CKinect.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef mrpt_CKinect_H
#define mrpt_CKinect_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/obs/CObservationIMU.h>
#include <mrpt/utils/TEnumType.h>
#include <mrpt/gui/CDisplayWindow.h>

// MRPT implements a common interface to Kinect disregarding the
//  actual underlying library. These macros defined in "mrpt/config.h"
//  let us know which library is actually used:
//   - [DEPRECATED AS OF MRPT 1.3.0] MRPT_HAS_KINECT_CL_NUI     = 0 or 1
//   - MRPT_HAS_KINECT_FREENECT   = 0 or 1

// Depth of Kinect ranges:
#if MRPT_HAS_KINECT_FREENECT
#define MRPT_KINECT_DEPTH_10BIT
#define KINECT_RANGES_TABLE_LEN 1024
#define KINECT_RANGES_TABLE_MASK 0x03FF
#else  //  MRPT_HAS_KINECT_CL_NUI or none:
#define MRPT_KINECT_DEPTH_11BIT
#define KINECT_RANGES_TABLE_LEN 2048
#define KINECT_RANGES_TABLE_MASK 0x07FF
#endif

namespace mrpt
{
namespace hwdrivers
{
/** A class for grabing "range images", intensity images (either RGB or IR) and
  *other information from an Xbox Kinect sensor.
  * To use Kinect for Windows or ASUS/Primesense RGBD cameras, use the class
  *COpenNI2.
  *
  *  <h2>Configuration and usage:</h2> <hr>
  * Data is returned as observations of type mrpt::obs::CObservation3DRangeScan
  *(and mrpt::obs::CObservationIMU for accelerometers data).
  *  See those classes for documentation on their fields.
  *
  * As with any other CGenericSensor class, the normal sequence of methods to be
  *called is:
  *   - CGenericSensor::loadConfig() - Or calls to the individual setXXX() to
  *configure the sensor parameters.
  *   - CKinect::initialize() - to start the communication with the sensor.
  *   - call CKinect::getNextObservation() for getting the data.
  *
  * <h2>Calibration parameters</h2><hr>
  *  For an accurate transformation of depth images to 3D points, you'll have to
  *calibrate your Kinect, and supply
  *   the following <b>threee pieces of information</b> (default calibration
  *data will be used otherwise, but they'll be not optimal for all sensors!):
  *    - Camera parameters for the RGB camera. See
  *CKinect::setCameraParamsIntensity()
  *    - Camera parameters for the depth camera. See
  *CKinect::setCameraParamsDepth()
  *    - The 3D relative pose of the two cameras. See
  *CKinect::setRelativePoseIntensityWrtDepth()
  *
  *   See http://www.mrpt.org/Kinect_calibration for a procedure to calibrate
  *Kinect sensors with an interactive GUI program.
  *
  * <h2>Coordinates convention</h2><hr>
  *   The origin of coordinates is the focal point of the depth camera, with the
  *axes oriented as in the
  *   diagram shown in mrpt::obs::CObservation3DRangeScan. Notice in that
  *picture that the RGB camera is
  *   assumed to have axes as usual in computer vision, which differ from those
  *for the depth camera.
  *
  *   The X,Y,Z axes used to report the data from accelerometers coincide with
  *those of the depth camera
  *    (e.g. the camera standing on a table would have an ACC_Z=-9.8m/s2).
  *
  *   Notice however that, for consistency with stereo cameras, when loading the
  *calibration parameters from
  *    a configuration file, the left-to-right pose increment is expected as if
  *both RGB & IR cameras had
  *    their +Z axes pointing forward, +X to the right, +Y downwards (just like
  *it's the standard in stereo cameras
  *    and in computer vision literature). In other words: the pose stored in
  *this class uses a different
  *    axes convention for the depth camera than in a stereo camera, so when a
  *pose L2R is loaded from a calibration file
  *    it's actually converted like:
  *
  *      L2R(this class convention) = CPose3D(0,0,0,-90deg,0deg,-90deg) (+)
  *L2R(in the config file)
  *
  *
  * <h2>Some general comments</h2><hr>
  *             - 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)
  *             - This sensor can be also used from within rawlog-grabber to grab
  *datasets
  *within a robot with more sensors.
  *             - There is no built-in threading support, so if you use this class
  *manually
  *(not with-in rawlog-grabber),
  *                     the ideal would be to create a thread and continuously request data
  *from
  *that thread (see mrpt::system::createThread ).
  *             - The intensity channel default to the RGB images, but it can be changed
  *with setVideoChannel() to read the IR camera images (useful for calibrating).
  *             - 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.
  *             - 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!
  *
  * <h2>Converting to 3D point cloud </h2><hr>
  *   You can convert the 3D observation into a 3D point cloud with this piece
  *of code:
  *
  * \code
  * mrpt::obs::CObservation3DRangeScan  obs3D;
  * mrpt::maps::CColouredPointsMap       pntsMap;
  * pntsMap.colorScheme.scheme = CColouredPointsMap::cmFromIntensityImage;
  * pntsMap.loadFromRangeScan(obs3D);
  * \endcode
  *
  *   Then the point cloud mrpt::maps::CColouredPointsMap can be converted into
  *an OpenGL object for
