RCImageProvider.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    VisionX::ArmarXObjects::RCImageProvider
 * @author     Markus Grotz ( markus dot grotz at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <VisionX/interface/components/Calibration.h>
#include <VisionX/core/CapturingImageProvider.h>
#include <RobotAPI/interface/components/RobotHealthInterface.h>
#include <ArmarXCore/core/Component.h>
#include <VisionX/libraries/RoboceptionUtility/RoboceptionUser.h>
 
#include <Image/ImageProcessor.h>
#include <Calibration/Undistortion.h>
 
 
#include <rc_genicam_api/device.h>
#include <rc_genicam_api/stream.h>
#include <rc_genicam_api/imagelist.h>
#include <memory>
 
 
namespace rcg
{
 
    using DevicePtr = std::shared_ptr<rcg::Device>;
    using StreamPtr = std::shared_ptr<rcg::Stream> ;
}
 
namespace armarx
{
 
 
    /**
     * @class RCImageProviderPropertyDefinitions
     * @brief
     */
    class RCImageProviderPropertyDefinitions:
        public armarx::ComponentPropertyDefinitions
    {
    public:
        RCImageProviderPropertyDefinitions(std::string prefix);
    };
 
    /**
     * @defgroup Component-RCImageProvider RCImageProvider
     * @ingroup VisionX-Components
     * A description of the component RCImageProvider.
     *
     * @class RCImageProvider
     * @ingroup Component-RCImageProvider
     * @brief Brief description of class RCImageProvider.
     *
     * Detailed description of class RCImageProvider.
     */
    class RCImageProvider :
        virtual public visionx::CapturingImageProvider,
        virtual public visionx::StereoCalibrationCaptureProviderInterface,
        public visionx::RoboceptionUser
    {
    public:
 
        RCImageProvider();
 
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string getDefaultName() const override
        {
            return "RCImageProvider";
        }
 
    protected:
        void onInitCapturingImageProvider() override;
 
        void onStartCapturingImageProvider() override;
 
        void onExitCapturingImageProvider() override;
 
        void onStartCapture(float frameRate) override;
 
        void onStopCapture() override;
 
        bool capture(void** ppImageBuffers) override;
 
        visionx::StereoCalibration getStereoCalibration(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return stereoCalibration;
        }
 
        bool getImagesAreUndistorted(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return true;
        }
 
        std::string getReferenceFrame(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return getProperty<std::string>("ReferenceFrameName").getValue();
        }
 
 
        /// @see PropertyUser::createPropertyDefinitions()
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
 
    private:
 
        void updateCameraSettings();
 
    private:
        RobotHealthInterfacePrx robotHealthTopic;
 
        float scaleFactor;
        bool enableDepth = false;
 
        double scan3dCoordinateScale = 1.0;
 
 
        rcg::ImageList intensityBuffer;
        rcg::ImageList disparityBuffer;
 
    };
}