MRPT  2.0.0
CCameraSensor.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include "hwdrivers-precomp.h" // Precompiled headers
11 
12 #include <mrpt/config/CConfigFile.h>
13 #include <mrpt/config/CConfigFileMemory.h>
14 #include <mrpt/config/CConfigFilePrefixer.h>
15 #include <mrpt/gui/WxSubsystem.h>
16 #include <mrpt/gui/WxUtils.h>
17 #include <mrpt/hwdrivers/CCameraSensor.h>
18 #include <mrpt/obs/CObservationImage.h>
19 #include <mrpt/obs/CObservationStereoImages.h>
20 #include <mrpt/obs/CRawlog.h>
21 #include <mrpt/obs/CSensoryFrame.h>
22 #include <mrpt/serialization/CArchive.h>
23 #include <mrpt/system/filesystem.h>
24 #include <mrpt/system/os.h>
25 #include <mrpt/system/string_utils.h>
26 
27 #include <memory>
28 
29 using namespace mrpt;
30 using namespace mrpt::hwdrivers;
31 using namespace mrpt::gui;
32 using namespace mrpt::obs;
33 using namespace mrpt::config;
34 using namespace mrpt::system;
35 using namespace mrpt::io;
36 using namespace mrpt::serialization;
37 using namespace mrpt::img;
38 using namespace std;
39 using namespace std::literals;
40 
41 IMPLEMENTS_GENERIC_SENSOR(CCameraSensor, mrpt::hwdrivers)
42 
43 /* -----------------------------------------------------
44  Constructor
45  ----------------------------------------------------- */
46 CCameraSensor::CCameraSensor()
47  : mrpt::system::COutputLogger("CCameraSensor"),
48  m_sensorPose(),
49  m_grabber_type("opencv"),
50 
51  m_cv_camera_type("CAMERA_CV_AUTODETECT"),
52  m_cv_options(),
53 
54  m_dc1394_options(),
55 
56  m_svs_options(),
57 
58  // ---
59  m_img_dir_url(""),
60  m_img_dir_left_format("imL_%04d.jpg"),
61  m_img_dir_right_format("imR_%04d.jpg"),
62 
63  m_external_image_saver_count(std::thread::hardware_concurrency()),
64 
65  m_hook_pre_save(nullptr)
66 
67 {
68  m_sensorLabel = "CAMERA";
69  m_state = CGenericSensor::ssInitializing;
70 }
71 
72 /* -----------------------------------------------------
73  initialize
74  ----------------------------------------------------- */
75 void CCameraSensor::initialize()
76 {
77  cout << "[CCameraSensor::initialize] Opening camera..." << endl;
78  close();
79 
80  // Select type of device
81  m_grabber_type = trim(lowerCase(m_grabber_type));
82  m_cv_camera_type = trim(upperCase(m_cv_camera_type));
83 
84  if (m_grabber_type == "opencv")
85  {
86  // OpenCV driver:
87  TCameraType ct;
88  try
89  {
90  ct = mrpt::typemeta::TEnumType<TCameraType>::name2value(
91  m_cv_camera_type);
92  }
93  catch (std::exception&)
94  {
95  m_state = CGenericSensor::ssError;
96  throw;
97  }
98  cout << format(
99  "[CCameraSensor::initialize] opencv camera, index: %i type: "
100  "%i...\n",
101  int(m_cv_camera_index), (int)ct);
102  m_cap_cv = std::make_unique<CImageGrabber_OpenCV>(
103  m_cv_camera_index, ct, m_cv_options);
104 
105  if (!m_cap_cv->isOpen())
106  {
107  m_state = CGenericSensor::ssError;
108  THROW_EXCEPTION(
109  "[CCameraSensor::initialize] ERROR: Couldn't open OpenCV "
110  "camera.");
111  }
112  }
113  else if (m_grabber_type == "dc1394")
114  {
115  // m_cap_dc1394
116  cout << format(
117  "[CCameraSensor::initialize] dc1394 camera, GUID: 0x%lX "
118  "UNIT:%d...\n",
119  long(m_dc1394_camera_guid), m_dc1394_camera_unit);
120  m_cap_dc1394 = std::make_unique<CImageGrabber_dc1394>(
121  m_dc1394_camera_guid, m_dc1394_camera_unit, m_dc1394_options,
122  true /* verbose */);
123 
124  if (!m_cap_dc1394->isOpen())
125  {
126  m_state = CGenericSensor::ssError;
127  THROW_EXCEPTION(
128  "[CCameraSensor::initialize] ERROR: Couldn't open dc1394 "
129  "camera.");
130  }
131  }
132  else if (m_grabber_type == "bumblebee_dc1394")
133  {
134  cout << format(
135  "[CCameraSensor::initialize] bumblebee_libdc1394 camera: "
136  "GUID:0x%08X Index:%i FPS:%f...\n",
137  (unsigned int)(m_bumblebee_dc1394_camera_guid),
138  m_bumblebee_dc1394_camera_unit, m_bumblebee_dc1394_framerate);
139  m_cap_bumblebee_dc1394 =
140  std::make_unique<CStereoGrabber_Bumblebee_libdc1394>(
141  m_bumblebee_dc1394_camera_guid, m_bumblebee_dc1394_camera_unit,
142  m_bumblebee_dc1394_framerate);
143  }
144  else if (m_grabber_type == "svs")
145  {
146  cout << format(
147  "[CCameraSensor::initialize] SVS camera: %u...\n",
148  (unsigned int)(m_svs_camera_index));
149  m_cap_svs = std::make_unique<CStereoGrabber_SVS>(
150  m_svs_camera_index, m_svs_options);
151  }
152  else if (m_grabber_type == "ffmpeg")
153  {
154  // m_cap_ffmpeg
155  cout << format(
156  "[CCameraSensor::initialize] FFmpeg stream: %s...\n",
157  m_ffmpeg_url.c_str());
158  m_cap_ffmpeg = std::make_unique<CFFMPEG_InputStream>();
159 
160  if (!m_cap_ffmpeg->openURL(m_ffmpeg_url, m_capture_grayscale))
161  {
162  m_state = CGenericSensor::ssError;
163  THROW_EXCEPTION_FMT(
164  "Error opening FFmpeg stream: %s", m_ffmpeg_url.c_str());
165  }
166  }
167  else if (m_grabber_type == "swissranger")
168  {
169  cout << "[CCameraSensor::initialize] SwissRanger camera...\n";
170  m_cap_swissranger = std::make_unique<CSwissRanger3DCamera>();
171 
172  m_cap_swissranger->setOpenFromUSB(m_sr_open_from_usb);
173  m_cap_swissranger->setOpenIPAddress(m_sr_ip_address);
174 
175  m_cap_swissranger->setSave3D(m_sr_save_3d);
176  m_cap_swissranger->setSaveRangeImage(m_sr_save_range_img);
177  m_cap_swissranger->setSaveIntensityImage(m_sr_save_intensity_img);
178  m_cap_swissranger->setSaveConfidenceImage(m_sr_save_confidence);
179 
180  if (!m_path_for_external_images.empty())
181  m_cap_swissranger->setPathForExternalImages(
182  m_path_for_external_images);
183 
184  // Open it:
185  try
186  {
187  m_cap_swissranger
188  ->initialize(); // This will launch an exception if needed.
189  }
190  catch (std::exception&)
191  {
192  m_state = CGenericSensor::ssError;
193  throw;
194  }
195  }
196  else if (m_grabber_type == "kinect")
197  {
198  cout << "[CCameraSensor::initialize] Kinect camera...\n";
199  m_cap_kinect = std::make_unique<CKinect>();
200  m_cap_kinect->enableGrab3DPoints(m_kinect_save_3d);
201  m_cap_kinect->enableGrabDepth(m_kinect_save_range_img);
202  m_cap_kinect->enableGrabRGB(m_kinect_save_intensity_img);
203  m_cap_kinect->setVideoChannel(
204  m_kinect_video_rgb ? CKinect::VIDEO_CHANNEL_RGB
205  : CKinect::VIDEO_CHANNEL_IR);
206 
207  if (!m_path_for_external_images.empty())
208  m_cap_kinect->setPathForExternalImages(m_path_for_external_images);
209 
210  // Open it:
211  try
212  {
213  m_cap_kinect
214  ->initialize(); // This will launch an exception if needed.
215  }
216  catch (std::exception&)
217  {
218  m_state = CGenericSensor::ssError;
219  throw;
220  }
221  }
222  else if (m_grabber_type == "openni2")
223  {
224  cout << "[CCameraSensor::initialize] OpenNI2 sensor...\n";
225  m_cap_openni2 = std::make_unique<COpenNI2Sensor>();
226  m_cap_openni2->enableGrab3DPoints(m_kinect_save_3d); // It uses the
227  // same options as
228  // the Kinect
229  // grabber
230  m_cap_openni2->enableGrabDepth(m_kinect_save_range_img);
231  m_cap_openni2->enableGrabRGB(m_kinect_save_intensity_img);
232 
233  if (!m_path_for_external_images.empty())
234  m_cap_openni2->setPathForExternalImages(m_path_for_external_images);
235 
236  // Open it:
237  try
238  {
239  m_cap_openni2
240  ->initialize(); // This will launch an exception if needed.
241  }
242  catch (const std::exception& e)
243  {
244  m_state = CGenericSensor::ssError;
245  throw e;
246  }
247  }
248  else if (m_grabber_type == "image_dir")
249  {
250  // m_cap_image_dir
251  cout << format(
252  "[CCameraSensor::initialize] Image dir: %s...\n",
253  m_img_dir_url.c_str());
254  m_cap_image_dir = std::make_unique<std::string>();
255  }
256  else if (m_grabber_type == "rawlog")
257  {
258  // m_cap_rawlog
259  cout << format(
260  "[CCameraSensor::initialize] Rawlog stream: %s...\n",
261  m_rawlog_file.c_str());
262  m_cap_rawlog = std::make_unique<CFileGZInputStream>();
263 
264  if (!m_cap_rawlog->open(m_rawlog_file))
265  {
266  m_state = CGenericSensor::ssError;
267  THROW_EXCEPTION_FMT(
268  "Error opening rawlog file: %s", m_rawlog_file.c_str());
269  }
270  // File open OK.
