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COpenNI2_RGBD360.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef mrpt_OPENNI2_RGBD360_H
10 #define mrpt_OPENNI2_RGBD360_H
11 
15 #include <mrpt/utils/TEnumType.h>
17 
19 
20 
21 namespace mrpt
22 {
23  namespace hwdrivers
24  {
25  /** A class for grabing RGBD images from several OpenNI2 sensors. This is used to obtain larger fields of view using a radial configuration of the sensors.
26  * The same options (resolution, fps, etc.) are used for every sensor.
27  *
28  * <h2>Configuration and usage:</h2> <hr>
29  * Data is returned as observations of type mrpt::obs::CObservationRGBD360.
30  * See those classes for documentation on their fields.
31  *
32  * As with any other CGenericSensor class, the normal sequence of methods to be called is:
33  * - CGenericSensor::loadConfig() - Or calls to the individual setXXX() to configure the sensor parameters.
34  * - COpenNI2_RGBD360::initialize() - to start the communication with the sensor.
35  * - call COpenNI2_RGBD360::getNextObservation() for getting the data.
36  *
37  * <h2>Calibration parameters</h2><hr>
38  * The reference system for both depth and RGB images provided by each individual OpenNI2 sensors are referred to the
39  * RGB Camera.
40  * The extrinsic parameters of each RGBD sensor are provided from a configuration file. This calibration was obtained
41  * using the method reported in [].
42  *
43  * <h2>Coordinates convention</h2><hr>
44  * The origin of coordinates is the focal point of the RGB camera of the first indexed sensor, with the axes oriented
45  * as in the diagram shown in mrpt::obs::CObservation3DRangeScan. Notice in that picture that the RGB camera is
46  * assumed to have axes as usual in computer vision, which differ from those for the depth camera.
47  *
48  * The X,Y,Z axes used to report the data from accelerometers coincide with those of the depth camera
49  * (e.g. the camera standing on a table would have an ACC_Z=-9.8m/s2).
50  *
51  * Notice however that, for consistency with stereo cameras, when loading the calibration parameters from
52  * a configuration file, the left-to-right pose increment is expected as if both RGB & IR cameras had
53  * their +Z axes pointing forward, +X to the right, +Y downwards (just like it's the standard in stereo cameras
54  * and in computer vision literature). In other words: the pose stored in this class uses a different
55  * axes convention for the depth camera than in a stereo camera, so when a pose L2R is loaded from a calibration file
56  * it's actually converted like:
57  *
58  * L2R(this class convention) = CPose3D(0,0,0,-90deg,0deg,-90deg) (+) L2R(in the config file)
59  *
60  *
61  * <h2>Some general comments</h2><hr>
62  * - Depth is grabbed in 10bit depth, and a range N it's converted to meters as: range(m) = 0.1236 * tan(N/2842.5 + 1.1863)
63  * - This sensor can be also used from within rawlog-grabber to grab datasets within a robot with more sensors.
64  * - There is no built-in threading support, so if you use this class manually (not with-in rawlog-grabber),
65  * the ideal would be to create a thread and continuously request data from that thread (see mrpt::system::createThread ).
66  * - The intensity channel default to the RGB images, but it can be changed with setVideoChannel() to read the IR camera images (useful for calibrating).
67  * - 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.
68  * - 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!
69  *
70  * <h2>Converting to 3D point cloud </h2><hr>
71  * You can convert the 3D observation into a 3D point cloud with this piece of code:
72  *
73  * \code
74  * mrpt::obs::CObservationRGBD360 obs3D;
75  * mrpt::maps::CColouredPointsMap pntsMap;
76  * pntsMap.colorScheme.scheme = CColouredPointsMap::cmFromIntensityImage;
77  * pntsMap.loadFromRangeScan(obs3D);
78  * \endcode
79  *
80  * Then the point cloud mrpt::maps::CColouredPointsMap can be converted into an OpenGL object for
81  * rendering with mrpt::maps::CMetricMap::getAs3DObject() or alternatively with:
82  *
83  * \code
84  * mrpt::opengl::CPointCloudColouredPtr gl_points = mrpt::opengl::CPointCloudColoured::Create();
85  * gl_points->loadFromPointsMap(&pntsMap);
86  * \endcode
87  *
88  *
89  * <h2>Platform-specific comments</h2><hr>
90  * For more details, refer to <a href="http://openkinect.org/wiki/Main_Page" >libfreenect</a> documentation:
91  * - 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.
