AbstractRangeImagingSensor.h

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/****************************************************************
*
* 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: Abstract interface for time-of-flight cameras.
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Author: Jan Fischer, email:jan.fischer@ipa.fhg.de
* Supervised by: Jan Fischer, email:jan.fischer@ipa.fhg.de
*
* Date of creation: May 2008
* 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
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*
* This program is distributed in the hope that it will be useful,
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*
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#ifndef __IPA_ABSTRACTRANGEIMAGINGSENSOR_H__
#define __IPA_ABSTRACTRANGEIMAGINGSENSOR_H__

#include "StdAfx.h"

#ifdef __LINUX__
        #include "cob_vision_utils/CameraSensorDefines.h"
        #include "cob_vision_utils/CameraSensorTypes.h"
#else
        #include "cob_common/cob_vision_utils/common/include/cob_vision_utils/CameraSensorDefines.h"
        #include "cob_common/cob_vision_utils/common/include/cob_vision_utils/CameraSensorTypes.h"
#endif

#include <opencv/cv.h>

#include <iostream>
#include <limits>
#include <vector>

#include <boost/shared_ptr.hpp>

namespace ipa_CameraSensors {

class AbstractRangeImagingSensor;
typedef boost::shared_ptr<AbstractRangeImagingSensor> AbstractRangeImagingSensorPtr;

class __DLL_LIBCAMERASENSORS__ AbstractRangeImagingSensor
{
public:

        struct t_RangeCameraParameters
        {
                ipa_CameraSensors::t_cameraRole m_CameraRole;   
                std::stringstream m_AmplitudeThreshold;         

                std::stringstream m_IntegrationTime;            
                std::stringstream m_ModulationFrequency;        
                std::stringstream m_AcquireMode;                        
                std::stringstream m_ExposureMode;                       
                std::stringstream m_DistanceOffset;                     
                std::stringstream m_ROI;                                        
                std::stringstream m_LensCalibration;            

                std::stringstream m_Interface;                          
                std::stringstream m_IP;                                         
        };
        
        virtual ~AbstractRangeImagingSensor();

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

        virtual unsigned long Close() = 0;

        virtual unsigned long SetProperty(t_cameraProperty* cameraProperty) =0;

        virtual unsigned long SetPropertyDefaults() =0;

        virtual unsigned long GetProperty(t_cameraProperty* cameraProperty) =0;

        virtual 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) = 0;

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

        virtual unsigned long SaveParameters(const char* filename) = 0;
        
        virtual bool isInitialized() = 0;

        virtual bool isOpen() = 0;

        virtual t_CalibrationMethod GetCalibrationMethod() {return m_CalibrationMethod;}

        virtual t_cameraType GetCameraType() {return m_CameraType;}

        virtual unsigned long SetIntrinsics(cv::Mat& intrinsicMatrix,
                cv::Mat& undistortMapX, cv::Mat& undistortMapY);

        virtual int GetNumberOfImages() {return std::numeric_limits<int>::max();};

        virtual unsigned long SetPathToImages(std::string path);

        unsigned int m_ImageCounter; 

protected:
                
        t_CalibrationMethod m_CalibrationMethod; 
        t_RangeCameraParameters m_RangeCameraParameters; 
        t_cameraType m_CameraType; 

        bool m_initialized; 
        bool m_open;            

        unsigned int m_BufferSize; 

        cv::Mat m_intrinsicMatrix;              
        cv::Mat m_undistortMapX;                
        cv::Mat m_undistortMapY;                

private:
        
        virtual unsigned long LoadParameters(const char* filename, int cameraIndex) = 0;
};

__DLL_LIBCAMERASENSORS__ AbstractRangeImagingSensorPtr CreateRangeImagingSensor_VirtualCam();
__DLL_LIBCAMERASENSORS__ AbstractRangeImagingSensorPtr CreateRangeImagingSensor_Swissranger();
__DLL_LIBCAMERASENSORS__ AbstractRangeImagingSensorPtr CreateRangeImagingSensor_PMDCam();
__DLL_LIBCAMERASENSORS__ AbstractRangeImagingSensorPtr CreateRangeImagingSensor_Kinect();

} // end namespace ipa_CameraSensors
#endif // __IPA_ABSTRACTRANGEIMAGINGSENSOR_H__