271  // Localize the external images directory of this rawlog, if it exists:
272  m_rawlog_detected_images_dir =
273  CRawlog::detectImagesDirectory(m_rawlog_file);
274  }
275  else if (m_grabber_type == "flycap")
276  {
277  cout << "[CCameraSensor::initialize] PGR FlyCapture2 camera...\n";
278  try
279  {
280  // Open camera and start capture:
281  m_cap_flycap =
282  std::make_unique<CImageGrabber_FlyCapture2>(m_flycap_options);
283  }
284  catch (std::exception&)
285  {
286  m_state = CGenericSensor::ssError;
287  throw;
288  }
289  }
290  else if (m_grabber_type == "flycap_stereo")
291  {
292  cout
293  << "[CCameraSensor::initialize] PGR FlyCapture2 stereo camera...\n";
294  try
295  {
296  // Open camera and start capture:
297  m_cap_flycap_stereo_l =
298  std::make_unique<CImageGrabber_FlyCapture2>();
299  m_cap_flycap_stereo_r =
300  std::make_unique<CImageGrabber_FlyCapture2>();
301 
302  cout << "[CCameraSensor::initialize] PGR FlyCapture2 stereo "
303  "camera: Opening LEFT camera...\n";
304  m_cap_flycap_stereo_l->open(
305  m_flycap_stereo_options[0], false /* don't start grabbing */);
306 
307  cout << "[CCameraSensor::initialize] PGR FlyCapture2 stereo "
308  "camera: Opening RIGHT camera...\n";
309  m_cap_flycap_stereo_r->open(
310  m_flycap_stereo_options[1], false /* don't start grabbing */);
311 
312  // Now, start grabbing "simultaneously":
313  if (m_fcs_start_synch_capture)
314  {
315  const CImageGrabber_FlyCapture2* cams[2] = {
316  m_cap_flycap_stereo_l.get(), m_cap_flycap_stereo_r.get()};
317  CImageGrabber_FlyCapture2::startSyncCapture(2, cams);
318  }
319  else
320  {
321  m_cap_flycap_stereo_l->startCapture();
322  m_cap_flycap_stereo_r->startCapture();
323  }
324  }
325  catch (std::exception&)
326  {
327  m_state = CGenericSensor::ssError;
328  throw;
329  }
330  }
331  else if (m_grabber_type == "duo3d")
332  {
333  // m_cap_duo3D
334  cout << "[CCameraSensor::initialize] DUO3D stereo camera ...\n";
335 
336  // Open it:
337  try
338  {
339  m_cap_duo3d = std::make_unique<CDUO3DCamera>(m_duo3d_options);
340  }
341  catch (const std::exception& e)
342  {
343  m_state = CGenericSensor::ssError;
344  throw e;
345  }
346  }
347  else if (m_grabber_type == "myntd")
348  {
349  cout << "[CCameraSensor::initialize] MYNTEYE-D camera ...\n";
350 
351  // Open it:
352  try
353  {
354  m_myntd = std::make_unique<CMyntEyeCamera>(m_myntd_options);
355  }
356  catch (const std::exception& e)
357  {
358  m_state = CGenericSensor::ssError;
359  throw e;
360  }
361  }
362  else
363  THROW_EXCEPTION_FMT(
364  "Unknown 'grabber_type' found: %s", m_grabber_type.c_str());
365 
366  // Change state:
367  cout << "[CCameraSensor::initialize] Done!" << endl;
368  m_state = CGenericSensor::ssWorking;
369 
370  // Launch independent thread?
371  if (m_external_images_own_thread)
372  {
373  m_threadImagesSaverShouldEnd = false;
374 
375  m_threadImagesSaver.clear();
376  m_threadImagesSaver.resize(m_external_image_saver_count);
377 
378  m_toSaveList.clear();
379  m_toSaveList.resize(m_external_image_saver_count);
380 
381  for (unsigned int i = 0; i < m_external_image_saver_count; ++i)
382  m_threadImagesSaver[i] =
383  std::thread(&CCameraSensor::thread_save_images, this, i);
384  }
385 }
386 
387 /* -----------------------------------------------------
388  close
389  ----------------------------------------------------- */
390 void CCameraSensor::close()
391 {
392  m_cap_cv.reset();
393  m_cap_dc1394.reset();
394  m_cap_flycap.reset();
395  m_cap_flycap_stereo_l.reset();
396  m_cap_flycap_stereo_r.reset();
397  m_cap_bumblebee_dc1394.reset();
398  m_cap_ffmpeg.reset();
399  m_cap_rawlog.reset();
400  m_cap_swissranger.reset();
401  m_cap_kinect.reset();
402  m_cap_svs.reset();
403  m_cap_image_dir.reset();
404  m_cap_duo3d.reset();
405 
406  m_state = CGenericSensor::ssInitializing;
407 
408  // Wait for threads:
409  if (!m_threadImagesSaver.empty())
410  {
411  m_threadImagesSaverShouldEnd = true;
412  for (auto& i : m_threadImagesSaver) i.join();
413  }
414 }
415 
416 /* -----------------------------------------------------
417  loadConfig_sensorSpecific
418  ----------------------------------------------------- */
419 void CCameraSensor::loadConfig_sensorSpecific(
420  const mrpt::config::CConfigFileBase& configSource,
421  const std::string& iniSection)
422 {
423  // At this point, my parent class CGenericSensor has already loaded its
424  // params:
425  // Since cameras are special, we'll take control over "m_grab_decimation"
426  // so
427  // external image files are not saved just to be discarded later on...
428  if (m_grab_decimation > 0)
429  {
430  m_camera_grab_decimator = m_grab_decimation;
431  m_camera_grab_decimator_counter = 0;
432  // Reset in parent:
433  m_grab_decimation = 0;
434  }
435  else
436  m_camera_grab_decimator = m_camera_grab_decimator_counter = 0;
437 
438  m_grabber_type = configSource.read_string_first_word(
439  iniSection, "grabber_type", m_grabber_type);
440  MRPT_LOAD_HERE_CONFIG_VAR(
441  preview_decimation, int, m_preview_decimation, configSource, iniSection)
442  MRPT_LOAD_HERE_CONFIG_VAR(
443  preview_reduction, int, m_preview_reduction, configSource, iniSection)
444 
445  // OpenCV options:
446  m_cv_camera_type = configSource.read_string_first_word(
447  iniSection, "cv_camera_type", m_cv_camera_type);
448  m_cv_camera_index =
449  configSource.read_int(iniSection, "cv_camera_index", m_cv_camera_index);
450 
451  m_cv_options.frame_width = configSource.read_int(
452  iniSection, "cv_frame_width", m_cv_options.frame_width);
453  m_cv_options.frame_height = configSource.read_int(
454  iniSection, "cv_frame_height", m_cv_options.frame_height);
455  m_cv_options.gain =
456  configSource.read_double(iniSection, "cv_gain", m_cv_options.gain);
457  m_cv_options.ieee1394_fps = configSource.read_double(
458  iniSection, "cv_fps", m_cv_options.ieee1394_fps);
459 
460  m_capture_grayscale =
461  configSource.read_bool(iniSection, "capture_grayscale", false);
462 
463  m_cv_options.ieee1394_grayscale = m_capture_grayscale;
464 
465  // dc1394 options:
466  MRPT_LOAD_HERE_CONFIG_VAR(
467  dc1394_camera_guid, uint64_t, m_dc1394_camera_guid, configSource,
468  iniSection)
469  MRPT_LOAD_HERE_CONFIG_VAR(
470  dc1394_camera_unit, int, m_dc1394_camera_unit, configSource, iniSection)
471 
472  MRPT_LOAD_HERE_CONFIG_VAR(
473  dc1394_frame_width, int, m_dc1394_options.frame_width, configSource,
474  iniSection)
475  MRPT_LOAD_HERE_CONFIG_VAR(
476  dc1394_frame_height, int, m_dc1394_options.frame_height, configSource,
477  iniSection)
478 
479  MRPT_LOAD_HERE_CONFIG_VAR(
480  dc1394_mode7, int, m_dc1394_options.mode7, configSource, iniSection)
481 
482  MRPT_LOAD_HERE_CONFIG_VAR(
483  dc1394_shutter, int, m_dc1394_options.shutter, configSource, iniSection)
484  MRPT_LOAD_HERE_CONFIG_VAR(
485  dc1394_gain, int, m_dc1394_options.gain, configSource, iniSection)
486  MRPT_LOAD_HERE_CONFIG_VAR(
487  dc1394_gamma, int, m_dc1394_options.gamma, configSource, iniSection)
488  MRPT_LOAD_HERE_CONFIG_VAR(
489  dc1394_brightness, int, m_dc1394_options.brightness, configSource,
490  iniSection)
491  MRPT_LOAD_HERE_CONFIG_VAR(
492  dc1394_exposure, int, m_dc1394_options.exposure, configSource,
493  iniSection)
494  MRPT_LOAD_HERE_CONFIG_VAR(
495  dc1394_sharpness, int, m_dc1394_options.sharpness, configSource,
496  iniSection)
497  MRPT_LOAD_HERE_CONFIG_VAR(
498  dc1394_white_balance, int, m_dc1394_options.white_balance, configSource,
499  iniSection)
500 
501  MRPT_LOAD_HERE_CONFIG_VAR(
502  dc1394_shutter_mode, int, m_dc1394_options.shutter_mode, configSource,
503  iniSection)
504  MRPT_LOAD_HERE_CONFIG_VAR(
505  dc1394_gain_mode, int, m_dc1394_options.gain_mode, configSource,
506  iniSection)
507  MRPT_LOAD_HERE_CONFIG_VAR(
508  dc1394_gamma_mode, int, m_dc1394_options.gamma_mode, configSource,
509  iniSection)
510  MRPT_LOAD_HERE_CONFIG_VAR(
511  dc1394_brightness_mode, int, m_dc1394_options.brightness_mode,
512  configSource, iniSection)
513  MRPT_LOAD_HERE_CONFIG_VAR(
514  dc1394_exposure_mode, int, m_dc1394_options.exposure_mode, configSource,
515  iniSection)
516  MRPT_LOAD_HERE_CONFIG_VAR(
517  dc1394_sharpness_mode, int, m_dc1394_options.sharpness_mode,
518  configSource, iniSection)
519  MRPT_LOAD_HERE_CONFIG_VAR(
520  dc1394_white_balance_mode, int, m_dc1394_options.white_balance_mode,
521  configSource, iniSection)
522 
523  MRPT_LOAD_HERE_CONFIG_VAR(
524  dc1394_trigger_power, int, m_dc1394_options.trigger_power, configSource,
525  iniSection)
526  MRPT_LOAD_HERE_CONFIG_VAR(
527  dc1394_trigger_mode, int, m_dc1394_options.trigger_mode, configSource,
528  iniSection)
529  MRPT_LOAD_HERE_CONFIG_VAR(
530  dc1394_trigger_source, int, m_dc1394_options.trigger_source,
531  configSource, iniSection)
532  MRPT_LOAD_HERE_CONFIG_VAR(
533  dc1394_trigger_polarity, int, m_dc1394_options.trigger_polarity,
534  configSource, iniSection)
535  MRPT_LOAD_HERE_CONFIG_VAR(
536  dc1394_ring_buffer_size, int, m_dc1394_options.ring_buffer_size,
537  configSource, iniSection)
538 
539  // Bumblebee_dc1394 options:
540  MRPT_LOAD_HERE_CONFIG_VAR(
541  bumblebee_dc1394_camera_guid, uint64_t, m_bumblebee_dc1394_camera_guid,
542  configSource, iniSection)
543  MRPT_LOAD_HERE_CONFIG_VAR(
544  bumblebee_dc1394_camera_unit, int, m_bumblebee_dc1394_camera_unit,
545  configSource, iniSection)
546  MRPT_LOAD_HERE_CONFIG_VAR(
547  bumblebee_dc1394_framerate, double, m_bumblebee_dc1394_framerate,
548  configSource, iniSection)
549 
550  // SVS options:
