ImageProviderDynamicSimulation.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2013-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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
 * @author     Nikolaus Vahrenkamp
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
#include <string>
 
#include <ArmarXCore/core/services/sharedmemory/SharedMemoryConsumer.h>
 
#include <VisionX/core/CapturingImageProvider.h>
#include <VisionX/interface/components/Calibration.h>
#include <VisionX/interface/core/DataTypes.h>
 
// IVT
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
 
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
#include <ArmarXSimulation/components/ArmarXPhysicsWorldVisualization/ArmarXPhysicsWorldVisualization.h>
#include <ArmarXSimulation/interface/simulator/SimulatorInterface.h>
 
#include <Calibration/StereoCalibration.h>
#include <Image/ByteImage.h>
 
namespace armarx
{
    class ImageSequenceProviderDynamicSimulationPropertyDefinitions :
        public armarx::ComponentPropertyDefinitions
    {
    public:
        ImageSequenceProviderDynamicSimulationPropertyDefinitions(std::string prefix) :
            ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<float>("FrameRate", 30.0f, "Frames per second")
                .setMatchRegex("\\d+(.\\d*)?")
                .setMin(0.0f)
                .setMax(60.0f);
            defineOptionalProperty<visionx::ImageDimension>(
                "ImageSize",
                visionx::ImageDimension(640, 480),
                "Target resolution of the images. Captured images will be converted to this size.")
                .setCaseInsensitive(true)
                .map("320x240", visionx::ImageDimension(320, 240))
                .map("640x480", visionx::ImageDimension(640, 480))
                .map("800x600", visionx::ImageDimension(800, 600))
                .map("768x576", visionx::ImageDimension(768, 576))
                .map("1024x768", visionx::ImageDimension(1024, 768))
                .map("1280x960", visionx::ImageDimension(1280, 960))
                .map("1600x1200", visionx::ImageDimension(1600, 1200))
                .map("none", visionx::ImageDimension(0, 0));
            //defineOptionalProperty<std::string>("SimulatorControlName", "ArmarXSimulatorControl", "Name of the simulator control component that should be used");
            defineOptionalProperty<std::string>("RobotName", "Armar3", "The robot");
            defineOptionalProperty<std::string>("RobotNodeLeftCamera",
                                                "EyeLeftCameraSim",
                                                "The coordinate system of the left camera");
            defineOptionalProperty<std::string>("RobotNodeRightCamera",
                                                "EyeRightCameraSim",
                                                "The coordinate system of the right camera");
            defineOptionalProperty<std::string>(
                "CalibrationFile",
                "",
                "Camera calibration file, will be made available in the SLICE interface");
            defineOptionalProperty<std::string>(
                "ReferenceFrame",
                "EyeLeftCameraSim",
                "Reference frame in the robot model of this stereo camera system.");
        }
    };
 
    /**
     * Image provider captures images from the simulator and broadcasts
     * notifications at a specified frame rate.
     *
     * It supports the following image transmission formats:
     *
     *  - RGB
     *  - Gray Scale
     *
     */
    class ImageProviderDynamicSimulation :
        virtual public visionx::CapturingImageProvider,
        virtual public visionx::StereoCalibrationCaptureProviderInterface
    {
    public:
        std::string
        getDefaultName() const override
        {
            return "DynamicSimulationImageProvider";
        }
 
 
    protected:
        /**
         * @see visionx::CapturingImageProvider::onInitCapturingImageProvider()
         */
        void onInitCapturingImageProvider() override;
 
        /**
         * @see visionx::CapturingImageProvider::onExitCapturingImageProvider()
         */
        void onExitCapturingImageProvider() override;
 
        /**
         * @see visionx::CapturingImageProvider::onStartCapture(float frameRate)
         */
        void onStartCapture(float frameRate) override;
 
        /**
         * @see visionx::CapturingImageProvider::onStopCapture()
         */
        void onStopCapture() override;
 
        bool capture(void** ppImageBuffers) override;
 
 
        /**
         * Returns the StereoCalibration as provided in configuration
         *
         * @return visionx::StereoCalibration
         */
        visionx::StereoCalibration
        getStereoCalibration(const Ice::Current& c = Ice::emptyCurrent) override;
 
        /**
         * Returns whether images are undistorted
         *
         * @return bool
         */
        bool getImagesAreUndistorted(const Ice::Current& c = Ice::emptyCurrent) override;
        std::string getReferenceFrame(const ::Ice::Current& = Ice::emptyCurrent) override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr
        createPropertyDefinitions() override
        {
            auto props = armarx::PropertyDefinitionsPtr(
                new ImageSequenceProviderDynamicSimulationPropertyDefinitions(
                    getConfigIdentifier()));
 
            props->defineOptionalProperty<float>("focalLength", 600, "The focal length.");
 
            return props;
        }
 
        CByteImage** images;
        CByteImage** resizedImages;
 
        std::mutex captureMutex;
 
        //VirtualRobot::RobotNodePtr leftCameraNode;
        //VirtualRobot::RobotNodePtr rightCameraNode;
 
        int renderImg_bpp;
        int renderImg_width;
        int renderImg_height;
 
        //RemoteRobotPtr remoteRobot;
 
        ArmarXPhysicsWorldVisualizationPtr simVisu;
 
        //SimulatorControlInterfacePrx simulatorProxy;
        /*std::string memoryNameLeft;
        std::string memoryNameRight;
        SharedMemoryConsumer<unsigned char>::pointer_type sharedMemoryConsumerLeft;
        SharedMemoryConsumer<unsigned char>::pointer_type sharedMemoryConsumerRight;*/
 
        std::shared_ptr<SoOffscreenRenderer> rendererLeft;
        std::shared_ptr<SoOffscreenRenderer> rendererRight;
 
        std::string robotName;
        std::string leftNodeName;
        std::string rightNodeName;
        VirtualRobot::RobotNodePtr cameraNodeL;
        VirtualRobot::RobotNodePtr cameraNodeR;
 
        float focalLength;
 
        std::optional<visionx::StereoCalibration> stereoCalibration;
 
        bool setupCameraRendering(const std::string& robotName,
                                  const std::string& cameraSensorNameLeft,
                                  const std::string& cameraSensorNameRight);
        bool updateCameraRendering();
 
        void initStereoCalib();
 
    private:
    };
 
} // namespace armarx