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COpenNI2Sensor.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_COpenNI2Sensor_H
10 #define mrpt_COpenNI2Sensor_H
11 
14 #include <mrpt/utils/TEnumType.h>
16 
18 
19 
20 namespace mrpt
21 {
22  namespace hwdrivers
23  {
24  /** A class for grabing "range images", intensity images (either RGB or IR) and other information from an OpenNI2 sensor.
25  * This class permits to access several sensors simultaneously. The same options (resolution, fps, etc.) are used for every sensor.
26  *
27  * <h2>Configuration and usage:</h2> <hr>
28  * Data is returned as observations of type mrpt::obs::CObservation3DRangeScan.
29  * See those classes for documentation on their fields.
30  *
31  * As with any other CGenericSensor class, the normal sequence of methods to be called is:
32  * - CGenericSensor::loadConfig() - Or calls to the individual setXXX() to configure the sensor parameters.
33  * - COpenNI2Sensor::initialize() - to start the communication with the sensor.
34  * - call COpenNI2Sensor::getNextObservation() for getting the data.
35  *
36  * <h2>Calibration parameters</h2><hr>
37  * In this class we employ the OpenNI2 method to return depth images refered to the RGB camera. Otherwise we could specify
38  * an accurate transformation of depth images to 3D points, you'll have to calibrate your RGBD sensor for that, and supply
39  * the following <b>threee pieces of information</b> (default calibration data will be used otherwise, but they'll be not optimal for all sensors!):
40  * - Camera parameters for the RGB camera. See COpenNI2Sensor::setCameraParamsIntensity()
41  * - Camera parameters for the depth camera. See COpenNI2Sensor::setCameraParamsDepth()
42  * - The 3D relative pose of the two cameras. See COpenNI2Sensor::setRelativePoseIntensityWrtDepth()
43  *
44  * See http://www.mrpt.org/Kinect_calibration for a procedure to calibrate RGBD sensors with an interactive GUI program.
45  *
46  * <h2>Coordinates convention</h2><hr>
47  * The origin of coordinates is the focal point of the depth camera, with the axes oriented as in the
48  * diagram shown in mrpt::obs::CObservation3DRangeScan. Notice in that picture that the RGB camera is
49  * assumed to have axes as usual in computer vision, which differ from those for the depth camera.
50  *
51  * The X,Y,Z axes used to report the data from accelerometers coincide with those of the depth camera
52  * (e.g. the camera standing on a table would have an ACC_Z=-9.8m/s2).
53  *
54  * Notice however that, for consistency with stereo cameras, when loading the calibration parameters from
55  * a configuration file, the left-to-right pose increment is expected as if both RGB & IR cameras had
56  * their +Z axes pointing forward, +X to the right, +Y downwards (just like it's the standard in stereo cameras
57  * and in computer vision literature). In other words: the pose stored in this class uses a different
58  * axes convention for the depth camera than in a stereo camera, so when a pose L2R is loaded from a calibration file
59  * it's actually converted like:
60  *
61  * L2R(this class convention) = CPose3D(0,0,0,-90deg,0deg,-90deg) (+) L2R(in the config file)
62  *
63  *
64  * <h2>Some general comments</h2><hr>
65  * - Depth is grabbed in millimeters
66  * - This sensor can be also used from within rawlog-grabber to grab datasets within a robot with more sensors.
67  * - There is no built-in threading support, so if you use this class manually (not with-in rawlog-grabber),
68  * the ideal would be to create a thread and continuously request data from that thread (see mrpt::system::createThread ).
69  * - The intensity channel default to the RGB images, but it can be changed with setVideoChannel() to read the IR camera images (useful for calibrating).
70  * - 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.
71  * - 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!
