CSwissRanger3DCamera.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CSwissRanger3DCamera_H
#define CSwissRanger3DCamera_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/slam/CObservationImage.h>
#include <mrpt/slam/CObservation3DRangeScan.h>

#include <mrpt/gui/CDisplayWindow.h>

#include <mrpt/hwdrivers/link_pragmas.h>

namespace mrpt
{
        namespace hwdrivers
        {
                /** A class for grabing "range images" from a MESA imaging SwissRanger 3D cameras (SR-2, SR-3000, SR-4k).
                  * 
                  * NOTES:
                  *             - This class requires a vendor specific driver installed in the system in order to build MRPT with support for this sensor. Download and install the driver from: http://www.mesa-imaging.ch/drivers.php
                  *             - The intensity channel (grayscale image) is converted from 16bit to standard 8bit-per-pixel using a logarithmic, modified A-law compression. This allows exploiting the full dynamic range of the sensor and provides quite good results.
                  *
                  * As with any other CGenericSensor class, the normal sequence of methods to be called is:
                  *   - loadConfig() - Or calls to the individual setXXX() to configure the camera parameters.
                  *   - initialize() - to init the comms with the camera
                  *   - call getNextObservation() for getting the frames.
                  *
                  *  This sensor can be also used from within rawlog-grabber.
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *    sensorLabel  = CAM3D         // A text description
                  *    preview_window  = true       // Show a window with a preview of the grabbed data in real-time
                  *
                  *    open_USB     = true          // false means ethernet (default: true)
                  *    USB_serial   = 0x4000002f    // only for open_USB=true. If not set, the first camera will be open. Serial is the last part of S/N (e.g.  for the camera SN: 00-00-40-00-00-2F).
                  *    IP_address   = 192.168.2.14  // only for open_USB=false. The IP of the camera.
                  *
                  *    // Options for the data to save in each CObservation3DRangeScan
                  *    save_3d            = true                        // Save the 3D point cloud (default: true)
                  *    save_range_img     = true                        // Save the 2D range image (default: true)
                  *    save_intensity_img = true                        // Save the 2D intensity image (default: true)
                  *    save_confidence    = true                        // Save the estimated confidence 2D image (default: false)
                  *
                  *    enable_img_hist_equal = false            // Enable intensity image histogram equalization (default: false)
                  *    enable_median_filter  = true                     // Enable median filter in range data (default: true)
                  *    enable_mediancross_filter = false        // Enable median cross-filter (default: false)
                  *    enable_conv_gray      = false            // Enable intensity image scale with range (default: false)
                  *    enable_denoise_anf    = true                     // Enable this noise filter (default: true)
                  *
                  *    // Camera calibration parameters: See mrpt::utils::TCamera
                  *    //  If not provided, a set of default parameters for a SR4000 camera will be loaded.
                  *    resolution = [176 144]
                  *    cx         = 87.99958
                  *    cy         = 68.99957
                  *    fx         = 262.9201
                  *    fy         = 262.9218
                  *    dist       = [-8.258543e-01 6.561022e-01 2.699818e-06 -3.263559e-05 0]
                  *
                  *    // For externaly stored images, the format of image files (default=jpg)
                  *    //external_images_format  = jpg
                  *    // (Only when external_images_format=jpg): Optional parameter to set the JPEG compression quality:
                  *    //external_images_jpeg_quality = 95    // [1-100]. Default: 95
                  *
                  *    pose_x=0.21      // Camera position in the robot (meters)
                  *    pose_y=0
                  *    pose_z=0.34
                  *    pose_yaw=0       // Angles in degrees
                  *    pose_pitch=0
                  *    pose_roll=0
                  *
                  *  \endcode
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP  CSwissRanger3DCamera : public mrpt::hwdrivers::CGenericSensor
                {
                        DEFINE_GENERIC_SENSOR(CSwissRanger3DCamera)

                public:
                        CSwissRanger3DCamera();  //!< Default ctor
                        ~CSwissRanger3DCamera();         //!< Default ctor

                        /** Initializes the 3D camera - should be invoked after calling loadConfig()
                          *  \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::slam::CObservation3DRangeScan &out_obs, bool &there_is_obs, bool &hardware_error );


                        bool open(); //!< return false on error - Called automatically from initialize(), no need normally for the user to call this.
                        void close();

                        bool isOpen() const; //!< whether the camera is open and comms work ok. To be called after initialize()

