DepthCameraSensor.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/opengl/CFBORender.h>
#include <mrpt/opengl/CPointCloudColoured.h>
#include <mvsim/Sensors/SensorBase.h>

#include <mutex>

namespace mvsim
{
class DepthCameraSensor : public SensorBase
{
        DECLARES_REGISTER_SENSOR(DepthCameraSensor)

   public:
        DepthCameraSensor(Simulable& parent, const rapidxml::xml_node<char>* root);
        virtual ~DepthCameraSensor();

        // See docs in base class
        virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;

        virtual void simul_pre_timestep(const TSimulContext& context) override;
        virtual void simul_post_timestep(const TSimulContext& context) override;

        void simulateOn3DScene(mrpt::opengl::COpenGLScene& gl_scene) override;

        void freeOpenGLResources() override;

   protected:
        virtual void internalGuiUpdate(
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical,
                bool childrenOnly) override;

        // Store here all sensor intrinsic parameters. This obj will be copied as a
        // "pattern" to fill it with actual scan data.
        mrpt::obs::CObservation3DRangeScan sensor_params_;

        std::mutex last_obs_cs_;
        mrpt::obs::CObservation3DRangeScan::Ptr last_obs_;
        mrpt::obs::CObservation3DRangeScan::Ptr last_obs2gui_;

        // Note: we need 2 to support different resolutions for RGB vs Depth.
        std::shared_ptr<mrpt::opengl::CFBORender> fbo_renderer_rgb_,
                fbo_renderer_depth_;

        bool gui_uptodate_ = false;
        mrpt::opengl::CPointCloudColoured::Ptr gl_obs_;

        std::optional<TSimulContext> has_to_render_;
        std::mutex has_to_render_mtx_;

        float rgbClipMin_ = 1e-2, rgbClipMax_ = 1e+4;
        float depth_clip_min_ = 0.1, depth_clip_max_ = 15.0;
        float depth_resolution_ = 1e-3;

        bool sense_depth_ = true;  
        bool sense_rgb_ = true;  

        float depth_noise_sigma_ = 1e-3;
        bool show_3d_pointcloud_ = false;

        mrpt::opengl::CSetOfObjects::Ptr gl_sensor_origin_,
                gl_sensor_origin_corner_;
        mrpt::opengl::CSetOfObjects::Ptr gl_sensor_fov_, gl_sensor_frustum_;

        mrpt::math::CMatrixFloat depthImage_;  // to avoid memory allocs
};
}  // namespace mvsim