  *    rendering with mrpt::maps::CMetricMap::getAs3DObject() or alternatively
  *with:
  *
  *  \code
  *    mrpt::opengl::CPointCloudColoured::Ptr gl_points =
  *mrpt::make_aligned_shared<mrpt::opengl::CPointCloudColoured>();
  *    gl_points->loadFromPointsMap(&pntsMap);
  *  \endcode
  *
  *
  * <h2>Raw depth to range conversion</h2><hr>
  *  At construction, this class builds an internal array for converting raw 10
  *or 11bit depths into ranges in meters.
  *   Users can read that array or modify it (if you have a better calibration,
  *for example) by calling CKinect::getRawDepth2RangeConversion().
  *   If you replace it, remember to set the first and last entries (index 0 and
  *KINECT_RANGES_TABLE_LEN-1) to zero, to indicate that those are invalid
  *ranges.
  *
  *  <table width="100%" >
  *  <tr>
  *  <td align="center" >
  *   <img src="kinect_depth2range_10bit.png" > <br>
  *    R(d) = k3 * tan(d/k2 + k1); <br>
  *    k1 = 1.1863,  k2 = 2842.5, k3 = 0.1236 <br>
  *  </td>
  *  <td align="center" >
  *  </td>
  *  </tr>
  *  </table>
  *
  *
  * <h2>Platform-specific comments</h2><hr>
  *   For more details, refer to <a href="http://openkinect.org/wiki/Main_Page"
  *>libfreenect</a> documentation:
  *             - 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.
  *             - Windows:
  *                     - 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
  *                     - To install the drivers, read this:
  *http://openkinect.org/wiki/Getting_Started#Windows
  *             - MacOS: (write me!)
  *
  *
  * <h2>Format of parameters for loading from a .ini file</h2><hr>
  *
  *  \code
  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  * -------------------------------------------------------
  *   [supplied_section_name]
  *    sensorLabel     = KINECT       // A text description
  *    preview_window  = false        // Show a window with a preview of the
  *grabbed data in real-time
  *
  *    device_number   = 0           // Device index to open (0:first Kinect,
  *1:second Kinect,...)
  *
  *    grab_image      = true        // Grab the RGB image channel?
  *(Default=true)
  *    grab_depth      = true        // Grab the depth channel? (Default=true)
  *    grab_3D_points  = true        // Grab the 3D point cloud? (Default=true)
  *If disabled, points can be generated later on.
  *    grab_IMU        = true        // Grab the accelerometers? (Default=true)
  *
  *    video_channel   = VIDEO_CHANNEL_RGB // Optional. Can be:
  *VIDEO_CHANNEL_RGB (default) or VIDEO_CHANNEL_IR
  *
  *    pose_x=0 // Camera position in the robot (meters)
  *    pose_y=0
  *    pose_z=0
  *    pose_yaw=0       // Angles in degrees
  *    pose_pitch=0
  *    pose_roll=0
  *
  *    // Optional: Set the initial tilt angle of Kinect: upon initialization,
  *the motor is sent a command to
  *    //            rotate to this angle (in degrees). Note: You must be aware
  *of the tilt when interpreting the sensor readings.
  *    //           If not present or set to "360", no motor command will be
  *sent at start up.
  *    initial_tilt_angle = 0
  *
  *    // Kinect sensor calibration:
  *    // See http://www.mrpt.org/Kinect_and_MRPT
  *
  *    // Left/Depth camera
  *    [supplied_section_name_LEFT]
  *    rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this
  *section (it is not a separate device!)
  *
  *    resolution = [640 488]
  *    cx         = 314.649173
  *    cy         = 240.160459
  *    fx         = 572.882768
  *    fy         = 542.739980
  *    dist       = [-4.747169e-03 -4.357976e-03 0.000000e+00 0.000000e+00
  *0.000000e+00]    // The order is: [K1 K2 T1 T2 K3]
  *
  *    // Right/RGB camera
  *    [supplied_section_name_RIGHT]
  *    rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this
  *section (it is not a separate device!)
  *
  *    resolution = [640 480]
  *    cx         = 322.515987
  *    cy         = 259.055966
  *    fx         = 521.179233
  *    fy         = 493.033034
  *    dist       = [5.858325e-02 3.856792e-02 0.000000e+00 0.000000e+00
  *0.000000e+00]    // The order is: [K1 K2 T1 T2 K3]
  *
  *    // Relative pose of the right camera wrt to the left camera:
  *    // This assumes that both camera frames are such that +Z points
  *    // forwards, and +X and +Y to the right and downwards.
  *    // For the actual coordinates employed in 3D observations, see figure in
  *mrpt::obs::CObservation3DRangeScan
  *    [supplied_section_name_LEFT2RIGHT_POSE]
  *    rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this
  *section (it is not a separate device!)
  *
  *    pose_quaternion      = [0.025575 -0.000609 -0.001462 0.999987 0.002038
  *0.004335 -0.001693]
  *
  *  \endcode
  *
  *  More references to read:
  *             - http://openkinect.org/wiki/Imaging_Information
  *             - http://nicolas.burrus.name/index.php/Research/KinectCalibration
  * \ingroup mrpt_hwdrivers_grp
  */
class CKinect : public mrpt::hwdrivers::CGenericSensor
{
        DEFINE_GENERIC_SENSOR(CKinect)