551  m_svs_camera_index = configSource.read_int(
552  iniSection, "svs_camera_index", m_svs_camera_index);
553  m_svs_options.frame_width = configSource.read_int(
554  iniSection, "svs_frame_width", m_svs_options.frame_width);
555  m_svs_options.frame_height = configSource.read_int(
556  iniSection, "svs_frame_height", m_svs_options.frame_height);
557  m_svs_options.framerate = configSource.read_double(
558  iniSection, "svs_framerate", m_svs_options.framerate);
559  m_svs_options.m_NDisp =
560  configSource.read_int(iniSection, "svs_NDisp", m_svs_options.m_NDisp);
561  m_svs_options.m_Corrsize = configSource.read_int(
562  iniSection, "svs_Corrsize", m_svs_options.m_Corrsize);
563  m_svs_options.m_LR =
564  configSource.read_int(iniSection, "svs_LR", m_svs_options.m_LR);
565  m_svs_options.m_Thresh =
566  configSource.read_int(iniSection, "svs_Thresh", m_svs_options.m_Thresh);
567  m_svs_options.m_Unique =
568  configSource.read_int(iniSection, "svs_Unique", m_svs_options.m_Unique);
569  m_svs_options.m_Horopter = configSource.read_int(
570  iniSection, "svs_Horopter", m_svs_options.m_Horopter);
571  m_svs_options.m_SpeckleSize = configSource.read_int(
572  iniSection, "svs_SpeckleSize", m_svs_options.m_SpeckleSize);
573  m_svs_options.m_procesOnChip = configSource.read_bool(
574  iniSection, "svs_procesOnChip", m_svs_options.m_procesOnChip);
575  m_svs_options.m_calDisparity = configSource.read_bool(
576  iniSection, "svs_calDisparity", m_svs_options.m_calDisparity);
577 
578  // FFmpeg options:
579  m_ffmpeg_url = mrpt::system::trim(
580  configSource.read_string(iniSection, "ffmpeg_url", m_ffmpeg_url));
581 
582  // Rawlog options:
583  m_rawlog_file = mrpt::system::trim(
584  configSource.read_string(iniSection, "rawlog_file", m_rawlog_file));
585  m_rawlog_camera_sensor_label = mrpt::system::trim(configSource.read_string(
586  iniSection, "rawlog_camera_sensor_label",
587  m_rawlog_camera_sensor_label));
588 
589  // Image directory options:
590  m_img_dir_url = mrpt::system::trim(
591  configSource.read_string(iniSection, "image_dir_url", m_img_dir_url));
592  m_img_dir_left_format = mrpt::system::trim(configSource.read_string(
593  iniSection, "left_format", m_img_dir_left_format));
594  m_img_dir_right_format = mrpt::system::trim(
595  configSource.read_string(iniSection, "right_format", ""));
596  m_img_dir_start_index =
597  configSource.read_int(iniSection, "start_index", m_img_dir_start_index);
598  ;
599  m_img_dir_end_index =
600  configSource.read_int(iniSection, "end_index", m_img_dir_end_index);
601 
602  m_img_dir_is_stereo = !m_img_dir_right_format.empty();
603  m_img_dir_counter = m_img_dir_start_index;
604 
605  // DUO3D Camera options:
606  m_duo3d_options.loadOptionsFrom(configSource, "DUO3DOptions");
607 
608  // SwissRanger options:
609  m_sr_open_from_usb =
610  configSource.read_bool(iniSection, "sr_use_usb", m_sr_open_from_usb);
611  m_sr_ip_address =
612  configSource.read_string(iniSection, "sr_IP", m_sr_ip_address);
613 
614  m_sr_save_3d =
615  configSource.read_bool(iniSection, "sr_grab_3d", m_sr_save_3d);
616  m_sr_save_intensity_img = configSource.read_bool(
617  iniSection, "sr_grab_grayscale", m_sr_save_intensity_img);
618  m_sr_save_range_img = configSource.read_bool(
619  iniSection, "sr_grab_range", m_sr_save_range_img);
620  m_sr_save_confidence = configSource.read_bool(
621  iniSection, "sr_grab_confidence", m_sr_save_confidence);
622 
623  m_kinect_save_3d =
624  configSource.read_bool(iniSection, "kinect_grab_3d", m_kinect_save_3d);
625  m_kinect_save_intensity_img = configSource.read_bool(
626  iniSection, "kinect_grab_intensity", m_kinect_save_intensity_img);
627  m_kinect_save_range_img = configSource.read_bool(
628  iniSection, "kinect_grab_range", m_kinect_save_range_img);
629  m_kinect_video_rgb = configSource.read_bool(
630  iniSection, "kinect_video_rgb", m_kinect_video_rgb);
631 
632  // FlyCap:
633  m_flycap_options.loadOptionsFrom(configSource, iniSection, "flycap_");
634 
635  // Myntd:
636  {
637  mrpt::config::CConfigFilePrefixer c(configSource, "", "myntd_");
638  m_myntd_options.loadFromConfigFile(c, iniSection);
639  }
640 
641  // FlyCap stereo
642  m_fcs_start_synch_capture = configSource.read_bool(
643  iniSection, "fcs_start_synch_capture", m_fcs_start_synch_capture);
644  m_flycap_stereo_options[0].loadOptionsFrom(
645  configSource, iniSection, "fcs_LEFT_");
646  m_flycap_stereo_options[1].loadOptionsFrom(
647  configSource, iniSection, "fcs_RIGHT_");
648 
649  // Special stuff: FPS
650  map<double, grabber_dc1394_framerate_t> map_fps;
651  map<double, grabber_dc1394_framerate_t>::iterator it_fps;
652  map_fps[1.875] = FRAMERATE_1_875;
653  map_fps[3.75] = FRAMERATE_3_75;
654  map_fps[7.5] = FRAMERATE_7_5;
655  map_fps[15] = FRAMERATE_15;
656  map_fps[30] = FRAMERATE_30;
657  map_fps[60] = FRAMERATE_60;
658  map_fps[120] = FRAMERATE_120;
659  map_fps[240] = FRAMERATE_240;
660 
661  // ... for dc1394
662  double the_fps =
663  configSource.read_double(iniSection, "dc1394_framerate", 15.0);
664  it_fps = map_fps.find(the_fps);
665  if (it_fps == map_fps.end())
666  THROW_EXCEPTION_FMT(
667  "ERROR: DC1394 framerate seems to be not a valid number: %f",
668  the_fps);
669 
670  m_dc1394_options.framerate = it_fps->second;
671 
672  // Special stuff: color encoding:
673  map<string, grabber_dc1394_color_coding_t> map_color;
674  map<string, grabber_dc1394_color_coding_t>::iterator it_color;
675 #define ADD_COLOR_MAP(c) map_color[#c] = c;
676  ADD_COLOR_MAP(COLOR_CODING_MONO8)
677  ADD_COLOR_MAP(COLOR_CODING_YUV411)
678  ADD_COLOR_MAP(COLOR_CODING_YUV422)
679  ADD_COLOR_MAP(COLOR_CODING_YUV444)
680  ADD_COLOR_MAP(COLOR_CODING_RGB8)
681  ADD_COLOR_MAP(COLOR_CODING_MONO16)
682 
683  string the_color_coding =
684  mrpt::system::upperCase(configSource.read_string_first_word(
685  iniSection, "dc1394_color_coding", "COLOR_CODING_YUV422"));
686  it_color = map_color.find(the_color_coding);
687  if (it_color == map_color.end())
688  THROW_EXCEPTION_FMT(
689  "ERROR: Color coding seems not to be valid : '%s'",
690  the_color_coding.c_str());
691  m_dc1394_options.color_coding = it_color->second;
692 
693  m_external_images_format = mrpt::system::trim(configSource.read_string(
694  iniSection, "external_images_format", m_external_images_format));
695  m_external_images_jpeg_quality = configSource.read_int(
696  iniSection, "external_images_jpeg_quality",
697  m_external_images_jpeg_quality);
698  m_external_images_own_thread = configSource.read_bool(
699  iniSection, "external_images_own_thread", m_external_images_own_thread);
700  m_external_image_saver_count = configSource.read_int(
701  iniSection, "external_images_own_thread_count",
702  m_external_image_saver_count);
703 
704  // Sensor pose:
705  m_sensorPose.setFromValues(
706  configSource.read_float(iniSection, "pose_x", 0),
707  configSource.read_float(iniSection, "pose_y", 0),
708  configSource.read_float(iniSection, "pose_z", 0),
709  DEG2RAD(configSource.read_float(iniSection, "pose_yaw", 0)),
710  DEG2RAD(configSource.read_float(iniSection, "pose_pitch", 0)),
711  DEG2RAD(configSource.read_float(iniSection, "pose_roll", 0)));
712 }
713 
714 /* -----------------------------------------------------
715  Destructor
716  ----------------------------------------------------- */
717 CCameraSensor::~CCameraSensor()
718 {
719  close();
720 
721  m_preview_win1.reset();
722  m_preview_win2.reset();
723 }
724 /* -----------------------------------------------------
725  getNextFrame
726 ----------------------------------------------------- */
727 CObservation::Ptr CCameraSensor::getNextFrame()
728 {
729  vector<CSerializable::Ptr> out_obs;
730  getNextFrame(out_obs);
731  return std::dynamic_pointer_cast<CObservation>(out_obs[0]);
732 }
733 
734 /* -----------------------------------------------------
735  getNextFrame
736 ----------------------------------------------------- */
737 void CCameraSensor::getNextFrame(vector<CSerializable::Ptr>& out_obs)
738 {
739  CObservationImage::Ptr obs;
740  CObservationStereoImages::Ptr stObs;
741  CObservation3DRangeScan::Ptr
742  obs3D; // 3D range image, also with an intensity channel
743  CObservationIMU::Ptr obsIMU; // IMU observation grabbed by DUO3D cameras
744 
745  bool capture_ok = false;
746 
747  if (m_cap_cv)
748  {
749  obs = std::make_shared<CObservationImage>();
750  if (!m_cap_cv->getObservation(*obs))
751  { // Error
752  m_state = CGenericSensor::ssError;
753  THROW_EXCEPTION("Error grabbing image");
754  }
755  else
756  capture_ok = true;
757  }
758  else if (m_cap_dc1394)
759  {
760  obs = std::make_shared<CObservationImage>();
761  if (!m_cap_dc1394->getObservation(*obs))
762  { // Error
763  m_state = CGenericSensor::ssError;
764  THROW_EXCEPTION("Error grabbing image");
765  }
766  else
767  capture_ok = true;
768  }
769  else if (m_cap_swissranger)
770  {
771  obs3D = std::make_shared<CObservation3DRangeScan>();
772 
773  bool there_is_obs, hardware_error;
774  m_cap_swissranger->getNextObservation(
775  *obs3D, there_is_obs, hardware_error);
776 
777  if (!there_is_obs || hardware_error)
778  { // Error
779  m_state = CGenericSensor::ssError;
780  THROW_EXCEPTION("Error grabbing image from SwissRanger camera.");
781  }
782  else
783  capture_ok = true;
784  }
785  else if (m_cap_kinect)
786  {
787  obs3D = std::make_shared<CObservation3DRangeScan>();
788 
789  // Specially at start-up, there may be a delay grabbing so a few calls
790  // return false: add a timeout.
