NerianVisionPointCloudProvider.h

Go to the documentation of this file.

/*
 * 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::NerianVisionPointCloudProvider
 * @author     Julian Tusch <julian.tusch@student.kit.edu>
 * @date       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
#include <string>
#include <utility>
 
#include <Eigen/Core>
 
#include <pcl/impl/point_types.hpp>
#include <pcl/point_cloud.h>
 
#include <opencv2/opencv.hpp> // IWYU pragma: keep
 
#include <Ice/Config.h>
#include <Ice/Current.h>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
 
#include "VisionX/components/pointcloud_core/PointCloudProvider.h"
#include <VisionX/core/ImageProvider.h>
#include <VisionX/interface/components/Calibration.h>
#include <VisionX/interface/components/NerianVisionPointCloudProviderInterface.h>
#include <VisionX/interface/core/DataTypes.h>
 
#include <visiontransfer/deviceinfo.h>
 
namespace visionx
{
    /// @class NerianVisionPointCloudProviderPropertyDefinitions
    class NerianVisionPointCloudProviderPropertyDefinitions :
        public armarx::ComponentPropertyDefinitions
    {
    public:
        NerianVisionPointCloudProviderPropertyDefinitions(std::string prefix) :
            armarx::ComponentPropertyDefinitions(std::move(prefix))
        {
            // these are the available resolutions (presets) for the Karmin and Ruby cameras
            defineOptionalProperty<visionx::ImageDimension>(
                "dimensions",
                visionx::ImageDimension(720, 512),
                "Needs to be set according to the selected camera preset. This property will "
                "be "
                "used as a fallback if auto-detection fails.")
                .map("720x512", visionx::ImageDimension(720, 512))
                .map("1024x768", visionx::ImageDimension(1024, 768))
                .map("1440x1054", visionx::ImageDimension(1440, 1056));
            defineOptionalProperty<float>("MaxDepth", 6000.0f, "Max depth in mm.");
        };
    };
 
    /**
    * @defgroup Component-NerianVisionPointCloudProvider NerianVisionPointCloudProvider
    * @ingroup VisionX-Components
    * Provides support for Nerian Vision cameras for ArmarX.
    *
    * @class NerianVisionPointCloudProvider
    * @ingroup Component-NerianVisionPointCloudProvider
    * @brief Brief description of class NerianVisionPointCloudProvider.
    */
    class NerianVisionPointCloudProvider :
        virtual public armarx::NerianVisionPointCloudProviderInterface,
        virtual public visionx::PointCloudProvider,
        virtual public visionx::ImageProvider
    {
    public:
        using CloudPointType = pcl::PointXYZRGBA;
 
        /**
        * @see armarx::ManagedIceObject::getDefaultName()
        */
        std::string
        getDefaultName() const override
        {
            return "NerianVisionPointCloudProvider";
        }
 
        // StereoCalibrationInterface
        visionx::StereoCalibration getStereoCalibration(const Ice::Current& c) override;
        bool getImagesAreUndistorted(const ::Ice::Current& c) override;
        std::string getReferenceFrame(const Ice::Current& c) override;
 
        void startCapture(const Ice::Current& c) override;
        void stopCapture(const Ice::Current& c) override;
        void changeFrameRate(Ice::Float framesPerSecond, const Ice::Current& c) override;
        void startCaptureForNumFrames(int numFrames, const Ice::Current& c) override;
        bool isCaptureEnabled(const Ice::Current& c) override;
 
    protected:
        void onInitComponent() override;
        void onInitImageProvider() override;
        void onInitPointCloudProvider() override;
 
        void onConnectComponent() override;
        void onConnectImageProvider() override;
        void onConnectPointCloudProvider() override;
 
        void runImageAndPointCloudPublishing();
 
        void onDisconnectComponent() override;
        void onDisconnectImageProvider() override;
        // onDisconnectPointCloudProvider()
 
        void onExitComponent() override;
        void onExitImageProvider() override;
        void onExitPointCloudProvider() override;
 
        bool
        hasSharedMemorySupport(const Ice::Current& /*c*/) override
        {
            return true;
        }
 
        MetaPointCloudFormatPtr
        getDefaultPointCloudFormat() override
        {
            MetaPointCloudFormatPtr info = new MetaPointCloudFormat();
            info->type = PointContentType::eColoredPoints;
 
            ARMARX_INFO << "default pointcloud format: " << dimensions.width << ", "
                        << dimensions.height;
 
            info->capacity = static_cast<::Ice::Int>(dimensions.width * dimensions.height *
                                                     sizeof(ColoredPoint3D));
            info->size = info->capacity;
            return info;
        }
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        static std::string
        getNameForDeviceModel(const visiontransfer::DeviceInfo::DeviceModel& model)
        {
            using visiontransfer::DeviceInfo;
            switch (model)
            {
                case DeviceInfo::DeviceModel::SCENESCAN:
                    return "SceneScan";
                case DeviceInfo::DeviceModel::SCENESCAN_PRO:
                    return "SceneScan Pro";
                case DeviceInfo::DeviceModel::SCARLET:
                    return "Scarlet";
                case DeviceInfo::DeviceModel::RUBY:
                    return "Ruby";
                default:
                    return "(INVALID_ENUM_VALUE)";
            }
        }
 
    private:
        visiontransfer::DeviceInfo device;
        armarx::RunningTask<visionx::NerianVisionPointCloudProvider>::pointer_type processingTask;
        pcl::PointCloud<CloudPointType>::Ptr pointcloud;
        MetaPointCloudFormatPtr cloudFormat;
        visionx::ImageDimension dimensions;
    };
} // namespace visionx