NerianVisionImageProvider.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    VisionX::ArmarXObjects::NerianVisionImageProvider
 * @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 <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/services/tasks/RunningTask.h>
 
#include <VisionX/core/ImageProvider.h>
#include <VisionX/interface/components/Calibration.h>
#include <VisionX/interface/core/DataTypes.h>
 
#include <visiontransfer/deviceinfo.h>
 
namespace visionx
{
    /// @class NerianVisionImageProviderPropertyDefinitions
    class NerianVisionImageProviderPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        NerianVisionImageProviderPropertyDefinitions(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(800, 592),
                "Needs to be set according to the selected camera preset. This property will be "
                "used as a fallback if auto-detection fails.")
                // ruby //
                .map("720x512", visionx::ImageDimension(720, 512))
                .map("1024x768", visionx::ImageDimension(1024, 768))
                .map("1440x1054", visionx::ImageDimension(1440, 1056))
 
                // karmin //
                .map("640x480", visionx::ImageDimension(640, 480))
                .map("800x592", visionx::ImageDimension(800, 592))
                .map("1024x768", visionx::ImageDimension(1024, 768))
                .map("1280x960", visionx::ImageDimension(1280, 960))
                .map("1600x1200", visionx::ImageDimension(1600, 1200))
                .map("2016x1536", visionx::ImageDimension(2016, 1536))
 
                // others (the docs are somewhat inconsistent) //
                .map("768x592", visionx::ImageDimension(768, 592))
                .map("992x768", visionx::ImageDimension(992, 768))
                .map("1440x1024", visionx::ImageDimension(1440, 1024));
 
            defineOptionalProperty<bool>(
                "enableColorCamera",
                true,
                "Only applies for the Nerian Vision Ruby camera. Disabling the "
                "color camera may increase the frame rate. If you manually configure the device, "
                "enable/disable the color output channel accordingly.");
 
            defineOptionalProperty<bool>("rectifyImages",
                                         true,
                                         "If true, the images will be undistorted using the "
                                         "internal calibration (on device).");
        };
    };
 
    /**
    * @defgroup Component-NerianVisionImageProvider NerianVisionImageProvider
    * @ingroup VisionX-Components
    * Provides support for Nerian Vision cameras for ArmarX.
    *
    * @class NerianVisionImageProvider
    * @ingroup Component-NerianVisionImageProvider
    * @brief Brief description of class NerianVisionImageProvider.
    */
    class NerianVisionImageProvider :
        virtual public visionx::ImageProvider,
        virtual public visionx::StereoCalibrationCaptureProviderInterface
    {
    public:
        /**
        * @see armarx::ManagedIceObject::getDefaultName()
        */
        std::string
        getDefaultName() const override
        {
            return "NerianVisionImageProvider";
        }
 
        void startCapture(Ice::Float framesPerSecond, const Ice::Current& c) override;
        void stopCapture(const Ice::Current& c) override;
 
        // StereoCalibrationInterface
        visionx::StereoCalibration getStereoCalibration(const Ice::Current& c) override;
        bool getImagesAreUndistorted(const Ice::Current& c) override;
        std::string getReferenceFrame(const Ice::Current& c) override;
 
    protected:
        void onInitImageProvider() override;
 
        void onConnectImageProvider() override;
 
        void runImagePublishing();
 
        void onDisconnectImageProvider() override;
 
        void onExitImageProvider() override;
 
 
        /**
         * @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::NerianVisionImageProvider>::pointer_type imageProcessingTask;
        bool enableColorCamera;
        bool rectifyImages;
    };
} // namespace visionx