92  * - Windows:
93  * - 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
94  * - To install the drivers, read this: http://openkinect.org/wiki/Getting_Started#Windows
95  * - MacOS: (write me!)
96  *
97  *
98  * <h2>Format of parameters for loading from a .ini file</h2><hr>
99  *
100  * \code
101  * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
102  * -------------------------------------------------------
103  * [supplied_section_name]
104  * sensorLabel = RGBD360 // A text description
105  * preview_window = false // Show a window with a preview of the grabbed data in real-time
106  *
107  * device_number = 0 // Device index to open (0:first Kinect, 1:second Kinect,...)
108  *
109  * grab_image = true // Grab the RGB image channel? (Default=true)
110  * grab_depth = true // Grab the depth channel? (Default=true)
111  * grab_3D_points = true // Grab the 3D point cloud? (Default=true) If disabled, points can be generated later on.
112  *
113  * video_channel = VIDEO_CHANNEL_RGB // Optional. Can be: VIDEO_CHANNEL_RGB (default) or VIDEO_CHANNEL_IR
114  *
115  * pose_x=0 // Camera position in the robot (meters)
116  * pose_y=0
117  * pose_z=0
118  * pose_yaw=0 // Angles in degrees
119  * pose_pitch=0
120  * pose_roll=0
121  *
122  *
123  * // Left/Depth camera
124  * [supplied_section_name_LEFT]
125  * rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
126  *
127  * resolution = [640 488]
128  * cx = 314.649173
129  * cy = 240.160459
130  * fx = 572.882768
131  * fy = 542.739980
132  * dist = [-4.747169e-03 -4.357976e-03 0.000000e+00 0.000000e+00 0.000000e+00] // The order is: [K1 K2 T1 T2 K3]
133  *
134  * // Right/RGB camera
135  * [supplied_section_name_RIGHT]
136  * rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
137  *
138  * resolution = [640 480]
139  * cx = 322.515987
140  * cy = 259.055966
141  * fx = 521.179233
142  * fy = 493.033034
143  * dist = [5.858325e-02 3.856792e-02 0.000000e+00 0.000000e+00 0.000000e+00] // The order is: [K1 K2 T1 T2 K3]
144  *
145  * // Relative pose of the right camera wrt to the left camera:
146  * // This assumes that both camera frames are such that +Z points
147  * // forwards, and +X and +Y to the right and downwards.
148  * // For the actual coordinates employed in 3D observations, see figure in mrpt::obs::CObservation3DRangeScan
149  * [supplied_section_name_LEFT2RIGHT_POSE]
150  * rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
151  *
152  * pose_quaternion = [0.025575 -0.000609 -0.001462 0.999987 0.002038 0.004335 -0.001693]
153  *
154  * \endcode
155  *
156  * More references to read:
157  * - http://RGBD360
158  * - http://http://www.openni.org/
159  * \ingroup mrpt_hwdrivers_grp
160  */
162  {
164 
165  public:
166 
167  COpenNI2_RGBD360(); //!< Default ctor
168  ~COpenNI2_RGBD360(); //!< Default ctor
169 
170  /** Initializes the 3D camera - should be invoked after calling loadConfig() or setting the different parameters with the set*() methods.
171  * \exception This method must throw an exception with a descriptive message if some critical error is found.
