COpenNI2Generic.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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_COpenNI2Generic_H
#define mrpt_COpenNI2Generic_H

#include <mrpt/obs/CObservation3DRangeScan.h>

#include <mrpt/hwdrivers/link_pragmas.h>


namespace mrpt
{
        namespace hwdrivers
        {
                /** An abstract class for accessing OpenNI2 compatible sensors.
                  * This class permits to access several sensors simultaneously. The same options (resolution, fps, etc.) are used for every sensor.
                  *
                  *  More references to read:
                  *             - http://http://www.openni.org/
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP  COpenNI2Generic
                {
                public:
                        COpenNI2Generic();       //!< Default ctor (width=640, height=480, fps=30)
                        COpenNI2Generic(int width, int height, float fps = 30.0f, bool open_streams_now = true); //!< Ctor. \sa start()

                        ~COpenNI2Generic();      //!< Default ctor

                        /** The main data retrieving function, to be called after calling loadConfig() and initialize().
                          *  \param out_img The output retrieved RGB image (only if there_is_obs=true).
                          *  \param timestamp The timestamp of the capture (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.
                          *  \param sensor_id The index of the sensor accessed.  */
                        void getNextFrameRGB(
                                mrpt::utils::CImage &rgb_img,
                                uint64_t &timestamp,
                                bool &there_is_obs,
                                bool &hardware_error ,
                                unsigned sensor_id = 0);

                        /** The main data retrieving function, to be called after calling loadConfig() and initialize().
                          *  \param depth_img The output retrieved depth image (only if there_is_obs=true).
                          *  \param timestamp The timestamp of the capture (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.
                          *  \param sensor_id The index of the sensor accessed. */
                        void getNextFrameD(
                                mrpt::math::CMatrix &depth_img,
                                uint64_t &timestamp,
                                bool &there_is_obs,
                                bool &hardware_error ,
                                unsigned sensor_id = 0);

                        /** 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.
                          *  \param sensor_id The index of the sensor accessed.
                          *
                          * \sa doProcess
                          */
                        void getNextFrameRGBD(
                                mrpt::obs::CObservation3DRangeScan &out_obs,
                                bool &there_is_obs,
                                bool &hardware_error ,
                                unsigned sensor_id = 0);

                        /** @name Open/Close device methods
                            @{ */
                        /** Try to open the camera (all the parameters [resolution,fps,...] must be set before calling this) - users may also call initialize(), which in turn calls this method.
                          *  Raises an exception upon error.
                          * \exception std::exception A textual description of the error.
                          */
                        void open(unsigned sensor_id = 0);

                        /** Open a set of RGBD devices specified by their serial number. Raises an exception when the demanded serial numbers
                        *  are not among the connected devices. This function also fills a vector with the serial numbers of the connected
                        *  OpenNI2 sensors (this requires openning the sensors which are still closed to read their serial)
                        */
                        unsigned int openDevicesBySerialNum(const std::set<unsigned>& vSerialRequired);

                        /** Open a RGBD device specified by its serial number. This method is a wrapper for
                        *  openDevicesBySerialNum(const std::set<unsigned>& vSerialRequired)
                        *  This method requires to open the sensors which are still closed to read their serial.
                        */
                        unsigned int openDeviceBySerial(const unsigned int SerialRequired);

                        bool getDeviceIDFromSerialNum(const unsigned int SerialRequired, int& sensor_id) const; //!< Get the ID of the device corresponding to 'SerialRequired'.
                        bool start(); //!< Open all sensor streams (normally called automatically at constructor, no need to call it manually). \return false on error \sa kill() to close
                        void kill(); //!< Kill the OpenNI2 driver \sa start()
                        bool isOpen(const unsigned sensor_id) const; //!< Whether there is a working connection to the sensor
                        void close(unsigned sensor_id = 0); //!< Close the connection to the sensor (no need to call it manually unless desired for some reason, since it's called at destructor
                        int getNumDevices()const; //!< The number of available devices at initialization
                        int getConnectedDevices(); //!< Get a list of the connected OpenNI2 sensors.

                        /** @} */

                        void setVerbose(bool verbose);
                        bool isVerbose() const;

                        bool  getColorSensorParam(mrpt::utils::TCamera& param, unsigned sensor_id = 0) const;
                        bool  getDepthSensorParam(mrpt::utils::TCamera& param, unsigned sensor_id = 0) const;

                protected:

                        /** The list of available devices */
                        class HWDRIVERS_IMPEXP CDevice;
                        static std::vector<stlplus::smart_ptr<CDevice> > vDevices;
                        static int                        numInstances;

                        /** A vector with the serial numbers of the available devices */
                        std::vector<int>        vSerialNums;

                        /** The same options (width, height and fps) are set for all the sensors. (This could be changed if necessary) */
                        int   m_width, m_height;
                        float m_fps;
                        int   m_rgb_format, m_depth_format;
                        bool  m_verbose;
                        void  showLog(const std::string& message)const;
                        /** The data that the RGBD sensors can return */
                        bool  m_grab_image, m_grab_depth, m_grab_3D_points ; //!< Default: all true
                };      // End of class
        } // End of NS
} // End of NS
#endif