COpenNI2Generic.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef mrpt_COpenNI2Generic_H
#define mrpt_COpenNI2Generic_H

#include <mrpt/obs/CObservation3DRangeScan.h>

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

        /** Default ctor
 */
        ~COpenNI2Generic();

        /** The main data retrieving function, to be called after calling
         * loadConfig() and initialize().
          *  \param out_img The output retrieved RGB image (only if
         * there_is_obs=true).
          *  \param timestamp The timestamp of the capture (only if
         * there_is_obs=true).
          *  \param there_is_obs If set to false, there was no new observation.
          *  \param hardware_error True on hardware/comms error.
          *  \param sensor_id The index of the sensor accessed.  */
        void getNextFrameRGB(
                mrpt::utils::CImage& rgb_img, uint64_t& timestamp, bool& there_is_obs,
                bool& hardware_error, unsigned sensor_id = 0);

        /** The main data retrieving function, to be called after calling
         * loadConfig() and initialize().
          *  \param depth_img The output retrieved depth image (only if
         * there_is_obs=true).
          *  \param timestamp The timestamp of the capture (only if
         * there_is_obs=true).
          *  \param there_is_obs If set to false, there was no new observation.
          *  \param hardware_error True on hardware/comms error.
          *  \param sensor_id The index of the sensor accessed. */
        void getNextFrameD(
                mrpt::math::CMatrix& depth_img, uint64_t& timestamp, bool& there_is_obs,
                bool& hardware_error, unsigned sensor_id = 0);

        /** The main data retrieving function, to be called after calling
         * loadConfig() and initialize().
          *  \param out_obs The output retrieved observation (only if
         * there_is_obs=true).
          *  \param there_is_obs If set to false, there was no new observation.
          *  \param hardware_error True on hardware/comms error.
          *  \param sensor_id The index of the sensor accessed.
          *
          * \sa doProcess
          */
        void getNextFrameRGBD(
                mrpt::obs::CObservation3DRangeScan& out_obs, bool& there_is_obs,
                bool& hardware_error, unsigned sensor_id = 0);

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

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

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

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

        /** @} */

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

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

   protected:
        /** The list of available devices */
        class CDevice;
        static std::vector<std::shared_ptr<CDevice>> vDevices;
        static int numInstances;

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

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