Visual Servoing Platform version 3.6.0
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vpOccipitalStructure.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * libStructure interface.
33 *
34 * Authors:
35 * Joudy Nader
36 *
37*****************************************************************************/
38
39#ifndef _vpOccipitalStructure_h_
40#define _vpOccipitalStructure_h_
41
42#include <visp3/core/vpConfig.h>
43
44#if defined(VISP_HAVE_OCCIPITAL_STRUCTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
45#include <condition_variable>
46#include <mutex>
47
48#include <ST/CaptureSession.h>
49
50#ifdef VISP_HAVE_PCL
51#include <pcl/common/common_headers.h>
52#endif
53
54#include <visp3/core/vpCameraParameters.h>
55#include <visp3/core/vpImage.h>
56
201#ifndef DOXYGEN_SHOULD_SKIP_THIS
202struct SessionDelegate : ST::CaptureSessionDelegate
203{
204 std::mutex m_sampleLock;
205 std::condition_variable cv_sampleLock;
206
207 ST::ColorFrame m_visibleFrame;
208 ST::DepthFrame m_depthFrame;
209 ST::InfraredFrame m_infraredFrame;
210 ST::AccelerometerEvent m_accelerometerEvent;
211 ST::GyroscopeEvent m_gyroscopeEvent;
212 ST::StructureCoreCameraType m_cameraType;
213 ST::CaptureSessionUSBVersion m_USBVersion;
214 std::string m_serialNumber;
215
216 ~SessionDelegate() { }
217
218 void captureSessionEventDidOccur(ST::CaptureSession *session, ST::CaptureSessionEventId event) override
219 {
220 switch (event) {
221 case ST::CaptureSessionEventId::Booting:
222 break;
223 case ST::CaptureSessionEventId::Connected:
224 printf("Starting streams...\n");
225 session->startStreaming();
226 // The following wait function will let the capture session load correctly.
227 vpTime::wait(1000);
228
229 // Getting details about capture session.
230 // (USB Version, Serial Number of the camera connected, Camera Monochorme/Color)
231 m_USBVersion = session->USBVersion();
232 m_serialNumber = session->sensorInfo().serialNumber;
233 m_cameraType = session->getCameraType();
234 break;
235 case ST::CaptureSessionEventId::Disconnected:
236 break;
237 case ST::CaptureSessionEventId::Error:
238 throw vpException(vpException::fatalError, "Capture session error");
239 break;
240 default:
241 printf("Capture session event unhandled\n");
242 }
243 }
244
245 void captureSessionDidOutputSample(ST::CaptureSession *, const ST::CaptureSessionSample &sample) override
246 {
247 // acquire sampleLock mutex.
248 std::lock_guard<std::mutex> u(m_sampleLock);
249
250 // Perform the modification needed on the shared variables.
251 if (sample.visibleFrame.isValid())
252 m_visibleFrame = sample.visibleFrame;
253
254 if (sample.depthFrame.isValid())
255 m_depthFrame = sample.depthFrame;
256
257 if (sample.infraredFrame.isValid())
258 m_infraredFrame = sample.infraredFrame;
259
260 if (sample.type == ST::CaptureSessionSample::Type::AccelerometerEvent)
261 m_accelerometerEvent = sample.accelerometerEvent;
262
263 if (sample.type == ST::CaptureSessionSample::Type::GyroscopeEvent)
264 m_gyroscopeEvent = sample.gyroscopeEvent;
265
266 // If any thread is waiting on `cv_sampleLock`, the following instruction will unblock it.
267 // In our case, `open()` and `acquire()` will be blocked on `cv_sampleLock`.