791  const mrpt::system::TTimeStamp t0 = mrpt::system::now();
792  double max_timeout = 3.0; // seconds
793 
794  // If we have an "MRPT_CCAMERA_KINECT_TIMEOUT_MS" environment variable,
795  // use that timeout instead:
796  const char* envVal = getenv("MRPT_CCAMERA_KINECT_TIMEOUT_MS");
797  if (envVal) max_timeout = atoi(envVal) * 0.001;
798 
799  bool there_is_obs, hardware_error;
800  do
801  {
802  m_cap_kinect->getNextObservation(
803  *obs3D, there_is_obs, hardware_error);
804  if (!there_is_obs) std::this_thread::sleep_for(1ms);
805  } while (!there_is_obs && mrpt::system::timeDifference(
806  t0, mrpt::system::now()) < max_timeout);
807 
808  if (!there_is_obs || hardware_error)
809  { // Error
810  m_state = CGenericSensor::ssError;
811  THROW_EXCEPTION("Error grabbing image from Kinect camera.");
812  }
813  else
814  capture_ok = true;
815  }
816  else if (m_cap_openni2)
817  {
818  obs3D = std::make_shared<CObservation3DRangeScan>();
819  // Specially at start-up, there may be a delay grabbing so a few calls
820  // return false: add a timeout.
821  const mrpt::system::TTimeStamp t0 = mrpt::system::now();
822  double max_timeout = 3.0; // seconds
823  bool there_is_obs, hardware_error;
824  do
825  {
826  m_cap_openni2->getNextObservation(
827  *obs3D, there_is_obs, hardware_error);
828  if (!there_is_obs) std::this_thread::sleep_for(1ms);
829  } while (!there_is_obs && mrpt::system::timeDifference(
830  t0, mrpt::system::now()) < max_timeout);
831 
832  if (!there_is_obs || hardware_error)
833  { // Error
834  m_state = CGenericSensor::ssError;
835  THROW_EXCEPTION("Error grabbing image from OpenNI2 camera.");
836  }
837  else
838  capture_ok = true;
839  }
840  else if (m_cap_bumblebee_dc1394)
841  {
842  stObs = std::make_shared<CObservationStereoImages>();
843  if (!m_cap_bumblebee_dc1394->getStereoObservation(*stObs))
844  {
845  m_state = CGenericSensor::ssError;
846  THROW_EXCEPTION("Error grabbing stereo images");
847  }
848  else
849  {
850  capture_ok = true;
851  }
852  }
853  else if (m_cap_svs)
854  {
855  stObs = std::make_shared<CObservationStereoImages>();
856 
857  if (!m_cap_svs->getStereoObservation(*stObs))
858  {
859  // Error
860  m_state = CGenericSensor::ssError;
861  THROW_EXCEPTION("Error grabbing disparity images");
862  }
863  else
864  capture_ok = true;
865  }
866  else if (m_cap_ffmpeg)
867  {
868  static bool anyGood = false;
869  mrpt::img::CImage im;
870  if (!m_cap_ffmpeg->retrieveFrame(im))
871  { // Error
872  m_state = CGenericSensor::ssError;
873  if (!anyGood)
874  {
875  THROW_EXCEPTION("Error grabbing image");
876  }
877  else
878  {
879  MRPT_LOG_THROTTLE_WARN(
880  2.0,
881  "ffmpeg capture driver: Failed to get frame (temporary "
882  "error or EOF?)");
883  capture_ok = true;
884  }
885  }
886  else
887  {
888  obs = std::make_shared<CObservationImage>();
889  obs->image = std::move(im);
890 
891  anyGood = true;
892  capture_ok = true;
893  }
894  }
895  else if (m_cap_image_dir)
896  {
897  if (m_img_dir_counter > m_img_dir_end_index)
898  {
899  m_state = CGenericSensor::ssError;
900  THROW_EXCEPTION("Reached end index.");
901  }
902 
903  std::string auxL = format(
904  "%s/%s", m_img_dir_url.c_str(), m_img_dir_left_format.c_str());
905  if (m_img_dir_is_stereo)
906  {
907  stObs = std::make_shared<CObservationStereoImages>();
908  if (!stObs->imageLeft.loadFromFile(
909  format(auxL.c_str(), m_img_dir_counter)))
910  {
911  m_state = CGenericSensor::ssError;
912  THROW_EXCEPTION("Error reading images from directory");
913  }
914  std::string auxR = format(
915  "%s/%s", m_img_dir_url.c_str(), m_img_dir_right_format.c_str());
916  if (!stObs->imageRight.loadFromFile(
917  format(auxR.c_str(), m_img_dir_counter++)))
918  {
919  m_state = CGenericSensor::ssError;
920  THROW_EXCEPTION("Error reading images from directory");
921  }
922  else
923  capture_ok = true;
924  }
925  else
926  {
927  // use only left image prefix
928  obs = std::make_shared<CObservationImage>();
929  if (!obs->image.loadFromFile(
930  format(auxL.c_str(), m_img_dir_counter++)))
931  {
932  m_state = CGenericSensor::ssError;
933  THROW_EXCEPTION("Error reading images from directory");
934  }
935  else
936  capture_ok = true;
937  }
938  }
939  else if (m_cap_rawlog)
940  {
941  // Read in a loop until we found at least one image:
942  // Assign to: obs && stObs
943  CSerializable::Ptr newObs;
944  while (!obs && !stObs && !obs3D)
945  {
946  archiveFrom(*m_cap_rawlog) >> newObs;
947  if (IS_DERIVED(*newObs, CObservation))
948  {
949  CObservation::Ptr o =
950  std::dynamic_pointer_cast<CObservation>(newObs);
951  if (!m_rawlog_camera_sensor_label.empty() &&
952  m_rawlog_camera_sensor_label != o->sensorLabel)
953  continue;
954 
955  if (IS_CLASS(*o, CObservationImage))
956  obs = std::dynamic_pointer_cast<CObservationImage>(o);
957  else if (IS_CLASS(*o, CObservationStereoImages))
958  stObs =
959  std::dynamic_pointer_cast<CObservationStereoImages>(o);
960  else if (IS_CLASS(*o, CObservation3DRangeScan))
961  obs3D =
962  std::dynamic_pointer_cast<CObservation3DRangeScan>(o);
963  }
964  else if (IS_CLASS(*newObs, CSensoryFrame))
965  {
966  CSensoryFrame::Ptr sf =
967  std::dynamic_pointer_cast<CSensoryFrame>(newObs);
968 
969  for (auto& o : *sf)
970  {
971  if (!m_rawlog_camera_sensor_label.empty() &&
972  m_rawlog_camera_sensor_label != o->sensorLabel)
973  continue;
974 
975  if (IS_CLASS(*o, CObservationImage))
976  {
977  obs = std::dynamic_pointer_cast<CObservationImage>(o);
978  break;
979  }
980  else if (IS_CLASS(*o, CObservationStereoImages))
981  {
982  stObs =
983  std::dynamic_pointer_cast<CObservationStereoImages>(
984  o);
985  break;
986  }
987  else if (IS_CLASS(*o, CObservation3DRangeScan))
988  {
989  obs3D =
990  std::dynamic_pointer_cast<CObservation3DRangeScan>(
991  o);
992  break;
993  }
994  }
995  }
996  if (obs || stObs || obs3D)
997  {
998  // We must convert externally stored images into "normal
999  // in-memory" images.