   public:
        /** A typedef for an array that converts raw depth to ranges in meters. */
        typedef float TDepth2RangeArray[KINECT_RANGES_TABLE_LEN];

        /** RGB or IR video channel identifiers \sa setVideoChannel */
        enum TVideoChannel
        {
                VIDEO_CHANNEL_RGB = 0,
                VIDEO_CHANNEL_IR
        };

        /** Default ctor */
        CKinect();
        /** Default ctor */
        ~CKinect();

        /** Initializes the 3D camera - should be invoked after calling loadConfig()
         * or setting the different parameters with the set*() methods.
          *  \exception This method must throw an exception with a descriptive
         * message if some critical error is found.
          */
        virtual void initialize();

        /** To be called  at a high rate (>XX Hz), this method populates the
         * internal buffer of received observations.
          *  This method is mainly intended for usage within rawlog-grabber or
         * similar programs.
          *  For an alternative, see getNextObservation()
          *  \exception This method must throw an exception with a descriptive
         * message if some critical error is found.
          * \sa getNextObservation
          */
        virtual void doProcess();

        /** The main data retrieving function, to be called after calling
         * loadConfig() and initialize().
          *  \param out_obs The output retrieved observation (only if
         * there_is_obs=true).
          *  \param there_is_obs If set to false, there was no new observation.
          *  \param hardware_error True on hardware/comms error.
          *
          * \sa doProcess
          */
        void getNextObservation(
                mrpt::obs::CObservation3DRangeScan& out_obs, bool& there_is_obs,
                bool& hardware_error);

        /** \overload
          * \note This method also grabs data from the accelerometers, returning
         * them in out_obs_imu
          */
        void getNextObservation(
                mrpt::obs::CObservation3DRangeScan& out_obs,
                mrpt::obs::CObservationIMU& out_obs_imu, bool& there_is_obs,
                bool& hardware_error);

        /**  Set the path where to save off-rawlog image files (this class DOES take
         * into account this path).
          *  An  empty string (the default value at construction) means to save
         * images embedded in the rawlog, instead of on separate files.
          * \exception std::exception If the directory doesn't exists and cannot be
         * created.
          */
        virtual void setPathForExternalImages(const std::string& directory);

        /** @name Sensor parameters (alternative to \a loadConfig ) and manual
           control
                @{ */

