DepthImageProviderDynamicSimulation.h

Go to the documentation of this file.

/*
 * 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     Raphael Grimm
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <chrono>
#include <memory>
#include <mutex>
#include <random>
 
#include <VirtualRobot/Robot.h>
 
#include <ArmarXCore/core/Component.h>
 
#include <VisionX/components/pointcloud_core/CapturingPointCloudProvider.h>
#include <VisionX/core/ImageProvider.h>
#include <VisionX/interface/components/RGBDImageProvider.h>
 
#include <ArmarXSimulation/components/ArmarXPhysicsWorldVisualization/ArmarXPhysicsWorldVisualization.h>
 
#include <Inventor/SoOffscreenRenderer.h>
 
class SoOffscreenRenderer;
 
namespace armarx
{
    class DepthImageProviderDynamicSimulationPropertyDefinitions :
        public visionx::CapturingPointCloudProviderPropertyDefinitions
    {
    public:
        DepthImageProviderDynamicSimulationPropertyDefinitions(std::string prefix);
    };
 
    class DepthImageProviderDynamicSimulation :
        virtual public visionx::CapturingPointCloudProvider,
        virtual public visionx::ImageProvider,
        virtual public visionx::RGBDPointCloudProviderInterface
    {
    public:
        DepthImageProviderDynamicSimulation() = default;
        ~DepthImageProviderDynamicSimulation() override;
 
        std::string getDefaultName() const override;
 
        bool hasSharedMemorySupport(const Ice::Current& c = Ice::emptyCurrent) override;
 
        visionx::StereoCalibration
        getStereoCalibration(const Ice::Current& c = Ice::emptyCurrent) override;
 
        bool getImagesAreUndistorted(const Ice::Current& c = Ice::emptyCurrent) override;
 
        std::string getReferenceFrame(const Ice::Current& c = Ice::emptyCurrent) override;
 
    protected:
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        void onInitCapturingPointCloudProvider() override;
        void onExitCapturingPointCloudProvider() override;
 
        void onStartCapture(float frameRate) override;
        void onStopCapture() override;
        bool doCapture() override;
 
        void onInitImageProvider() override;
        void onDisconnectComponent() override;
 
        void onExitImageProvider() override;
 
        // mixed inherited stuff
        void onInitComponent() override;
        void onConnectComponent() override;
        void onExitComponent() override;
 
        bool render();
        void syncVisu();
 
        std::mutex captureMutex;
 
        short width; //coin uses short here
        short height; //coin uses short here
 
        float baseline;
 
        ArmarXPhysicsWorldVisualizationPtr simVisu;
 
        std::string robotName;
        std::string camNodeName;
        VirtualRobot::RobotNodePtr cameraNode;
        SoSeparator* visualization{nullptr};
 
        bool floatImageMode{false};
 
        std::unique_ptr<CByteImage> rgbImage;
        std::unique_ptr<CByteImage> dImage;
        std::unique_ptr<CFloatImage> dFloatImage;
        CByteImage* imgPtr[2];
        CFloatImage* imgPtrFlt[1];
        std::vector<unsigned char> rgbBuffer;
        std::vector<float> depthBuffer;
        std::vector<Eigen::Vector3f> pointCloudBuffer;
 
        float zNear;
        float zFar;
        float vertFov;
        float focalLength;
        float nanValue;
 
        using PointT = pcl::PointXYZRGBA;
        pcl::PointCloud<PointT>::Ptr pointcloud;
 
        //draw to debug drawer
        bool drawPointCloud;
        std::string debugDrawerTopicName;
        DebugDrawerInterfacePrx debugDrawer;
        unsigned int pointCloudDrawDelay;
        std::chrono::high_resolution_clock::time_point lastUpdate;
        std::size_t pointCloudPointSize;
 
        bool clipPointCloud;
 
        float clipDrawnCloudXLo;
        float clipDrawnCloudYLo;
        float clipDrawnCloudZLo;
 
        float clipDrawnCloudXHi;
        float clipDrawnCloudYHi;
        float clipDrawnCloudZHi;
 
        std::size_t pointSkip;
 
        float noise = 0.0f;
        std::vector<float> randValues;
        std::normal_distribution<double> distribution;
        std::default_random_engine generator;
        std::shared_ptr<SoOffscreenRenderer> offscreenRenderer;
 
        std::int64_t sumRenderTimes;
        std::int64_t sumRenderTimesSquared;
        std::int32_t renderTimesCount;
    };
} // namespace armarx