1000  const std::string old_dir =
1001  CImage::getImagesPathBase(); // Save current
1002  CImage::setImagesPathBase(m_rawlog_detected_images_dir);
1003 
1004  if (obs && obs->image.isExternallyStored())
1005  obs->image.loadFromFile(
1006  obs->image.getExternalStorageFileAbsolutePath());
1007 
1008  if (obs3D && obs3D->hasIntensityImage &&
1009  obs3D->intensityImage.isExternallyStored())
1010  obs3D->intensityImage.loadFromFile(
1011  obs3D->intensityImage
1012  .getExternalStorageFileAbsolutePath());
1013 
1014  if (stObs && stObs->imageLeft.isExternallyStored())
1015  stObs->imageLeft.loadFromFile(
1016  stObs->imageLeft.getExternalStorageFileAbsolutePath());
1017 
1018  if (stObs && stObs->hasImageRight &&
1019  stObs->imageRight.isExternallyStored())
1020  stObs->imageRight.loadFromFile(
1021  stObs->imageRight.getExternalStorageFileAbsolutePath());
1022 
1023  if (stObs && stObs->hasImageDisparity &&
1024  stObs->imageDisparity.isExternallyStored())
1025  stObs->imageDisparity.loadFromFile(
1026  stObs->imageDisparity
1027  .getExternalStorageFileAbsolutePath());
1028 
1029  CImage::setImagesPathBase(old_dir); // Restore
1030  }
1031  else
1032  continue; // Keep reading
1033  }
1034  capture_ok = true;
1035  }
1036  else if (m_cap_flycap)
1037  {
1038  bool ok;
1039  if (!m_cap_flycap->isStereo()) // Mono image
1040  {
1041  obs = std::make_shared<CObservationImage>();
1042  ok = m_cap_flycap->getObservation(*obs);
1043  }
1044  else // Stereo camera connected
1045  {
1046  stObs = std::make_shared<CObservationStereoImages>();
1047  ok = m_cap_flycap->getObservation(*stObs);
1048  }
1049 
1050  if (!ok)
1051  { // Error
1052  m_state = CGenericSensor::ssError;
1053  THROW_EXCEPTION("Error grabbing image");
1054  }
1055  else
1056  capture_ok = true;
1057  }
1058  else if (m_cap_flycap_stereo_l && m_cap_flycap_stereo_r)
1059  {
1060  stObs = std::make_shared<CObservationStereoImages>();
1061 
1062  CObservationImage obsL, obsR;
1063 
1064  bool ok1, ok2 = false;
1065 
1066  ok1 = m_cap_flycap_stereo_r->getObservation(obsL);
1067  if (ok1) ok2 = m_cap_flycap_stereo_l->getObservation(obsR);
1068 
1069  if (!ok1 || !ok2)
1070  {
1071  // Error
1072  m_state = CGenericSensor::ssError;
1073  THROW_EXCEPTION("Error grabbing disparity images");
1074  }
1075  else
1076  {
1077  // Joint the two images as one stereo:
1078  const double At =
1079  mrpt::system::timeDifference(obsL.timestamp, obsR.timestamp);
1080  if (std::abs(At) > 0.1)
1081  {
1082  cout << "[CCamera, flycap_stereo] Warning: Too large delay "
1083  "between left & right images: "
1084  << At << " sec.\n";
1085  }
1086 
1087  // It seems that the timestamp is not always filled in from FlyCap
1088  // driver?
1089  stObs->timestamp = (obsL.timestamp != INVALID_TIMESTAMP)
1090  ? obsL.timestamp
1091  : mrpt::system::now();
1092  stObs->imageLeft = std::move(obsL.image);
1093  stObs->imageRight = std::move(obsR.image);
1094  capture_ok = true;
1095  }
1096  }
1097  else if (m_cap_duo3d)
1098  {
1099  stObs = std::make_shared<CObservationStereoImages>();
1100  obsIMU = std::make_shared<CObservationIMU>();
1101 
1102  bool thereIsIMG, thereIsIMU;
1103  m_cap_duo3d->getObservations(*stObs, *obsIMU, thereIsIMG, thereIsIMU);
1104  if (!thereIsIMG)
1105  {
1106  m_state = CGenericSensor::ssError;
1107  THROW_EXCEPTION("Error getting observations from DUO3D camera.");
1108  }
1109  else if (m_cap_duo3d->captureIMUIsSet() && !thereIsIMU)
1110  {
1111  cout << "[CCamera, duo3d] Warning: There are no IMU data from the "
1112  "device. Only images are being grabbed.";
1113  }
1114  capture_ok = true;
1115  }
1116  else if (m_myntd)
1117  {
1118  obs3D = std::make_shared<CObservation3DRangeScan>();
1119 
1120  bool thereIsObs = m_myntd->getObservation(*obs3D);
1121  static int noObsCnt = 0;
1122 
1123  if (!thereIsObs)
1124  {
1125  // obs3D.reset();
1126  if (noObsCnt++ > 100)
1127  {
1128  m_state = CGenericSensor::ssError;
1129  THROW_EXCEPTION(
1130  "Error getting observations from MYNTEYE-D camera.");
1131  }
1132  }
1133  else
1134  {
1135  noObsCnt = 0;
1136  }
1137  capture_ok = true;
1138  }
1139  else
1140  {
1141  THROW_EXCEPTION(
1142  "There is no initialized camera driver: has 'initialize()' been "
1143  "called?");
1144  }
1145 
1146  ASSERT_(capture_ok);
1147 
1148  // Are we supposed to do a decimation??
1149  m_camera_grab_decimator_counter++;
1150  if (m_camera_grab_decimator_counter < m_camera_grab_decimator)
1151  {
1152  // Done here:
1153  out_obs.push_back(CObservation::Ptr());
1154  return;
1155  }
1156  // Continue as normal:
1157  m_camera_grab_decimator_counter = 0;
1158 
1159  // Allow temporary failures to get any frame
1160  // ASSERT_(obs || stObs || obs3D || obsIMU);
1161 
1162  // If we grabbed an image: prepare it and add it to the internal queue:
1163  if (obs)
1164  {
1165  obs->sensorLabel = m_sensorLabel;
1166  obs->setSensorPose(m_sensorPose);
1167  }
1168  else if (stObs)
1169  {
1170  stObs->sensorLabel = (m_cap_duo3d && m_cap_duo3d->captureIMUIsSet())
1171  ? m_sensorLabel + "_IMG"
1172  : m_sensorLabel;
1173  stObs->setSensorPose(m_sensorPose);
1174  }
1175  else if (obs3D)
1176  {
1177  obs3D->sensorLabel = m_sensorLabel;
1178  obs3D->setSensorPose(m_sensorPose);
1179  }
1180  if (obsIMU)
1181  {
1182  obsIMU->sensorLabel = m_sensorLabel + "_IMU";
1183  obsIMU->setSensorPose(m_sensorPose);
1184  }
1185 
1186  // Convert to grayscale if the user wants so and the driver did ignored us:
1187  if (m_capture_grayscale)
1188  {
1189  if (obs)
1190  {
1191  if (obs->image.isColor()) obs->image = obs->image.grayscale();
1192  }
1193  else if (stObs)
1194  {
1195  if (stObs->imageLeft.isColor())
1196  stObs->imageLeft = stObs->imageLeft.grayscale();
1197  if (stObs->hasImageRight && stObs->imageRight.isColor())
1198  stObs->imageRight = stObs->imageRight.grayscale();
1199  if (stObs->hasImageDisparity && stObs->imageDisparity.isColor())
1200  stObs->imageDisparity = stObs->imageDisparity.grayscale();
1201  }
1202  else if (obs3D)
1203  {
1204  if (obs3D->hasIntensityImage && obs3D->intensityImage.isColor())
1205  obs3D->intensityImage = obs3D->intensityImage.grayscale();
1206  }
1207  }
1208 
1209  // Before saving to disk, keep a copy for display, if needed:
1210  CImage img4gui, img4guiR;
1211  if (m_preview_win1 && m_preview_win1->isOpen())
1212  {
1213  if (stObs)
1214  {
1215  img4gui = stObs->imageLeft.makeDeepCopy();
1216  img4guiR = stObs->imageRight.makeDeepCopy();
1217  }
1218  else if (obs)
1219  img4gui = obs->image.makeDeepCopy();
1220  else
1221  img4gui = obs3D->intensityImage.makeDeepCopy();
1222  }
1223 
1224  // External storage?
1225  // If true, we'll return nothing, but the observation will be
1226  // inserted from the thread.
1227  bool delayed_insertion_in_obs_queue = false;
1228  if (!m_path_for_external_images.empty())
1229  {
1230  if (stObs) // If we have grabbed an stereo observation ...