72  *
73  * <h2>Converting to 3D point cloud </h2><hr>
74  * You can convert the 3D observation into a 3D point cloud with this piece of code:
75  *
76  * \code
77  * mrpt::obs::CObservation3DRangeScan obs3D;
78  * mrpt::maps::CColouredPointsMap pntsMap;
79  * pntsMap.colorScheme.scheme = CColouredPointsMap::cmFromIntensityImage;
80  * pntsMap.loadFromRangeScan(obs3D);
81  * \endcode
82  *
83  * Then the point cloud mrpt::maps::CColouredPointsMap can be converted into an OpenGL object for
84  * rendering with mrpt::maps::CMetricMap::getAs3DObject() or alternatively with:
85  *
86  * \code
87  * mrpt::opengl::CPointCloudColouredPtr gl_points = mrpt::opengl::CPointCloudColoured::Create();
88  * gl_points->loadFromPointsMap(&pntsMap);
89  * \endcode
90  *
91  *
92  * <h2>Platform-specific comments</h2><hr>
93  * For more details, refer to <a href="http://openkinect.org/wiki/Main_Page" >libfreenect</a> documentation:
94  * - 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.
95  * - Windows:
96  * - 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
97  * - To install the drivers, read this: http://openkinect.org/wiki/Getting_Started#Windows
98  * - MacOS: (write me!)
99  *
100  *
101  * <h2>Format of parameters for loading from a .ini file</h2><hr>
102  *
103  * \code
104  * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
105  * -------------------------------------------------------
106  * [supplied_section_name]
107  * sensorLabel = OPENNI2 // A text description
108  * preview_window = false // Show a window with a preview of the grabbed data in real-time
109  *
110  * device_number = 0 // Device index to open (0:first Kinect, 1:second Kinect,...)
111  *
112  * grab_image = true // Grab the RGB image channel? (Default=true)
113  * grab_depth = true // Grab the depth channel? (Default=true)
114  * grab_3D_points = true // Grab the 3D point cloud? (Default=true) If disabled, points can be generated later on.
115  *
116  * video_channel = VIDEO_CHANNEL_RGB // Optional. Can be: VIDEO_CHANNEL_RGB (default) or VIDEO_CHANNEL_IR
117  *
118  * pose_x=0 // Camera position in the robot (meters)
119  * pose_y=0
120  * pose_z=0
121  * pose_yaw=0 // Angles in degrees
122  * pose_pitch=0
123  * pose_roll=0
124  *
125  *
126  * // Kinect sensor calibration:
127  * // See http://www.mrpt.org/Kinect_and_MRPT
128  *
129  * // Left/Depth camera
130  * [supplied_section_name_LEFT]
131  * rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
132  *
133  * resolution = [640 488]
134  * cx = 314.649173
135  * cy = 240.160459
136  * fx = 572.882768
137  * fy = 542.739980
138  * dist = [-4.747169e-03 -4.357976e-03 0.000000e+00 0.000000e+00 0.000000e+00] // The order is: [K1 K2 T1 T2 K3]
139  *
140  * // Right/RGB camera
141  * [supplied_section_name_RIGHT]
142  * rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
143  *
144  * resolution = [640 480]
145  * cx = 322.515987
146  * cy = 259.055966
147  * fx = 521.179233
148  * fy = 493.033034
149  * dist = [5.858325e-02 3.856792e-02 0.000000e+00 0.000000e+00 0.000000e+00] // The order is: [K1 K2 T1 T2 K3]
150  *
151  * // Relative pose of the right camera wrt to the left camera:
152  * // This assumes that both camera frames are such that +Z points
153  * // forwards, and +X and +Y to the right and downwards.
154  * // For the actual coordinates employed in 3D observations, see figure in mrpt::obs::CObservation3DRangeScan
155  * [supplied_section_name_LEFT2RIGHT_POSE]
156  * rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
157  *
158  * pose_quaternion = [0.025575 -0.000609 -0.001462 0.999987 0.002038 0.004335 -0.001693]
159  *
160  * \endcode
161  *
162  * More references to read:IMPEXP mrpt
163  * - http://http://www.openni.org/
164  * \ingroup mrpt_hwdrivers_grp
165  */
167  {
169 
170  public:
171 
172  COpenNI2Sensor(); //!< Default ctor
173  ~COpenNI2Sensor(); //!< Default ctor
174 
175  /** Set the serial number of the device to open.