268 cv_sampleLock.notify_one();
269 }
270};
271#endif // DOXYGEN_SHOULD_SKIP_THIS
272
273class VISP_EXPORT vpOccipitalStructure
274{
275public:
276 typedef enum
277 {
281 imu
282 } vpOccipitalStructureStream;
283
286
287 void acquire(vpImage<unsigned char> &gray, bool undistorted = false, double *ts = NULL);
288 void acquire(vpImage<vpRGBa> &rgb, bool undistorted = false, double *ts = NULL);
289
290 void acquire(vpImage<vpRGBa> *rgb, vpImage<vpRGBa> *depth, vpColVector *acceleration_data = NULL,
291 vpColVector *gyroscope_data = NULL, bool undistorted = false, double *ts = NULL);
292 void acquire(vpImage<unsigned char> *gray, vpImage<vpRGBa> *depth, vpColVector *acceleration_data = NULL,
293 vpColVector *gyroscope_data = NULL, bool undistorted = false, double *ts = NULL);
294
295 void acquire(unsigned char *const data_image, unsigned char *const data_depth,
296 std::vector<vpColVector> *const data_pointCloud = NULL, unsigned char *const data_infrared = NULL,
297 vpColVector *acceleration_data = NULL, vpColVector *gyroscope_data = NULL, bool undistorted = true,
298 double *ts = NULL);
299
300#ifdef VISP_HAVE_PCL
301 void acquire(unsigned char *const data_image, unsigned char *const data_depth,
302 std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud,
303 unsigned char *const data_infrared = NULL, vpColVector *acceleration_data = NULL,
304 vpColVector *gyroscope_data = NULL, bool undistorted = true, double *ts = NULL);
305 void acquire(unsigned char *const data_image, unsigned char *const data_depth,
306 std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud,
307 unsigned char *const data_infrared = NULL, vpColVector *acceleration_data = NULL,
308 vpColVector *gyroscope_data = NULL, bool undistorted = true, double *ts = NULL);
309#endif
310
311 void getIMUVelocity(vpColVector *imu_vel, double *ts);
312 void getIMUAcceleration(vpColVector *imu_acc, double *ts);
313 void getIMUData(vpColVector *imu_vel, vpColVector *imu_acc, double *ts = NULL);
314
315 bool open(const ST::CaptureSessionSettings &settings);
316 void close();
317
321 ST::StructureCoreCameraType getCameraType() const { return m_delegate.m_cameraType; }
322
323 ST::CaptureSessionUSBVersion getUSBVersion() const { return m_delegate.m_USBVersion; }
324 std::string getSerialNumber() const { return m_delegate.m_serialNumber; }
325 ST::CaptureSession &getCaptureSession() { return m_captureSession; }
326 ST::CaptureSessionSettings &getCaptureSessionSettings() { return m_captureSessionSettings; }
327
328 unsigned int getWidth(vpOccipitalStructureStream stream_type);
329 unsigned int getHeight(vpOccipitalStructureStream stream_type);
330
331 // Returns depth in millimeters at (x,y) if it exists, NAN otherwise.
332 float getDepth(int x, int y);
333
334 vpPoint unprojectPoint(int row, int col);
335
336 vpHomogeneousMatrix getTransform(const vpOccipitalStructureStream from, const vpOccipitalStructureStream to);
337
338 ST::Intrinsics getIntrinsics(const vpOccipitalStructureStream stream_type) const;
339
340 vpCameraParameters getCameraParameters(
341 const vpOccipitalStructureStream stream_type,
343
344 void saveDepthImageAsPointCloudMesh(std::string &filename);
345
346protected:
347 bool m_init;
349 float m_maxZ;
350
351 ST::CaptureSession m_captureSession;
352 ST::CaptureSessionSettings m_captureSessionSettings;
353 SessionDelegate m_delegate;
354 vpCameraParameters m_visible_camera_parameters, m_depth_camera_parameters;
355
356 void getPointcloud(std::vector<vpColVector> &pointcloud);
357#ifdef VISP_HAVE_PCL
358 void getPointcloud(pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
359 void getColoredPointcloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);
360#endif
361};
362
363#endif
364#endif
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ fatalError
Fatal error.
Definition vpException.h:84
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition of the vpImage class member functions.
Definition vpImage.h:135
ST::CaptureSessionUSBVersion getUSBVersion() const
ST::StructureCoreCameraType getCameraType() const
vpCameraParameters m_depth_camera_parameters
ST::CaptureSession & getCaptureSession()
ST::CaptureSession m_captureSession
std::string getSerialNumber() const
ST::CaptureSessionSettings m_captureSessionSettings
ST::CaptureSessionSettings & getCaptureSessionSettings()
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
VISP_EXPORT int wait(double t0, double t)