1231  { // Stereo obs -------
1232  if (m_external_images_own_thread)
1233  {
1234  m_csToSaveList.lock();
1235 
1236  // Select the "m_toSaveList" with the shortest pending queue:
1237  size_t idx_min = 0;
1238  for (size_t i = 0; i < m_toSaveList.size(); ++i)
1239  if (m_toSaveList[i].size() < m_toSaveList[idx_min].size())
1240  idx_min = i;
1241  // Insert:
1242  m_toSaveList[idx_min].insert(
1243  TListObsPair(stObs->timestamp, stObs));
1244 
1245  m_csToSaveList.unlock();
1246 
1247  delayed_insertion_in_obs_queue = true;
1248  }
1249  else
1250  {
1251  const string filNameL =
1252  fileNameStripInvalidChars(trim(m_sensorLabel)) +
1253  format(
1254  "_L_%f.%s", (double)timestampTotime_t(stObs->timestamp),
1255  m_external_images_format.c_str());
1256  const string filNameR =
1257  fileNameStripInvalidChars(trim(m_sensorLabel)) +
1258  format(
1259  "_R_%f.%s", (double)timestampTotime_t(stObs->timestamp),
1260  m_external_images_format.c_str());
1261  const string filNameD =
1262  fileNameStripInvalidChars(trim(m_sensorLabel)) +
1263  format(
1264  "_D_%f.%s", (double)timestampTotime_t(stObs->timestamp),
1265  m_external_images_format.c_str());
1266  // cout << "[CCameraSensor] Saving " << filName << endl;
1267  stObs->imageLeft.saveToFile(
1268  m_path_for_external_images + string("/") + filNameL,
1269  m_external_images_jpeg_quality);
1270  stObs->imageLeft.setExternalStorage(filNameL);
1271 
1272  if (stObs->hasImageRight)
1273  {
1274  stObs->imageRight.saveToFile(
1275  m_path_for_external_images + string("/") + filNameR,
1276  m_external_images_jpeg_quality);
1277  stObs->imageRight.setExternalStorage(filNameR);
1278  }
1279  if (stObs->hasImageDisparity)
1280  {
1281  stObs->imageDisparity.saveToFile(
1282  m_path_for_external_images + string("/") + filNameD,
1283  m_external_images_jpeg_quality);
1284  stObs->imageDisparity.setExternalStorage(filNameD);
1285  }
1286  }
1287  }
1288  else if (obs)
1289  { // Monocular image obs -------
1290  if (m_external_images_own_thread)
1291  {
1292  m_csToSaveList.lock();
1293 
1294  // Select the "m_toSaveList" with the shortest pending queue:
1295  size_t idx_min = 0;
1296  for (size_t i = 0; i < m_toSaveList.size(); ++i)
1297  if (m_toSaveList[i].size() < m_toSaveList[idx_min].size())
1298  idx_min = i;
1299 
1300  // Insert:
1301  m_toSaveList[idx_min].insert(TListObsPair(obs->timestamp, obs));
1302 
1303  m_csToSaveList.unlock();
1304  delayed_insertion_in_obs_queue = true;
1305  }
1306  else
1307  {
1308  string filName =
1309  fileNameStripInvalidChars(trim(m_sensorLabel)) +
1310  format(
1311  "_%f.%s", (double)timestampTotime_t(obs->timestamp),
1312  m_external_images_format.c_str());
1313  // cout << "[CCameraSensor] Saving " << filName << endl;
1314  obs->image.saveToFile(
1315  m_path_for_external_images + string("/") + filName,
1316  m_external_images_jpeg_quality);
1317  obs->image.setExternalStorage(filName);
1318  }
1319  } // end else
1320  }
1321 
1322  // Show preview??
1323  if (m_preview_decimation > 0)
1324  { // Yes
1325  if (++m_preview_counter > m_preview_decimation)
1326  {
1327  m_preview_counter = 0;
1328 
1329  // Create window the first time:
1330  if (!m_preview_win1)
1331  {
1332  string caption = string("Preview of ") + m_sensorLabel;
1333  if (stObs) caption += "-LEFT";
1334  if (m_preview_decimation > 1)
1335  caption +=
1336  format(" (decimation: %i)", m_preview_decimation);
1337  m_preview_win1 = mrpt::gui::CDisplayWindow::Create(caption);
1338  }
1339  if (stObs && !m_preview_win2)
1340  {
1341  string caption = string("Preview of ") + m_sensorLabel;
1342  if (stObs) caption += "-RIGHT";
1343  if (m_preview_decimation > 1)
1344  caption +=
1345  format(" (decimation: %i)", m_preview_decimation);
1346  m_preview_win2 = mrpt::gui::CDisplayWindow::Create(caption);
1347  }
1348  // Monocular image or Left from a stereo pair:
1349  if (m_preview_win1->isOpen() && img4gui.getWidth() > 0)
1350  {
1351  // Apply image reduction?
1352  if (m_preview_reduction >= 2)
1353  {
1354  unsigned int w = img4gui.getWidth();
1355  unsigned int h = img4gui.getHeight();
1356  CImage auxImg;
1357  img4gui.scaleImage(
1358  auxImg, w / m_preview_reduction,
1359  h / m_preview_reduction, IMG_INTERP_NN);
1360  m_preview_win1->showImage(auxImg);
1361  }
1362  else
1363  m_preview_win1->showImage(img4gui);
1364  }
1365 
1366  // Right from a stereo pair:
1367  if (m_preview_win2 && m_preview_win2->isOpen() && stObs &&
1368  stObs->hasImageRight && img4gui.getWidth() > 0)
1369  {
1370  // Apply image reduction?
1371  if (m_preview_reduction >= 2)
1372  {
1373  unsigned int w = img4guiR.getWidth();
1374  unsigned int h = img4guiR.getHeight();
1375  CImage auxImg;
1376  img4guiR.scaleImage(
1377  auxImg, w / m_preview_reduction,
1378  h / m_preview_reduction, IMG_INTERP_NN);
1379  m_preview_win2->showImage(auxImg);
1380  }
1381  else
1382  m_preview_win2->showImage(img4guiR);
1383  }
1384 
1385  // Disparity from a stereo pair:
1386  if (m_preview_win2 && m_preview_win2->isOpen() && stObs &&
1387  stObs->hasImageDisparity)
1388  {
1389  // Apply image reduction?
1390  if (m_preview_reduction >= 2)
1391  {
1392  unsigned int w = stObs->imageDisparity.getWidth();
1393  unsigned int h = stObs->imageDisparity.getHeight();
1394  CImage auxImg;
1395  stObs->imageDisparity.scaleImage(
1396  auxImg, w / m_preview_reduction,
1397  h / m_preview_reduction, IMG_INTERP_NN);
1398  m_preview_win2->showImage(auxImg);
1399  }
1400  else
1401  m_preview_win2->showImage(stObs->imageDisparity);
1402  }
1403  }
1404  } // end show preview
1405 
1406  if (delayed_insertion_in_obs_queue)
1407  {
1408  if (m_cap_duo3d && m_cap_duo3d->captureIMUIsSet() && obsIMU)
1409  out_obs.push_back(CObservation::Ptr(obsIMU));
1410  }
1411  else
1412  {
1413  if (stObs) out_obs.push_back(CObservation::Ptr(stObs));
1414  if (obs) out_obs.push_back(CObservation::Ptr(obs));
1415  if (obs3D) out_obs.push_back(CObservation::Ptr(obs3D));
1416  }
1417  return;
1418 }
1419 
1420 /* -----------------------------------------------------
1421  doProcess
1422 ----------------------------------------------------- */
1423 void CCameraSensor::doProcess()
1424 {
1425  vector<CSerializable::Ptr> out_obs;
1426  getNextFrame(out_obs);
1427  appendObservations(out_obs);
1428 }
1429 
1430 /* -----------------------------------------------------
1431  setSoftwareTriggerLevel
1432 ----------------------------------------------------- */
1433 void CCameraSensor::setSoftwareTriggerLevel(bool level)
1434 {
1435  if (m_cap_dc1394)
1436  {
1437  if (!m_cap_dc1394->setSoftwareTriggerLevel(level))
1438  { // Error
1439  m_state = CGenericSensor::ssError;
1440  THROW_EXCEPTION("Error setting Trigger level by software");
1441  }
1442  }
1443  else
1444  {
1445  THROW_EXCEPTION(
1446  "Software trigger is not implemented for this camera type");
1447  }
1448 }
1449 
1450 /* -----------------------------------------------------
1451  setPathForExternalImages
1452 ----------------------------------------------------- */
1453 void CCameraSensor::setPathForExternalImages(const std::string& directory)
1454 {
1455  if (!mrpt::system::createDirectory(directory))
1456  {
1457  THROW_EXCEPTION_FMT(
1458  "Cannot create the directory for externally saved images: `%s`",
1459  directory.c_str());
1460  }
1461  m_path_for_external_images = directory;
1462 }
1463 
1464 /* ------------------------------------------------------------------------
1465  prepareVideoSourceFromUserSelection
1466  ------------------------------------------------------------------------ */
1467 CCameraSensor::Ptr mrpt::hwdrivers::prepareVideoSourceFromUserSelection()
1468 {
1469 #if MRPT_HAS_WXWIDGETS
1470  // Create the main wxThread, if it doesn't exist yet:
1471  if (!mrpt::gui::WxSubsystem::createOneInstanceMainThread())
1472  {
1473  std::cerr << "[mrpt::hwdrivers::prepareVideoSourceFromUserSelection] "
1474  "Error initiating Wx subsystem."
1475  << std::endl;
1476  return CCameraSensor::Ptr(); // Error!
1477  }
1478 
1479  std::promise<void> semDlg;
1480  std::promise<mrpt::gui::detail::TReturnAskUserOpenCamera> dlgSelection;
1481 
1482  // Create window:
1483  auto* REQ = new WxSubsystem::TRequestToWxMainThread[1];
1484  REQ->OPCODE = 700;
1485  REQ->sourceCameraSelectDialog = true;
1486  REQ->voidPtr = reinterpret_cast<void*>(&semDlg);
1487  REQ->voidPtr2 = reinterpret_cast<void*>(&dlgSelection);
1488  WxSubsystem::pushPendingWxRequest(REQ);
1489 
1490  // Wait for the window to realize and signal it's alive:
1491  if (!WxSubsystem::isConsoleApp())
1492  {
1493  std::this_thread::sleep_for(
1494  20ms); // Force at least 1-2 timer ticks for processing the event:
1495  wxApp::GetInstance()->Yield(true);
1496  }
1497 
1498  // wait for window construction:
1499  int maxTimeout =
1500 #ifdef _DEBUG
1501  30000;
1502 #else
1503  6000;
1504 #endif
1505  // If we have an "MRPT_WXSUBSYS_TIMEOUT_MS" environment variable, use that
1506  // timeout instead:
1507  const char* envVal = getenv("MRPT_WXSUBSYS_TIMEOUT_MS");
1508  if (envVal) maxTimeout = atoi(envVal);
1509 
1510  if (semDlg.get_future().wait_for(std::chrono::milliseconds(maxTimeout)) ==
1511  std::future_status::timeout)
1512  {
1513  cerr << "[prepareVideoSourceFromUserSelection] Timeout waiting window "
1514  "creation."
