ImageToPointCloud.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    ActiveVision::ArmarXObjects::ImageToPointCloud
 * @author     Markus Grotz ( markus dot grotz at kit dot edu )
 * @author     Mirko Waechter ( waechter at kit dot edu )
 * @date       2019
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
 
#include <pcl/point_types.h>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
 
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
 
#include <VisionX/components/pointcloud_core/CapturingPointCloudProvider.h>
#include <VisionX/core/ImageProcessor.h>
#include <VisionX/interface/components/ImageToPointCloud.h>
#include <VisionX/tools/ImageUtil.h>
#include <VisionX/tools/TypeMapping.h>
 
#include "DepthImageUtils.h"
 
namespace armarx
{
 
 
    typedef pcl::PointXYZRGBL PointL;
 
    /**
     * @class ImageToPointCloudPropertyDefinitions
     * @brief
     */
    class ImageToPointCloudPropertyDefinitions : public visionx::ImageProcessorPropertyDefinitions
    {
    public:
        ImageToPointCloudPropertyDefinitions(std::string prefix) :
            visionx::ImageProcessorPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>("DebugObserverName",
                                                "DebugObserver",
                                                "Name of the topic the DebugObserver listens on");
            //            defineOptionalProperty<std::string>("DebugDrawerTopicName", "DebugDrawerUpdates", "Name of the DebugDrawerTopic");
            defineOptionalProperty<int>("PointCloudWidth",
                                        640,
                                        "Must match the image width (cannot be read automaically "
                                        "from imageprovider as early as needed)");
            defineOptionalProperty<int>("PointCloudHeight",
                                        480,
                                        "Must match the image height (cannot be read automaically "
                                        "from imageprovider as early as needed)");
 
            defineOptionalProperty<float>("VerticalViewAngle",
                                          43.0f,
                                          "The vertical viewing angle of the camera. Only used "
                                          "when no calibration can be retrieved.");
            defineOptionalProperty<float>("HorizontalViewAngle",
                                          57.0f,
                                          "The horizontal viewing angle of the camera. Only used "
                                          "when no calibration can be retrieved.");
            defineOptionalProperty<bool>(
                "ComputeViewAngleFromCalibration",
                true,
                "Use the field of view provided by the calibration provider");
 
 
            defineOptionalProperty<float>(
                "NaNValue", -1.0, "NaN value to use if reported disparity is not available.");
            defineOptionalProperty<float>(
                "MaxDist",
                -1.0,
                "The maximum distance for measurements. Ignored if smaller than zero");
            defineOptionalProperty<float>(
                "MinDist", 0.0, "The minimum distance for measurements. ");
 
            defineOptionalProperty<float>("PointCloudRotationZ",
                                          180.0f,
                                          "Rotation around Z of the provided pointcloud",
                                          PropertyDefinitionBase::eModifiable);
 
            defineRequiredProperty<std::string>(
                "ProviderName",
                "ImageProvider name. image[0]: rgb image, image[1]: depth image, "
                "image[2](optional): label integer");
            defineOptionalProperty<std::string>("CalibrationProviderName",
                                                "",
                                                "CalibrationProvider name. Optional. Useful if the "
                                                "images are processed and forwarded.");
        }
    };
 
    /**
     * @defgroup Component-ImageToPointCloud ImageToPointCloud
     * @ingroup VisionX-Components
     * A description of the component ImageToPointCloud.
     *
     * @class ImageToPointCloud
     * @ingroup Component-ImageToPointCloud
     * @brief Brief description of class ImageToPointCloud.
     *
     * Detailed description of class ImageToPointCloud.
     */
    class ImageToPointCloud :
        virtual public visionx::PointCloudProvider,
        virtual public visionx::ImageProcessor,
        virtual public armarx::ImageToPointCloudInterface
    {
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "ImageToPointCloud";
        }
 
        void
        onInitPointCloudProvider()
        {
        }
 
        void
        onExitPointCloudProvider()
        {
        }
 
        visionx::StereoCalibration
        getStereoCalibration(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return calibrationPrx->getStereoCalibration();
        }
 
        bool
        getImagesAreUndistorted(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return calibrationPrx->getImagesAreUndistorted();
        }
 
        std::string
        getReferenceFrame(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return calibrationPrx->getReferenceFrame();
        }
 
 
    protected:
        void onInitImageProcessor() override;
        void onConnectImageProcessor() override;
        void onExitImageProcessor() override;
        void process() override;
 
        virtual visionx::MetaPointCloudFormatPtr getDefaultPointCloudFormat();
 
        void
        onInitComponent() override
        {
            visionx::PointCloudProvider::onInitComponent();
            visionx::ImageProcessor::onInitComponent();
        }
 
        void
        onConnectComponent() override
        {
            visionx::PointCloudProvider::onConnectComponent();
            visionx::ImageProcessor::onConnectComponent();
        }
 
        void
        onExitComponent() override
        {
            visionx::PointCloudProvider::onExitComponent();
            visionx::ImageProcessor::onExitComponent();
        }
 
        void onDisconnectComponent() override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions();
 
    private:
        //        armarx::DebugDrawerInterfacePrx debugDrawer;
        armarx::DebugObserverInterfacePrx debugObserver;
        visionx::StereoCalibrationInterfacePrx calibrationPrx;
 
        armarx::MetaInfoSizeBasePtr imageMetaInfo;
 
        float fovH;
        float fovV;
 
        std::mutex mutex;
        float nanValue;
        float maxDist;
        float minDist;
        int processCounter = 0;
 
        std::string providerName;
        CByteImage** images;
        size_t numImages;
        visionx::ImageProviderInfo imageProviderInfo;
        DepthImageUtils depthImageUtils;
        pcl::PointCloud<PointL>::Ptr cloud, transformedCloud;
    };
} // namespace armarx