        /** Try to open the camera (set all the parameters before calling this) -
         * users may also call initialize(), which in turn calls this method.
          *  Raises an exception upon error.
          * \exception std::exception A textual description of the error.
          */
        void open();

        /** Whether there is a working connection to the sensor */
        bool isOpen() const;

        /** Close the Connection to the sensor (not need to call it manually unless
         * desired for some reason,
          * since it's called at destructor) */
        void close();

        /** Changes the video channel to open (RGB or IR) - you can call this method
           before start grabbing or in the middle of streaming and the video source
           will change on the fly.
                Default is RGB channel. */
        void setVideoChannel(const TVideoChannel vch);
        /** Return the current video channel (RGB or IR) \sa setVideoChannel */
        inline TVideoChannel getVideoChannel() const { return m_video_channel; }
        /** Set the sensor index to open (if there're several sensors attached to
         * the computer); default=0 -> the first one. */
        inline void setDeviceIndexToOpen(int index)
        {
                m_user_device_number = index;
        }
        inline int getDeviceIndexToOpen() const { return m_user_device_number; }
        /** Change tilt angle \note Sensor must be open first. */
        void setTiltAngleDegrees(double angle);
        double getTiltAngleDegrees();

        /** Default: disabled */
        inline void enablePreviewRGB(bool enable = true)
        {
                m_preview_window = enable;
        }
        inline void disablePreviewRGB() { m_preview_window = false; }
        inline bool isPreviewRGBEnabled() const { return m_preview_window; }
        /** If preview is enabled, show only one image out of N (default: 1=show
         * all) */
        inline void setPreviewDecimation(size_t decimation_factor)
        {
                m_preview_window_decimation = decimation_factor;
        }
        inline size_t getPreviewDecimation() const
        {
                return m_preview_window_decimation;
        }

        /** Get the maximum range (meters) that can be read in the observation field
         * "rangeImage" */
        inline double getMaxRange() const { return m_maxRange; }
        /** Get the row count in the camera images, loaded automatically upon camera
         * open(). */
        inline size_t getRowCount() const { return m_cameraParamsRGB.nrows; }
        /** Get the col count in the camera images, loaded automatically upon camera
         * open(). */
        inline size_t getColCount() const { return m_cameraParamsRGB.ncols; }
        /** Get a const reference to the depth camera calibration parameters */
        inline const mrpt::utils::TCamera& getCameraParamsIntensity() const
        {
                return m_cameraParamsRGB;
        }
        inline void setCameraParamsIntensity(const mrpt::utils::TCamera& p)
        {
                m_cameraParamsRGB = p;
        }

        /** Get a const reference to the depth camera calibration parameters */
        inline const mrpt::utils::TCamera& getCameraParamsDepth() const
        {
                return m_cameraParamsDepth;
        }
        inline void setCameraParamsDepth(const mrpt::utils::TCamera& p)
        {
                m_cameraParamsDepth = p;
        }

        /** Set the pose of the intensity camera wrt the depth camera \sa See
         * mrpt::obs::CObservation3DRangeScan for a 3D diagram of this pose */
        inline void setRelativePoseIntensityWrtDepth(const mrpt::poses::CPose3D& p)
        {
                m_relativePoseIntensityWRTDepth = p;
        }
        inline const mrpt::poses::CPose3D& getRelativePoseIntensityWrtDepth() const
        {
                return m_relativePoseIntensityWRTDepth;
        }

        /** Get a reference to the array that convert raw depth values (10 or 11
         * bit) into ranges in meters, so it can be read or replaced by the user.
          *  If you replace it, remember to set the first and last entries (index 0
         * and KINECT_RANGES_TABLE_LEN-1) to zero, to indicate that those are
         * invalid ranges.
          */
        inline TDepth2RangeArray& getRawDepth2RangeConversion()
        {
                return m_range2meters;
        }
        inline const TDepth2RangeArray& getRawDepth2RangeConversion() const
        {
                return m_range2meters;
        }