1515  << endl;
1516  return CCameraSensor::Ptr();
1517  }
1518 
1519  // wait for user selection:
1520  auto future = dlgSelection.get_future();
1521  future.wait();
1522  const auto& ret = future.get();
1523 
1524  // If the user didn't accept the dialog, return now:
1525  if (!ret.accepted_by_user) return CCameraSensor::Ptr();
1526 
1527  mrpt::config::CConfigFileMemory selectedConfig(ret.selectedConfig);
1528 
1529  CCameraSensor::Ptr cam = std::make_shared<CCameraSensor>();
1530  cam->loadConfig(selectedConfig, "CONFIG");
1531  cam->initialize(); // This will raise an exception if neccesary
1532 
1533  return cam;
1534 #else
1535  THROW_EXCEPTION("MRPT compiled without wxWidgets");
1536 #endif // MRPT_HAS_WXWIDGETS
1537 }
1538 
1539 /* ------------------------------------------------------------------------
1540  prepareVideoSourceFromPanel
1541  ------------------------------------------------------------------------ */
1542 CCameraSensor::Ptr mrpt::hwdrivers::prepareVideoSourceFromPanel(void* _panel)
1543 {
1544 #if MRPT_HAS_WXWIDGETS
1545 
1546  try
1547  {
1548  CConfigFileMemory cfg;
1549  writeConfigFromVideoSourcePanel(_panel, "CONFIG", &cfg);
1550 
1551  // Try to open the camera:
1552  CCameraSensor::Ptr video = std::make_shared<CCameraSensor>();
1553  video->loadConfig(cfg, "CONFIG");
1554 
1555  // This will raise an exception if neccesary
1556  video->initialize();
1557 
1558  return video;
1559  }
1560  catch (const std::exception& e)
1561  {
1562  cerr << endl << e.what() << endl;
1563  wxMessageBox(_("Couldn't open video source"), _("Error"));
1564  return CCameraSensor::Ptr();
1565  }
1566 #else
1567  THROW_EXCEPTION("MRPT compiled without wxWidgets");
1568 #endif // MRPT_HAS_WXWIDGETS
1569 }
1570 
1571 /* ------------------------------------------------------------------------
1572  writeConfigFromVideoSourcePanel
1573  ------------------------------------------------------------------------ */
1574 void mrpt::hwdrivers::writeConfigFromVideoSourcePanel(
1575  void* _panel, const std::string& sect, mrpt::config::CConfigFileBase* cfg)
1576 {
1577  MRPT_START
1578 #if MRPT_HAS_WXWIDGETS
1579  ASSERT_(_panel);
1580  auto* panel = reinterpret_cast<mrpt::gui::CPanelCameraSelection*>(_panel);
1581  ASSERTMSG_(
1582  panel, "panel must be of type mrpt::gui::CPanelCameraSelection *");
1583  panel->writeConfigFromVideoSourcePanel(sect, cfg);
1584 
1585 #else
1586  THROW_EXCEPTION("MRPT compiled without wxWidgets");
1587 #endif // MRPT_HAS_WXWIDGETS
1588  MRPT_END
1589 }
1590 
1591 /* ------------------------------------------------------------------------
1592  readConfigIntoVideoSourcePanel
1593  ------------------------------------------------------------------------ */
1594 void mrpt::hwdrivers::readConfigIntoVideoSourcePanel(
1595  void* _panel, const std::string& sect,
1596  const mrpt::config::CConfigFileBase* cfg)
1597 {
1598  MRPT_START
1599 #if MRPT_HAS_WXWIDGETS
1600  ASSERT_(_panel);
1601  auto* panel = reinterpret_cast<mrpt::gui::CPanelCameraSelection*>(_panel);
1602  ASSERTMSG_(
1603  panel, "panel must be of type mrpt::gui::CPanelCameraSelection *");
1604 
1605  panel->readConfigIntoVideoSourcePanel(sect, cfg);
1606 
1607 #else
1608  THROW_EXCEPTION("MRPT compiled without wxWidgets");
1609 #endif // MRPT_HAS_WXWIDGETS
1610  MRPT_END
1611 }
1612 
1613 /* -----------------------------------------------------
1614  THREAD: Saver of external images
1615  ----------------------------------------------------- */
1616 void CCameraSensor::thread_save_images(unsigned int my_working_thread_index)
1617 {
1618  while (!m_threadImagesSaverShouldEnd)
1619  {
1620  TListObservations newObs;
1621 
1622  // is there any new image?
1623  m_csToSaveList.lock();
1624  m_toSaveList[my_working_thread_index].swap(newObs);
1625  m_csToSaveList.unlock();
1626 
1627  for (auto i = newObs.begin(); i != newObs.end(); ++i)
1628  {
1629  // Optional user-code hook:
1630  if (m_hook_pre_save)
1631  {
1632  if (IS_DERIVED(*i->second, CObservation))
1633  {
1634  mrpt::obs::CObservation::Ptr obs =
1635  std::dynamic_pointer_cast<mrpt::obs::CObservation>(
1636  i->second);
1637  m_hook_pre_save(obs, m_hook_pre_save_param);
1638  }
1639  }
1640 
1641  if (IS_CLASS(*i->second, CObservationImage))
1642  {
1643  CObservationImage::Ptr obs =
1644  std::dynamic_pointer_cast<CObservationImage>(i->second);
1645 
1646  string filName =
1647  fileNameStripInvalidChars(trim(m_sensorLabel)) +
1648  format(
1649  "_%f.%s", (double)timestampTotime_t(obs->timestamp),
1650  m_external_images_format.c_str());
1651 
1652  obs->image.saveToFile(
1653  m_path_for_external_images + string("/") + filName,
1654  m_external_images_jpeg_quality);
1655  obs->image.setExternalStorage(filName);
1656  }
1657  else if (IS_CLASS(*i->second, CObservationStereoImages))
1658  {
1659  CObservationStereoImages::Ptr stObs =
1660  std::dynamic_pointer_cast<CObservationStereoImages>(
1661  i->second);
1662 
1663  const string filNameL =
1664  fileNameStripInvalidChars(trim(m_sensorLabel)) +
1665  format(
1666  "_L_%f.%s", (double)timestampTotime_t(stObs->timestamp),
1667  m_external_images_format.c_str());
1668  const string filNameR =
1669  fileNameStripInvalidChars(trim(m_sensorLabel)) +
1670  format(
1671  "_R_%f.%s", (double)timestampTotime_t(stObs->timestamp),
1672  m_external_images_format.c_str());
1673  const string filNameD =
1674  fileNameStripInvalidChars(trim(m_sensorLabel)) +
1675  format(
1676  "_D_%f.%s", (double)timestampTotime_t(stObs->timestamp),
1677  m_external_images_format.c_str());
1678 
1679  stObs->imageLeft.saveToFile(
1680  m_path_for_external_images + string("/") + filNameL,
1681  m_external_images_jpeg_quality);
1682  stObs->imageLeft.setExternalStorage(filNameL);
1683 
1684  if (stObs->hasImageRight)
1685  {
1686  stObs->imageRight.saveToFile(
1687  m_path_for_external_images + string("/") + filNameR,
1688  m_external_images_jpeg_quality);
1689  stObs->imageRight.setExternalStorage(filNameR);
1690  }
1691  if (stObs->hasImageDisparity)
1692  {
1693  stObs->imageDisparity.saveToFile(
1694  m_path_for_external_images + string("/") + filNameD,
1695  m_external_images_jpeg_quality);
1696  stObs->imageDisparity.setExternalStorage(filNameD);
1697  }
1698  }
1699 
1700  // Append now:
1701  appendObservation(i->second);
1702  }
1703 
1704  std::this_thread::sleep_for(2ms);
1705  }
1706 }
mrpt::config::CConfigFileMemory
This class implements a config file-like interface over a memory-stored string list.
Definition: config/CConfigFileMemory.h:36
ADD_COLOR_MAP
#define ADD_COLOR_MAP(c)
mrpt::obs::CObservationImage
Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.
Definition: CObservationImage.h:32
mrpt::system::createDirectory
bool createDirectory(const std::string &dirName)
Creates a directory.
Definition: filesystem.cpp:161
MRPT_START
#define MRPT_START
Definition: exceptions.h:241
CObservationImage.h
mrpt::hwdrivers::TCameraType
TCameraType
These capture types are like their OpenCV equivalents.
Definition: CImageGrabber_OpenCV.h:21
mrpt::config::CConfigFileBase::read_string
std::string read_string(const std::string &section, const std::string &name, const std::string &defaultValue, bool failIfNotFound=false) const
Definition: CConfigFileBase.cpp:171
WxUtils.h
mrpt::gui::WxSubsystem::TRequestToWxMainThread
The data structure for each inter-thread request:
Definition: WxSubsystem.h:189
mrpt::typemeta::TEnumType::name2value
static ENUMTYPE name2value(const std::string &name)
Gives the numerical name for a given enum text name.
Definition: TEnumType.h:100
mrpt::hwdrivers::prepareVideoSourceFromUserSelection
CCameraSensor::Ptr prepareVideoSourceFromUserSelection()
Show to the user a list of possible camera drivers and creates and open the selected camera...
Definition: CCameraSensor.cpp:1467
THROW_EXCEPTION
#define THROW_EXCEPTION(msg)
Definition: exceptions.h:67
mrpt::format
std::string std::string format(std::string_view fmt, ARGS &&... args)
Definition: format.h:26
mrpt::math::size
size_t size(const MATRIXLIKE &m, const int dim)
Definition: math/include/mrpt/math/bits_math.h:21
mrpt::hwdrivers::CImageGrabber_FlyCapture2
A wrapper for Point Gray Research (PGR) FlyCapture2 API for capturing images from Firewire...
Definition: CImageGrabber_FlyCapture2.h:181
CCameraSensor.h
mrpt::hwdrivers::CGenericSensor::TListObsPair
std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr > TListObsPair
Definition: CGenericSensor.h:79
CSensoryFrame.h
mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
See the class documentation at the top for expected parameters.
Definition: CCameraSensor.cpp:419
mrpt::obs::CObservation3DRangeScan
A range or depth 3D scan measurement, as from a time-of-flight range camera or a structured-light dep...
Definition: CObservation3DRangeScan.h:168
mrpt::system::now
mrpt::system::TTimeStamp now()
A shortcut for system::getCurrentTime.
Definition: datetime.h:86
mrpt::hwdrivers
Contains classes for various device interfaces.
Definition: C2DRangeFinderAbstract.h:19
mrpt::img::CImage::getHeight
size_t getHeight() const override
Returns the height of the image in pixels.
Definition: CImage.cpp:849
mrpt::hwdrivers::readConfigIntoVideoSourcePanel
void readConfigIntoVideoSourcePanel(void *panel, const std::string &in_cfgfile_section_name, const mrpt::config::CConfigFileBase *in_cfgfile)
Parse the given section of the given configuration file and set accordingly the controls of the wxWid...
