VirtualRangeCam.h

Go to the documentation of this file.

/****************************************************************
*
* Copyright (c) 2010
*
* Fraunhofer Institute for Manufacturing Engineering
* and Automation (IPA)
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Project name: care-o-bot
* ROS stack name: cob_driver
* ROS package name: cob_camera_sensors
* Description: Virtual range camera representation.
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Author: Jan Fischer, email:jan.fischer@ipa.fhg.de
* Supervised by: Jan Fischer, email:jan.fischer@ipa.fhg.de
*
* Date of creation: Jan 2009
* ToDo:
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Fraunhofer Institute for Manufacturing
* Engineering and Automation (IPA) nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License LGPL as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This program 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 Lesser General Public License LGPL for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License LGPL along with this program.
* If not, see <http://www.gnu.org/licenses/>.
*
****************************************************************/


#ifndef __IPA_VIRTUALRANGECAM_H__
#define __IPA_VIRTUALRANGECAM_H__

#include "StdAfx.h"

#ifdef __LINUX__
        #include <cob_camera_sensors/AbstractRangeImagingSensor.h>
#else
        #include <cob_driver/cob_camera_sensors/common/include/cob_camera_sensors/AbstractRangeImagingSensor.h>
#endif

#include <stdio.h>
#include <math.h>
#include <assert.h>
#include <sstream>

#include <boost/filesystem.hpp>

namespace ipa_CameraSensors {

static const int SWISSRANGER_COLUMNS = 176;
static const int SWISSRANGER_ROWS = 144;

class __DLL_LIBCAMERASENSORS__ VirtualRangeCam : public AbstractRangeImagingSensor
{
public:

        VirtualRangeCam();
        ~VirtualRangeCam();

        //*******************************************************************************
        // AbstractRangeImagingSensor interface implementation
        //*******************************************************************************

        unsigned long Init(std::string directory, int cameraIndex = 0);

        unsigned long Open();
        unsigned long Close();

        unsigned long SetProperty(t_cameraProperty* cameraProperty);
        unsigned long SetPropertyDefaults();
        unsigned long GetProperty(t_cameraProperty* cameraProperty);

        unsigned long AcquireImages(int widthStepRange, int widthStepGray, int widthStepCartesian, char* rangeImage=NULL, char* intensityImage=NULL,
                char* cartesianImage=NULL, bool getLatestFrame=true, bool undistort=true,
                ipa_CameraSensors::t_ToFGrayImageType grayImageType = ipa_CameraSensors::INTENSITY_32F1);
        unsigned long AcquireImages(cv::Mat* rangeImage = 0, cv::Mat* intensityImage = 0,
                cv::Mat* cartesianImage = 0, bool getLatestFrame = true, bool undistort = true,
                ipa_CameraSensors::t_ToFGrayImageType grayImageType = ipa_CameraSensors::INTENSITY_32F1);

        unsigned long GetCalibratedUV(double x, double y, double z, double& u, double& v);

        unsigned long SaveParameters(const char* filename);

        bool isInitialized() {return m_initialized;}
        bool isOpen() {return m_open;}

        int GetNumberOfImages();

        unsigned long SetPathToImages(std::string path);

private:
        //*******************************************************************************
        // Camera specific members
        //*******************************************************************************

        inline void UpdateImageDimensionsOnFirstImage(std::string filename, std::string ext=".xml");

        inline void FindSourceImageFormat(std::map<std::string, int>::iterator& itCounter, std::string& ext);

        unsigned long GetCalibratedZMatlab(int u, int v, float zRaw, float& zCalibrated);
        unsigned long GetCalibratedXYMatlab(int u, int v, float z, float& x, float& y);
        
        unsigned long LoadParameters(const char* filename, int cameraIndex);

        bool m_CoeffsInitialized;

        cv::Mat m_CoeffsA0; 
        cv::Mat m_CoeffsA1; 
        cv::Mat m_CoeffsA2; 
        cv::Mat m_CoeffsA3; 
        cv::Mat m_CoeffsA4; 
        cv::Mat m_CoeffsA5; 
        cv::Mat m_CoeffsA6; 

        std::string m_CameraDataDirectory; 
        int m_CameraIndex; 

        std::vector<std::string> m_AmplitudeImageFileNames;
        std::vector<std::string> m_IntensityImageFileNames;
        std::vector<std::string> m_RangeImageFileNames ;
        std::vector<std::string> m_CoordinateImageFileNames ;

        int m_ImageWidth;  
        int m_ImageHeight; 

        double m_k1, m_k2, m_p1, m_p2; 
};

__DLL_LIBCAMERASENSORS__ AbstractRangeImagingSensorPtr CreateRangeImagingSensor_VirtualCam();

} // end namespace ipa_CameraSensors
#endif // __IPA_VIRTUALRANGECAM_H__