        /** Enable/disable the grabbing of the RGB channel */
        inline void enableGrabRGB(bool enable = true) { m_grab_image = enable; }
        inline bool isGrabRGBEnabled() const { return m_grab_image; }
        /** Enable/disable the grabbing of the depth channel */
        inline void enableGrabDepth(bool enable = true) { m_grab_depth = enable; }
        inline bool isGrabDepthEnabled() const { return m_grab_depth; }
        /** Enable/disable the grabbing of the inertial data */
        inline void enableGrabAccelerometers(bool enable = true)
        {
                m_grab_IMU = enable;
        }
        inline bool isGrabAccelerometersEnabled() const { return m_grab_IMU; }
        /** Enable/disable the grabbing of the 3D point clouds */
        inline void enableGrab3DPoints(bool enable = true)
        {
                m_grab_3D_points = enable;
        }
        inline bool isGrab3DPointsEnabled() const { return m_grab_3D_points; }
/** @} */

#if MRPT_HAS_KINECT_FREENECT
        // Auxiliary getters/setters (we can't declare the libfreenect callback as
        // friend since we
        //   want to avoid including the API headers here).
        inline mrpt::obs::CObservation3DRangeScan& internal_latest_obs()
        {
                return m_latest_obs;
        }
        inline volatile uint32_t& internal_tim_latest_depth()
        {
                return m_tim_latest_depth;
        }
        inline volatile uint32_t& internal_tim_latest_rgb()
        {
                return m_tim_latest_rgb;
        }
        inline std::mutex& internal_latest_obs_cs() { return m_latest_obs_cs; }
#endif

   protected:
        /** See the class documentation at the top for expected parameters */
        virtual void loadConfig_sensorSpecific(
                const mrpt::utils::CConfigFileBase& configSource,
                const std::string& section);

        mrpt::poses::CPose3D m_sensorPoseOnRobot;

        /** Show preview window while grabbing */
        bool m_preview_window;
        /** If preview is enabled, only show 1 out of N images. */
        size_t m_preview_window_decimation;
        size_t m_preview_decim_counter_range, m_preview_decim_counter_rgb;
        mrpt::gui::CDisplayWindow::Ptr m_win_range, m_win_int;

#if MRPT_HAS_KINECT_FREENECT
        /** The "freenect_context", or nullptr if closed */
        void* m_f_ctx;
        /** The "freenect_device", or nullptr if closed */
        void* m_f_dev;

        // Data fields for use with the callback function:
        mrpt::obs::CObservation3DRangeScan m_latest_obs;
        volatile uint32_t m_tim_latest_depth, m_tim_latest_rgb;  // 0 = not updated
        std::mutex m_latest_obs_cs;
#endif

        /** Params for the RGB camera */
        mrpt::utils::TCamera m_cameraParamsRGB;
        /** Params for the Depth camera */
        mrpt::utils::TCamera m_cameraParamsDepth;
        /** See mrpt::obs::CObservation3DRangeScan for a diagram of this pose */
        mrpt::poses::CPose3D m_relativePoseIntensityWRTDepth;

        /** Set Kinect tilt to an initial deegre (it should be take in account in
         * the sensor pose by the user) */
        int m_initial_tilt_angle;

        /** Sensor max range (meters) */
        double m_maxRange;

        /** Number of device to open (0:first,...) */
        int m_user_device_number;

        /** Default: all true */
        bool m_grab_image, m_grab_depth, m_grab_3D_points, m_grab_IMU;

        /** The video channel to open: RGB or IR */
        TVideoChannel m_video_channel;

   private:
        /** Temporary buffers for image grabbing. */
        std::vector<uint8_t> m_buf_depth, m_buf_rgb;
        /** The table raw depth -> range in meters */
        TDepth2RangeArray m_range2meters;

        /** Compute m_range2meters at construction */
        void calculate_range2meters();

};  // End of class
}  // End of NS

// Specializations MUST occur at the same namespace:
namespace utils
{
template <>
struct TEnumTypeFiller<hwdrivers::CKinect::TVideoChannel>
{
        typedef hwdrivers::CKinect::TVideoChannel enum_t;
        static void fill(bimap<enum_t, std::string>& m_map)
        {
                m_map.insert(
                        hwdrivers::CKinect::VIDEO_CHANNEL_RGB, "VIDEO_CHANNEL_RGB");
                m_map.insert(hwdrivers::CKinect::VIDEO_CHANNEL_IR, "VIDEO_CHANNEL_IR");
        }
};
}  // End of namespace

}  // End of NS

#endif