176  * \exception This method must throw an exception when such serial number is not found among the connected devices.
177  */
178  inline void setSerialToOpen(const unsigned serial) { m_serial_number = serial; }
179 
180  /** Set the sensor_id of the device to open.
181  * \exception This method must throw an exception when such serial number is not found among the connected devices.
182  */
183  inline void setSensorIDToOpen(const unsigned sensor_id) { m_user_device_number = sensor_id; }
184 
185  /** Initializes the 3D camera - should be invoked after calling loadConfig() or setting the different parameters with the set*() methods.
186  * \exception This method must throw an exception with a descriptive message if some critical error is found.
187  */
188  virtual void initialize();
189 
190  /** To be called at a high rate (>XX Hz), this method populates the internal buffer of received observations.
191  * This method is mainly intended for usage within rawlog-grabber or similar programs.
192  * For an alternative, see getNextObservation()
193  * \exception This method must throw an exception with a descriptive message if some critical error is found.
194  * \sa getNextObservation
195  */
196  virtual void doProcess();
197 
198  /** The main data retrieving function, to be called after calling loadConfig() and initialize().
199  * \param out_obs The output retrieved observation (only if there_is_obs=true).
200  * \param there_is_obs If set to false, there was no new observation.
201  * \param hardware_error True on hardware/comms error.
202  *
203  * \sa doProcess
204  */
205  void getNextObservation(
207  bool &there_is_obs,
208  bool &hardware_error);
209 
210  /** Set the path where to save off-rawlog image files (this class DOES take into account this path).
211  * An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.
212  * \exception std::exception If the directory doesn't exists and cannot be created.
213  */
214  virtual void setPathForExternalImages( const std::string &directory );
215 
216 
217  /** @name Sensor parameters (alternative to \a loadConfig ) and manual control
218  @{ */
219 
220  /** Get the maximum range (meters) that can be read in the observation field "rangeImage" */
221  inline double getMaxRange() const { return m_maxRange; }
222 
223  /** Get the row count in the camera images, loaded automatically upon camera open(). */
224  inline size_t getRowCount() const { return m_cameraParamsRGB.nrows; }
225  /** Get the col count in the camera images, loaded automatically upon camera open(). */
226  inline size_t getColCount() const { return m_cameraParamsRGB.ncols; }
227 
228  /** Get a const reference to the depth camera calibration parameters */
229  inline const mrpt::utils::TCamera & getCameraParamsIntensity() const { return m_cameraParamsRGB; }
230  inline void setCameraParamsIntensity(const mrpt::utils::TCamera &p) { m_cameraParamsRGB=p; }
231 
232  /** Get a const reference to the depth camera calibration parameters */
233  inline const mrpt::utils::TCamera & getCameraParamsDepth() const { return m_cameraParamsDepth; }
234  inline void setCameraParamsDepth(const mrpt::utils::TCamera &p) { m_cameraParamsDepth=p; }
235 
236  /** Set the pose of the intensity camera wrt the depth camera \sa See mrpt::obs::CObservation3DRangeScan for a 3D diagram of this pose */
237  inline void setRelativePoseIntensityWrtDepth(const mrpt::poses::CPose3D &p) { m_relativePoseIntensityWRTDepth=p; }
238  inline const mrpt::poses::CPose3D &getRelativePoseIntensityWrtDepth() const { return m_relativePoseIntensityWRTDepth; }
239 
240  /** Enable/disable the grabbing of the RGB channel */
241  inline void enableGrabRGB(bool enable=true) { m_grab_image=enable; }
242  inline bool isGrabRGBEnabled() const { return m_grab_image; }
243 
244  /** Enable/disable the grabbing of the depth channel */
245  inline void enableGrabDepth(bool enable=true) { m_grab_depth=enable; }
246  inline bool isGrabDepthEnabled() const { return m_grab_depth; }
247 
248  /** Enable/disable the grabbing of the 3D point clouds */
249  inline void enableGrab3DPoints(bool enable=true) { m_grab_3D_points=enable; }
250  inline bool isGrab3DPointsEnabled() const { return m_grab_3D_points; }
251 
252  /** @} */
253 
254  protected:
255 
256  virtual void loadConfig_sensorSpecific(
257  const mrpt::utils::CConfigFileBase &configSource,
258  const std::string &section );
259 
261 
262  bool m_preview_window; //!< Show preview window while grabbing
263  size_t m_preview_window_decimation; //!< If preview is enabled, only show 1 out of N images.