Definition: CCameraSensor.cpp:1594
mrpt::img::CImage::scaleImage
void scaleImage(CImage &out_img, unsigned int width, unsigned int height, TInterpolationMethod interp=IMG_INTERP_CUBIC) const
Scales this image to a new size, interpolating as needed, saving the new image in a different output ...
Definition: CImage.cpp:1741
mrpt::hwdrivers::CCameraSensor::doProcess
void doProcess() override
This method will be invoked at a minimum rate of "process_rate" (Hz)
Definition: CCameraSensor.cpp:1423
mrpt::config::CConfigFileBase::read_float
float read_float(const std::string &section, const std::string &name, float defaultValue, bool failIfNotFound=false) const
Definition: CConfigFileBase.cpp:118
std
STL namespace.
mrpt::system::fileNameStripInvalidChars
std::string fileNameStripInvalidChars(const std::string &filename, const char replacement_to_invalid_chars='_')
Replace invalid filename chars by underscores (&#39;_&#39;) or any other user-given char. ...
Definition: filesystem.cpp:329
ok
bool ok
Definition: chessboard_stereo_camera_calib_unittest.cpp:61
CRawlog.h
mrpt::hwdrivers::CCameraSensor::~CCameraSensor
~CCameraSensor() override
Destructor.
Definition: CCameraSensor.cpp:717
mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE
int OPCODE
Valid codes are: For CDisplayWindow:
Definition: WxSubsystem.h:283
mrpt::hwdrivers::writeConfigFromVideoSourcePanel
void writeConfigFromVideoSourcePanel(void *panel, const std::string &in_cfgfile_section_name, mrpt::config::CConfigFileBase *out_cfgfile)
Parse the user options in the wxWidgets "panel" and write the configuration into the given section of...
Definition: CCameraSensor.cpp:1574
mrpt::config::CConfigFileBase::read_int
int read_int(const std::string &section, const std::string &name, int defaultValue, bool failIfNotFound=false) const
Definition: CConfigFileBase.cpp:130
string_utils.h
mrpt::serialization::archiveFrom
CArchiveStreamBase< STREAM > archiveFrom(STREAM &s)
Helper function to create a templatized wrapper CArchive object for a: MRPT&#39;s CStream, std::istream, std::ostream, std::stringstream.
Definition: CArchive.h:592
mrpt::hwdrivers::CCameraSensor::thread_save_images
void thread_save_images(unsigned int my_working_thread_index)
Thread to save images to files.
Definition: CCameraSensor.cpp:1616
ASSERT_
#define ASSERT_(f)
Defines an assertion mechanism.
Definition: exceptions.h:120
mrpt::system::TTimeStamp
mrpt::Clock::time_point TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
Definition: datetime.h:40
mrpt::config::CConfigFileBase
This class allows loading and storing values and vectors of different types from a configuration text...
Definition: config/CConfigFileBase.h:44
mrpt::hwdrivers::CCameraSensor::close
void close()
Close the camera (if open).
Definition: CCameraSensor.cpp:390
mrpt::img::CImage::getWidth
size_t getWidth() const override
Returns the width of the image in pixels.
Definition: CImage.cpp:818
mrpt::hwdrivers::CCameraSensor
The central class for camera grabbers in MRPT, implementing the "generic sensor" interface.
Definition: CCameraSensor.h:348
mrpt::system::lowerCase
std::string lowerCase(const std::string &str)
Returns an lower-case version of a string.
Definition: string_utils.cpp:26
mrpt::hwdrivers::CCameraSensor::Ptr
std::shared_ptr< CCameraSensor > Ptr
Definition: CCameraSensor.h:353
CArchive.h
std::shared_ptr< CObservation >
mrpt::DEG2RAD
constexpr double DEG2RAD(const double x)
Degrees to radians.
Definition: core/include/mrpt/core/bits_math.h:47
mrpt::system::COutputLogger
Versatile class for consistent logging and management of output messages.
Definition: system/COutputLogger.h:117
mrpt::system::timestampTotime_t
double timestampTotime_t(const mrpt::system::TTimeStamp t) noexcept
Transform from TTimeStamp to standard "time_t" (actually a double number, it can contain fractions of...
Definition: datetime.h:105
IS_DERIVED
#define IS_DERIVED(obj, class_name)
True if the given reference to object (derived from mrpt::rtti::CObject) is an instance of the given ...
Definition: CObject.h:151
mrpt::obs::CObservationStereoImages
Observation class for either a pair of left+right or left+disparity images from a stereo camera...
Definition: CObservationStereoImages.h:38
mrpt::obs
This namespace contains representation of robot actions and observations.
Definition: CParticleFilter.h:17
mrpt::obs::CSensoryFrame
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Definition: CSensoryFrame.h:51
trim
static std::string & trim(std::string &s)
Definition: CListOfClasses.cpp:61
mrpt::config::CConfigFileBase::read_string_first_word
std::string read_string_first_word(const std::string &section, const std::string &name, const std::string &defaultValue, bool failIfNotFound=false) const
Reads a configuration parameter of type "string", and keeps only the first word (this can be used to ...
Definition: CConfigFileBase.cpp:182
IS_CLASS
#define IS_CLASS(obj, class_name)
True if the given reference to object (derived from mrpt::rtti::CObject) is of the given class...
Definition: CObject.h:146
sect
constexpr auto sect
Definition: ICP_SLAM_App.cpp:32
ASSERTMSG_
#define ASSERTMSG_(f, __ERROR_MSG)
Defines an assertion mechanism.
Definition: exceptions.h:108
mrpt::config::CConfigFilePrefixer
A wrapper for other CConfigFileBase-based objects that prefixes a given token to every key and/or sec...
Definition: CConfigFilePrefixer.h:37
mrpt::config::CConfigFileBase::read_double
double read_double(const std::string &section, const std::string &name, double defaultValue, bool failIfNotFound=false) const
Definition: CConfigFileBase.cpp:106
IMPLEMENTS_GENERIC_SENSOR
#define IMPLEMENTS_GENERIC_SENSOR(class_name, NameSpace)
This must be inserted in all CGenericSensor classes implementation files:
Definition: CGenericSensor.h:314
mrpt::hwdrivers::CImageGrabber_FlyCapture2::startSyncCapture
static void startSyncCapture(int numCameras, const CImageGrabber_FlyCapture2 **cameras_array)
Starts a synchronous capture of several cameras, which must have been already opened.
Definition: CImageGrabber_FlyCapture2.cpp:567
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
mrpt::hwdrivers::CCameraSensor::initialize
void initialize() override
Tries to open the camera, after setting all the parameters with a call to loadConfig.
Definition: CCameraSensor.cpp:75
mrpt::hwdrivers::CGenericSensor::TListObservations
std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr > TListObservations
Definition: CGenericSensor.h:77
mrpt::obs::CObservation
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
mrpt::config::CConfigFileBase::read_bool
bool read_bool(const std::string &section, const std::string &name, bool defaultValue, bool failIfNotFound=false) const
Definition: CConfigFileBase.cpp:155
WxSubsystem.h
mrpt::system::upperCase
std::string upperCase(const std::string &str)
Returns a upper-case version of a string.
Definition: string_utils.cpp:40
MRPT_END
#define MRPT_END
Definition: exceptions.h:245
mrpt::hwdrivers::CCameraSensor::getNextFrame
mrpt::obs::CObservation::Ptr getNextFrame()
Retrieves the next frame from the video source, raising an exception on any error.
Definition: CCameraSensor.cpp:727
CObservationStereoImages.h
CConfigFilePrefixer.h
mrpt::hwdrivers::CCameraSensor::setSoftwareTriggerLevel
void setSoftwareTriggerLevel(bool level)
Set Software trigger level value (ON or OFF) for cameras with this function available.
Definition: CCameraSensor.cpp:1433
mrpt::gui::CPanelCameraSelection
A panel to select the camera input from all the formats supported by MRPT.
Definition: WxUtils.h:154
MRPT_LOAD_HERE_CONFIG_VAR
#define MRPT_LOAD_HERE_CONFIG_VAR( variableName, variableType, targetVariable, configFileObject, sectionNameStr)
Definition: config/CConfigFileBase.h:352
mrpt::system::trim
std::string trim(const std::string &str)
Removes leading and trailing spaces.
Definition: string_utils.cpp:270
mrpt::gui
Classes for creating GUI windows for 2D and 3D visualization.
Definition: about_box.h:14
mrpt::gui::CDisplayWindow::Create
static CDisplayWindow::Ptr Create(const std::string &windowCaption, unsigned int initWidth=400, unsigned int initHeight=400)
Class factory returning a smart pointer.
Definition: CDisplayWindow.cpp:309
mrpt::system::timeDifference
double timeDifference(const mrpt::system::TTimeStamp t_first, const mrpt::system::TTimeStamp t_later)
Returns the time difference from t1 to t2 (positive if t2 is posterior to t1), in seconds...
Definition: datetime.h:123
mrpt::img::IMG_INTERP_NN
Definition: img/CImage.h:52
THROW_EXCEPTION_FMT
#define THROW_EXCEPTION_FMT(_FORMAT_STRING,...)
Definition: exceptions.h:69
mrpt::hwdrivers::CCameraSensor::setPathForExternalImages
void setPathForExternalImages(const std::string &directory) override
Set the path where to save off-rawlog image files (this class DOES take into account this path)...
Definition: CCameraSensor.cpp:1453
MRPT_LOG_THROTTLE_WARN
#define MRPT_LOG_THROTTLE_WARN(_PERIOD_SECONDS, _STRING)
Definition: system/COutputLogger.h:453
INVALID_TIMESTAMP
#define INVALID_TIMESTAMP
Represents an invalid timestamp, where applicable.
Definition: datetime.h:43
mrpt::gui::WxSubsystem::createOneInstanceMainThread
static bool createOneInstanceMainThread()
Thread-safe method to create one single instance of the main wxWidgets thread: it will create the thr...
Definition: WxSubsystem.cpp:1018
mrpt::hwdrivers::prepareVideoSourceFromPanel
CCameraSensor::Ptr prepareVideoSourceFromPanel(void *panel)
Used only from MRPT apps: Use with caution since "panel" MUST be a "mrpt::gui::CPanelCameraSelection ...
Definition: CCameraSensor.cpp:1542
mrpt::img::CImage
A class for storing images as grayscale or RGB bitmaps.
Definition: img/CImage.h:148


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