real_sense_common.h

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2014-, Open Perception, Inc.
 *  Copyright (c) 2016, Intel Corporation
 *
 *  All rights reserved.
 *
 *  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 copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 */

#ifndef PCL_IO_REAL_SENSE_COMMON_H //name change due to position change
#define PCL_IO_REAL_SENSE_COMMON_H

#include <boost/thread/thread.hpp>
#include <boost/thread/mutex.hpp>

//#include <pcl/io/buffers.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/time.h>

namespace pcl
{
  namespace io
  {
    template <typename T> class Buffer;
    namespace real_sense
    {
      class RealSenseDevice;
      class PCL_EXPORTS Common
      {
        public:

          /*typedef
            void (sig_cb_real_sense_point_cloud)
              (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&);
          
          typedef
            void (sig_cb_real_sense_point_cloud_rgba)
              (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&);*/

          /** A descriptor for capturing mode.
            *
            * Consists of framerate and resolutions of depth and color streams.
            * Serves two purposes: to describe the desired capturing mode when
            * creating a grabber, and to list the available modes supported by the
            * grabber (see getAvailableModes()). In the first case setting some
            * fields to zero means "don't care", i.e. the grabber is allowed to
            * decide itself which concrete values to use. */

          struct PCL_EXPORTS Mode
          {
            unsigned int fps;
            unsigned int depth_width;
            unsigned int depth_height;
            unsigned int color_width;
            unsigned int color_height;
      
            /** Set all fields to zero (i.e. "don't care"). */
            Mode ();

            /** Set desired framerate, the rest is "don't care". */
            Mode (unsigned int fps);

            /** Set desired depth resolution, the rest is "don't care". */
            Mode (unsigned int depth_width, unsigned int depth_height);

            /** Set desired framerate and depth resolution, the rest is "don't
              * care". */
            Mode (unsigned int fps, unsigned int depth_width, unsigned int depth_height);

            /** Set desired depth and color resolution, the rest is "don't
              * care". */
            Mode (unsigned int depth_width, unsigned int depth_height, unsigned int color_width, unsigned int color_height);

            /** Set desired framerate, depth and color resolution. */
            Mode (unsigned int fps, unsigned int depth_width, unsigned int depth_height, unsigned int color_width, unsigned int color_height);

            bool
            operator== (const pcl::io::real_sense::Common::Mode& m) const;
          };

          enum TemporalFilteringType
          {
            RealSense_None = 0,
            RealSense_Median = 1,
            RealSense_Average = 2,
          };

          /** A constructor which will be utilized by the RealSenseGrabber constructor.
            *
            * This constructor provides the common code for the grabber "to capture the device",
            * making it impossible for other grabbers to interact with it. The device is "released"
            * when the grabber is destructed.
            *
            * This will throw pcl::io::IOException if there are no free devices
            * that match the supplied \a device_id.
            *
            * \param[in] device_id device identifier, which can be a serial number,
            * a zero-based index (with '#' prefix), or an empty string (to select
            * the first available device)
            * \param[in] mode desired framerate and stream resolution (see Mode).
            * If the default is supplied, then the mode closest to VGA at 30 Hz
            * will be chosen.
            * \param[in] strict if set to \c true, an exception will be thrown if
            * device does not support exactly the mode requsted. Otherwise the
            * closest available mode is selected. */
          Common (const std::string& device_id, const Mode& mode, bool strict);

          virtual
          ~Common () throw ();

          virtual void
          stop ();

          virtual bool
          isRunning () const;

          virtual std::string
          getName () const
          {
            return (std::string ("RealSenseGrabber"));
          }

          virtual float
          getFramesPerSecond () const;

          /** Enable temporal filtering of the depth data received from the device.
            *
            * The window size parameter is not relevant for `RealSense_None`
            * filtering type.
            *
            * \note if the grabber is running and the new parameters are different
            * from the current parameters, grabber will be restarted. */
          void
          enableTemporalFiltering (TemporalFilteringType type, size_t window_size);

          /** Disable temporal filtering. */
          void
          disableTemporalFiltering ();

          /** Get the serial number of device captured by the grabber. */
          const std::string&
          getDeviceSerialNumber () const;

          /** Set desired capturing mode.
            *
            * \note if the grabber is running and the new mode is different the
            * one requested previously, grabber will be restarted. */
          void
          setMode (const Mode& mode, bool strict = false);

          /** Get currently active capturing mode.
            *
            * \note: capturing mode is selected when start() is called; output of
            * this function before grabber was started is undefined. */
          const Mode&
          getMode () const
          {
            return (mode_selected_);
          }

          /** Compute a score which indicates how different is a given mode is from
            * the mode requested by the user.
            *
            * Importance of factors: fps > depth resolution > color resolution. The
            * lower the score the better. */
          float
          computeModeScore (const Mode& mode);

          void
          createDepthBuffer ();

          /*// Signals to indicate whether new clouds are available
          boost::signals2::signal<sig_cb_real_sense_point_cloud>* point_cloud_signal_;
          boost::signals2::signal<sig_cb_real_sense_point_cloud_rgba>* point_cloud_rgba_signal_;*/

          boost::shared_ptr<pcl::io::real_sense::RealSenseDevice> device_;

          bool is_running_;
          unsigned int confidence_threshold_;

          TemporalFilteringType temporal_filtering_type_;
          size_t temporal_filtering_window_size_;

          /// Capture mode requested by the user at construction time
          Mode mode_requested_;

          /// Whether or not selected capture mode should strictly match what the user
          /// has requested
          bool strict_;

          /// Capture mode selected by grabber (among the modes supported by the
          /// device), computed and stored on start()
          Mode mode_selected_;

          /// Indicates whether there are subscribers for PointXYZ signal, computed
          /// and stored on start()
          bool need_xyz_;

          /// Indicates whether there are subscribers for PointXYZRGBA signal,
          /// computed and stored on start()
          bool need_xyzrgba_;

          EventFrequency frequency_;
          mutable boost::mutex fps_mutex_;

          boost::thread thread_;

          /// Depth buffer to perform temporal filtering of the depth images
          boost::shared_ptr<pcl::io::Buffer<unsigned short> > depth_buffer_;
      };
    }
  }
}

#endif /* PCL_IO_REAL_SENSE_COMMON_H */