FlyCaptureImageProvider.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, 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    VisionX::ArmarXObjects::FlyCaptureImageProvider
 * @author     Markus Grotz ( markus dot grotz at kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <ArmarXCore/core/Component.h>
 
#include <VisionX/core/CapturingImageProvider.h>
#include <VisionX/interface/components/Calibration.h>
 
#include <Calibration/Rectification.h>
#include <Calibration/Undistortion.h>
#include <Image/ImageProcessor.h>
#include <flycapture/FlyCapture2.h>
 
namespace armarx
{
 
    /**
     * @class FlyCaptureImageProviderPropertyDefinitions
     * @brief
     */
    class FlyCaptureImageProviderPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        FlyCaptureImageProviderPropertyDefinitions(std::string prefix) :
            armarx::ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "serialNumbers", "10121969 10121966 10121963 10121968", "camera serial numbers");
 
            defineRequiredProperty<std::string>("CalibrationFile", "Camera calibration file");
 
            defineOptionalProperty<visionx::ImageDimension>(
                "dimensions", visionx::ImageDimension(1600, 1200), "")
                .map("640x480", visionx::ImageDimension(640, 480))
                .map("1600x1200", visionx::ImageDimension(1600, 1200));
 
            defineOptionalProperty<float>("FrameRate", 7.5f, "Frames per second")
                .setMatchRegex("\\d+(.\\d*)?")
                .setMin(0.0f)
                .setMax(60.0f);
 
            defineOptionalProperty<bool>(
                "UndistortImages", true, "Perform undistortion of the images.");
            defineOptionalProperty<bool>(
                "RectifyImages", true, "Perform rectification of the images.");
 
            defineOptionalProperty<std::string>(
                "ReferenceFrameName", "EyeLeftCamera", "Optional reference frame name.");
 
            defineOptionalProperty<float>(
                "Exposure",
                300,
                "Exposure value. Negative values can be used to enable auto exposure.");
            defineOptionalProperty<float>(
                "Shutter", 20, "Shutter value. Negative values can be used to enable auto mode.");
            defineOptionalProperty<float>(
                "Gain", 0.0, "Gain value. Negative values can be used to enable auto mode.");
        }
    };
 
    /**
     * @class FlyCaptureImageProvider
     *
     * @ingroup VisionX-Components
     * @brief A brief description
     *
     *
     * Detailed Description
     */
    class FlyCaptureImageProvider : virtual public visionx::CapturingImageProvider
    {
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "FlyCaptureImageProvider";
        }
 
    protected:
        void onInitCapturingImageProvider() override;
 
        void onExitCapturingImageProvider() override;
 
        void onStartCapture(float frameRate) override;
 
        void onStopCapture() override;
 
        bool capture(void** ppImageBuffers) override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        CUndistortion* undistortion;
        CRectification* rectification;
 
        bool undistortImages;
        bool rectifyImages;
 
        std::string calibrationFileName;
 
    private:
        FlyCapture2::BusManager busManager;
        std::vector<FlyCapture2::Camera*> cameras;
 
        std::vector<std::string> serialNumbers;
 
        std::vector<FlyCapture2::Image*> colorImages;
 
        CByteImage** cameraImages;
    };
 
    class FlyCaptureStereoCameraProvider :
        virtual public FlyCaptureImageProvider,
        virtual public visionx::StereoCalibrationCaptureProviderInterface
    {
 
    public:
        void onInitCapturingImageProvider() override;
 
        visionx::StereoCalibration
        getStereoCalibration(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return stereoCalibration;
        }
 
        bool
        getImagesAreUndistorted(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return undistortImages;
        }
 
        std::string
        getReferenceFrame(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return getProperty<std::string>("ReferenceFrameName").getValue();
        }
 
 
    private:
        visionx::StereoCalibration stereoCalibration;
    };
} // namespace armarx