172  */
173  virtual void initialize();
174 
175  /** To be called at a high rate (>XX Hz), this method populates the internal buffer of received observations.
176  * This method is mainly intended for usage within rawlog-grabber or similar programs.
177  * For an alternative, see getNextObservation()
178  * \exception This method must throw an exception with a descriptive message if some critical error is found.
179  * \sa getNextObservation
180  */
181  virtual void doProcess();
182 
183  /** The main data retrieving function, to be called after calling loadConfig() and initialize().
184  * \param out_obs The output retrieved observation (only if there_is_obs=true).
185  * \param there_is_obs If set to false, there was no new observation.
186  * \param hardware_error True on hardware/comms error.
187  *
188  * \sa doProcess
189  */
190  void getNextObservation(
192  bool &there_is_obs,
193  bool &hardware_error );
194 
195  /** Set the path where to save off-rawlog image files (this class DOES take into account this path).
196  * An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.
197  * \exception std::exception If the directory doesn't exists and cannot be created.
198  */
199  virtual void setPathForExternalImages( const std::string &directory );
200 
201 
202  /** @name Sensor parameters (alternative to \a loadConfig ) and manual control
203  @{ */
204 
205  /** Get the maximum range (meters) that can be read in the observation field "rangeImage" */
206  inline double getMaxRange() const { return m_maxRange; }
207 
208  /** Enable/disable the grabbing of the RGB channel */
209  inline void enableGrabRGB(bool enable=true) { m_grab_rgb=enable; }
210  inline bool isGrabRGBEnabled() const { return m_grab_rgb; }
211 
212  /** Enable/disable the grabbing of the depth channel */
213  inline void enableGrabDepth(bool enable=true) { m_grab_depth=enable; }
214  inline bool isGrabDepthEnabled() const { return m_grab_depth; }
215 
216  /** Enable/disable the grabbing of the 3D point clouds */
217  inline void enableGrab3DPoints(bool enable=true) { m_grab_3D_points=enable; }
218  inline bool isGrab3DPointsEnabled() const { return m_grab_3D_points; }
219 
220  /** @} */
221 
222  protected:
223 
224  virtual void loadConfig_sensorSpecific(
225  const mrpt::utils::CConfigFileBase &configSource,
226  const std::string &section );
227 
229 
230  static const int NUM_SENSORS = 2;
231 
232  bool m_preview_window; //!< Show preview window while grabbing
233  size_t m_preview_window_decimation; //!< If preview is enabled, only show 1 out of N images.
234  size_t m_preview_decim_counter_range, m_preview_decim_counter_rgb;
235  mrpt::gui::CDisplayWindowPtr m_win_range[NUM_SENSORS], m_win_int[NUM_SENSORS];
236 
237  double m_maxRange; //!< Sensor max range (meters)
238 
239  bool m_grab_rgb, m_grab_depth, m_grab_3D_points ; //!< Default: all true
240 
241  }; // End of class
242  } // End of NS
243 
244 } // End of NS
245 
246 
247 #endif
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from...
void enableGrab3DPoints(bool enable=true)
Enable/disable the grabbing of the 3D point clouds.
void enableGrabRGB(bool enable=true)
Enable/disable the grabbing of the RGB channel.
size_t m_preview_window_decimation
If preview is enabled, only show 1 out of N images.
This class allows loading and storing values and vectors of different types from a configuration text...
A class for grabing RGBD images from several OpenNI2 sensors.
void enableGrabDepth(bool enable=true)
Enable/disable the grabbing of the depth channel.
An abstract class for accessing OpenNI2 compatible sensors.
double getMaxRange() const
Get the maximum range (meters) that can be read in the observation field "rangeImage".
GLsizei const GLchar ** string
Definition: glext.h:3919
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
mrpt::poses::CPose3D m_sensorPoseOnRobot
bool m_preview_window
Show preview window while grabbing.
double m_maxRange
Sensor max range (meters)



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