                        /** Get the row count in the camera images, loaded automatically upon camera open(). */
                        size_t getRowCount() const { return m_rows; }
                        /** Get the col count in the camera images, loaded automatically upon camera open(). */
                        size_t getColCount() const { return m_cols; }

                        /** Get the camera serial number, loaded automatically upon camera open(). */
                        unsigned int getCameraSerialNumber() const { return m_cam_serial_num; }

                        /** Returns the maximum camera range, as deduced from its operating frequency. */
                        double  getMaxRange() const { return m_maxRange; }

                        /**  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 Capture configuration methods (apart from loadConfig)
                            @{ */

                        /** true: open from USB, false: open from ethernet. */
                        inline void setOpenFromUSB(bool USB) { m_open_from_usb = USB; }
                        inline bool getOpenFromUSBMode() const { return m_open_from_usb; }

                        inline void setOpenIPAddress(const std::string &IP)  { m_ip_address = IP; }
                        inline std::string getOpenIPAddress() const  { return m_ip_address; }

                        inline void setSave3D(bool save) { m_save_3d = save; }
                        inline void setSaveRangeImage(bool save) { m_save_range_img = save; }
                        inline void setSaveIntensityImage(bool save) { m_save_intensity_img = save; }
                        inline void setSaveConfidenceImage(bool save) { m_save_confidence = save; }

                        inline void enableImageHistEqualization(bool enable) { m_enable_img_hist_equal = enable; }
                        inline bool isEnabledImageHistEqualization() const { return m_enable_img_hist_equal; }

                        inline void enableMedianFilter(bool enable) { m_enable_median_filter = enable; internal_resendParamsToCamera(); }
                        inline bool isEnabledMedianFilter() const { return m_enable_median_filter;   }

                        inline void enableMedianCrossFilter(bool enable) { m_enable_mediancross_filter = enable; internal_resendParamsToCamera(); }
                        inline bool isEnabledMedianCrossFilter() const { return m_enable_mediancross_filter; }

                        inline void enableConvGray(bool enable) { m_enable_conv_gray = enable; internal_resendParamsToCamera(); }
                        inline bool isEnabledConvGray() const { return m_enable_conv_gray;  }

                        inline void enableDenoiseANF(bool enable) { m_enable_denoise_anf = enable; internal_resendParamsToCamera(); }
                        inline bool isEnabledDenoiseANF() const { return m_enable_denoise_anf;  }

                        inline void enablePreviewWindow(bool enable=true) { m_preview_window = enable; }
                        inline bool isEnabledPreviewWindow() const { return m_preview_window; }

                        /** @} */


                        // List of small functions to be implemented differently in Win/Lin.

                        /** Get the version of the MESA library.
                          * \return false on error
                          */
                        bool getMesaLibVersion(std::string &out_version) const;


                protected:
                        /** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)
                          *  \exception This method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.
                          */
                        virtual void  loadConfig_sensorSpecific(
                                const mrpt::utils::CConfigFileBase &configSource,
                                const std::string                       &section );

                        void internal_resendParamsToCamera() const;

                        mrpt::poses::CPose3D    m_sensorPoseOnRobot;

                        bool m_save_3d;                 //!< Save the 3D point cloud (default: true)
                        bool m_save_range_img;  //!< Save the 2D range image (default: true)
                        bool m_save_intensity_img; //!< Save the 2D intensity image (default: true)
                        bool m_save_confidence; //!< Save the estimated confidence 2D image (default: false)

                        bool m_enable_img_hist_equal;
                        bool m_enable_median_filter;
                        bool m_enable_mediancross_filter;
                        bool m_enable_conv_gray;
                        bool m_enable_denoise_anf;


                        bool    m_open_from_usb; //!< true: USB, false: ETH
                        size_t  m_usb_serial;
                        std::string  m_ip_address;

                        size_t  m_rows, m_cols; //!< Size of camera images, set on open()
                        unsigned int m_cam_serial_num; //!< Serial number of the camera, set on open()
                        double          m_maxRange;     //!< Max range, as deducted from the camera frequency.

                        bool            m_preview_window; //!< Show preview window while grabbing
                        mrpt::gui::CDisplayWindowPtr  m_win_range, m_win_int;

                        void *m_cam;  //!< opaque handler to SRCAM. NULL means it's not open yet.
                        
                        mrpt::utils::TCamera    m_cameraParams; 

                private:

                };      // End of class

        } // End of NS
} // End of NS


#endif