZoom(8.0);
                win3D.setFOV(90);
                win3D.setCameraPointingToPoint(2.5, 0, 0);
 
                mrpt::opengl::CPointCloudColoured::Ptr gl_points =
                        mrpt::make_aligned_shared<mrpt::opengl::CPointCloudColoured>();
                gl_points->setPointSize(2.5);
 
                // The 2D "laser scan" OpenGL object:
                mrpt::opengl::CPlanarLaserScan::Ptr gl_2d_scan =
                        mrpt::make_aligned_shared<mrpt::opengl::CPlanarLaserScan>();
                gl_2d_scan->enablePoints(true);
                gl_2d_scan->enableLine(true);
                gl_2d_scan->enableSurface(true);
                gl_2d_scan->setSurfaceColor(0, 0, 1, 0.3);  // RGBA
 
                opengl::COpenGLViewport::Ptr
                        viewInt;  // Extra viewports for the RGB images.
                {
                        mrpt::opengl::COpenGLScene::Ptr& scene = win3D.get3DSceneAndLock();
 
                        // Create the Opengl object for the point cloud:
                        scene->insert(gl_points);
                        scene->insert(
                                mrpt::make_aligned_shared<mrpt::opengl::CGridPlaneXY>());
                        scene->insert(mrpt::opengl::stock_objects::CornerXYZ());
                        scene->insert(gl_2d_scan);
 
                        const double aspect_ratio = 480.0 / 640.0;
                        const int VW_WIDTH =
                                400;  // Size of the viewport into the window, in pixel units.
                        const int VW_HEIGHT = aspect_ratio * VW_WIDTH;
 
                        // Create an extra opengl viewport for the RGB image:
                        viewInt = scene->createViewport("view2d_int");
                        viewInt->setViewportPosition(5, 30, VW_WIDTH, VW_HEIGHT);
                        win3D.addTextMessage(
                                10, 30 + VW_HEIGHT + 10, "Intensity data", TColorf(1, 1, 1), 2,
                                MRPT_GLUT_BITMAP_HELVETICA_12);
 
                        win3D.addTextMessage(
                                5, 5, format("'o'/'i'-zoom out/in, ESC: quit"),
                                TColorf(0, 0, 1), 110, MRPT_GLUT_BITMAP_HELVETICA_18);
 
                        win3D.unlockAccess3DScene();
                        win3D.repaint();
                }
 
                //                                                      Grab frames continuously and show
                //========================================================================================
 
                bool bObs = false, bError = true;
                mrpt::system::TTimeStamp last_obs_tim = INVALID_TIMESTAMP;
 
                while (!win3D.keyHit())  // Push any key to exit // win3D.isOpen()
                {
                        //    cout << "Get new observation\n";
                        CObservation3DRangeScan::Ptr newObs =
                                mrpt::make_aligned_shared<CObservation3DRangeScan>();
                        rgbd_sensor.getNextObservation(*newObs, bObs, bError);
 
                        CObservation2DRangeScan::Ptr obs_2d;  // The equivalent 2D scan
 
                        if (bObs && !bError && newObs &&
                                newObs->timestamp != INVALID_TIMESTAMP &&
                                newObs->timestamp != last_obs_tim)
                        {
                                // It IS a new observation:
                                last_obs_tim = newObs->timestamp;
 
                                // Convert ranges to an equivalent 2D "fake laser" scan:
                                if (newObs->hasRangeImage)
                                {
                                        // Convert to scan:
                                        obs_2d =
                                                mrpt::make_aligned_shared<CObservation2DRangeScan>();
 
                                        T3DPointsTo2DScanParams p2s;
                                        p2s.angle_sup = .5f * vert_FOV;
                                        p2s.angle_inf = .5f * vert_FOV;
                                        p2s.sensorLabel = "KINECT_2D_SCAN";
                                        newObs->convertTo2DScan(*obs_2d, p2s);
                                }
 
                                // Update visualization ---------------------------------------
 
                                win3D.get3DSceneAndLock();
 
                                // Estimated grabbing rate:
                                win3D.addTextMessage(
                                        -350, -13,
                                        format(
                                                "Timestamp: %s",
                                                mrpt::system::dateTimeLocalToString(last_obs_tim)
                                                        .c_str()),
                                        TColorf(0.6, 0.6, 0.6), "mono", 10, mrpt::opengl::FILL,
                                        100);
 
                                // Show intensity image:
                                if (newObs->hasIntensityImage)
                                {
                                        viewInt->setImageView(
                                                newObs->intensityImage);  // This is not "_fast" since
                                        // the intensity image may be
                                        // needed later on.
                                }
                                win3D.unlockAccess3DScene();
 
                                // -------------------------------------------------------
                                //           Create 3D points from RGB+D data
                                //
                                // There are several methods to do this.
                                //  Switch the #if's to select among the options:
                                // See also:
                                // http://www.mrpt.org/Generating_3D_point_clouds_from_RGB_D_observations
                                // -------------------------------------------------------
                                if (newObs->hasRangeImage)
                                {
                                        // Pathway: RGB+D --> XYZ+RGB opengl
                                        win3D.get3DSceneAndLock();
                                        mrpt::obs::T3DPointsProjectionParams pp;
                                        pp.takeIntoAccountSensorPoseOnRobot = false;
                                        newObs->project3DPointsFromDepthImageInto(
                                                *gl_points, pp /* without obs.sensorPose */);
                                        win3D.unlockAccess3DScene();
                                }
 
                                // And load scan in the OpenGL object:
                                gl_2d_scan->setScan(*obs_2d);
 
                                win3D.repaint();
                        }  // end update visualization:
                }
 
                cout << "\nClosing RGBD sensor...\n";
 
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}