depthCameraDriver.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library 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
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef DEPTHCAMERA_DRIVER_H
#define DEPTHCAMERA_DRIVER_H
 
#include <string>
#include <map>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/FrameGrabberControl2.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/sig/all.h>
#include <yarp/sig/Matrix.h>
#include <yarp/os/Stamp.h>
#include <yarp/dev/IRGBDSensor.h>
#include <yarp/dev/RGBDSensorParamParser.h>
#include <OpenNI.h>
 
 
#ifndef RAD2DEG
#define RAD2DEG (180/3.14159265359)
#endif
 
#ifndef DEG2RAD
#define DEG2RAD (3.14159265359/180.0)
#endif
 
class  streamFrameListener;
 
class depthCameraDriver :
        public yarp::dev::DeviceDriver,
        public yarp::dev::IRGBDSensor,
        public yarp::dev::IFrameGrabberControls
{
private:
    typedef yarp::sig::ImageOf<yarp::sig::PixelFloat> depthImage;
    typedef yarp::os::Stamp                           Stamp;
    typedef yarp::os::Property                        Property;
    typedef yarp::sig::FlexImage                      FlexImage;
 
public:
    depthCameraDriver();
    ~depthCameraDriver();
    static int pixFormatToCode(openni::PixelFormat p);
 
    // DeviceDriver
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    // IRGBDSensor
    int    getRgbHeight() override;
    int    getRgbWidth() override;
    bool   getRgbSupportedConfigurations(yarp::sig::VectorOf<yarp::dev::CameraConfig>& configurations) override;
    bool   getRgbResolution(int& width, int& height) override;
    bool   setRgbResolution(int width, int height) override;
    bool   getRgbFOV(double& horizontalFov, double& verticalFov) override;
    bool   setRgbFOV(double horizontalFov, double verticalFov) override;
    bool   getRgbMirroring(bool& mirror) override;
    bool   setRgbMirroring(bool mirror) override;
 
    bool   getRgbIntrinsicParam(Property& intrinsic) override;
    int    getDepthHeight() override;
    int    getDepthWidth() override;
    bool   setDepthResolution(int width, int height) override;
    bool   getDepthFOV(double& horizontalFov, double& verticalFov) override;
    bool   setDepthFOV(double horizontalFov, double verticalFov) override;
    bool   getDepthIntrinsicParam(Property& intrinsic) override;
    double getDepthAccuracy() override;
    bool   setDepthAccuracy(double accuracy) override;
    bool   getDepthClipPlanes(double& nearPlane, double& farPlane) override;
    bool   setDepthClipPlanes(double nearPlane, double farPlane) override;
    bool   getDepthMirroring(bool& mirror) override;
    bool   setDepthMirroring(bool mirror) override;
 
 
    bool   getExtrinsicParam(yarp::sig::Matrix& extrinsic) override;
    bool   getRgbImage(FlexImage& rgbImage, Stamp* timeStamp = NULL) override;
    bool   getDepthImage(depthImage& depthImage, Stamp* timeStamp = NULL) override;
    bool   getImages(FlexImage& colorFrame, depthImage& depthFrame, Stamp* colorStamp=NULL, Stamp* depthStamp=NULL) override;
 
    RGBDSensor_status     getSensorStatus() override;
    std::string getLastErrorMsg(Stamp* timeStamp = NULL) override;
 
    //IFrameGrabberControls
    bool   getCameraDescription(CameraDescriptor *camera) override;
    bool   hasFeature(int feature, bool*   hasFeature) override;
    bool   setFeature(int feature, double  value) override;
    bool   getFeature(int feature, double* value) override;
    bool   setFeature(int feature, double  value1,  double  value2) override;
    bool   getFeature(int feature, double* value1,  double* value2) override;
    bool   hasOnOff(  int feature, bool*   HasOnOff) override;
    bool   setActive( int feature, bool    onoff) override;
    bool   getActive( int feature, bool*   isActive) override;
    bool   hasAuto(   int feature, bool*   hasAuto) override;
    bool   hasManual( int feature, bool*   hasManual) override;
    bool   hasOnePush(int feature, bool*   hasOnePush) override;
    bool   setMode(   int feature, FeatureMode mode) override;
    bool   getMode(   int feature, FeatureMode *mode) override;
    bool   setOnePush(int feature) override;
 
private:
    //method
    inline bool initializeOpeNIDevice();
    inline bool setParams();
    bool        getImage(FlexImage& Frame, Stamp* Stamp, streamFrameListener *sourceFrame);
    bool        getImage(depthImage& Frame, Stamp* Stamp, streamFrameListener *sourceFrame);
    bool        setResolution(int w, int h, openni::VideoStream& stream);
    bool        setFOV(double horizontalFov, double verticalFov, openni::VideoStream& stream);
    bool        setIntrinsic(yarp::os::Property& intrinsic, const yarp::sig::IntrinsicParams& values);
    void        settingErrorMsg(const std::string& error, bool& ret);
 
    //properties
    openni::VideoStream             m_depthStream;
    openni::VideoStream             m_imageStream;
    openni::Device                  m_device;
    streamFrameListener*      m_depthFrame;
    streamFrameListener*      m_imageFrame;
    std::string           m_lastError;
    yarp::dev::RGBDSensorParamParser* m_paramParser;
    bool                            m_depthRegistration;
    std::vector<cameraFeature_id_t> m_supportedFeatures;
};
#endif