264  size_t m_preview_decim_counter_range, m_preview_decim_counter_rgb;
265  mrpt::gui::CDisplayWindowPtr m_win_range, m_win_int;
266 
267  mrpt::utils::TCamera m_cameraParamsRGB; //!< Params for the RGB camera
268  mrpt::utils::TCamera m_cameraParamsDepth; //!< Params for the Depth camera
269  mrpt::poses::CPose3D m_relativePoseIntensityWRTDepth; //!< See mrpt::obs::CObservation3DRangeScan for a diagram of this pose
270 
271  double m_maxRange; //!< Sensor max range (meters)
272 
273  int m_user_device_number; //!< Number of device to open (0:first,...)
274  int m_serial_number; //!< Serial number of device to open
275 
276  }; // End of class
277  } // End of NS
278 
279 } // End of NS
280 
281 
282 
283 #endif
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
void setCameraParamsDepth(const mrpt::utils::TCamera &p)
size_t getColCount() const
Get the col count in the camera images, loaded automatically upon camera open().
mrpt::utils::TCamera m_cameraParamsDepth
Params for the Depth camera.
const mrpt::utils::TCamera & getCameraParamsIntensity() const
Get a const reference to the depth camera calibration parameters.
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
A class for grabing "range images", intensity images (either RGB or IR) and other information from an...
This class allows loading and storing values and vectors of different types from a configuration text...
mrpt::utils::TCamera m_cameraParamsRGB
Params for the RGB camera.
const mrpt::poses::CPose3D & getRelativePoseIntensityWrtDepth() const
int m_serial_number
Serial number of device to open.
void setSerialToOpen(const unsigned serial)
Set the serial number of the device to open.
size_t getRowCount() const
Get the row count in the camera images, loaded automatically upon camera open().
An abstract class for accessing OpenNI2 compatible sensors.
void enableGrab3DPoints(bool enable=true)
Enable/disable the grabbing of the 3D point clouds.
mrpt::poses::CPose3D m_sensorPoseOnRobot
mrpt::gui::CDisplayWindowPtr m_win_range
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
void enableGrabRGB(bool enable=true)
Enable/disable the grabbing of the RGB channel.
void setSensorIDToOpen(const unsigned sensor_id)
Set the sensor_id of the device to open.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
mrpt::poses::CPose3D m_relativePoseIntensityWRTDepth
See mrpt::obs::CObservation3DRangeScan for a diagram of this pose.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
double m_maxRange
Sensor max range (meters)
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
int m_user_device_number
Number of device to open (0:first,...)
void enableGrabDepth(bool enable=true)
Enable/disable the grabbing of the depth channel.
size_t m_preview_window_decimation
If preview is enabled, only show 1 out of N images.
bool m_preview_window
Show preview window while grabbing.
void setRelativePoseIntensityWrtDepth(const mrpt::poses::CPose3D &p)
Set the pose of the intensity camera wrt the depth camera.
const mrpt::utils::TCamera & getCameraParamsDepth() const
Get a const reference to the depth camera calibration parameters.
GLfloat GLfloat p
Definition: glext.h:5587
void setCameraParamsIntensity(const mrpt::utils::TCamera &p)
Structure to hold the parameters of a pinhole camera model.
Definition: TCamera.h:31



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