vpOccipitalStructure.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * libStructure interface.
 */
 
#ifndef VP_OCCIPITAL_STRUCTURE_H
#define VP_OCCIPITAL_STRUCTURE_H
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_OCCIPITAL_STRUCTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && defined(VISP_HAVE_THREADS)
#include <condition_variable>
#include <mutex>
 
#include <ST/CaptureSession.h>
 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
#include <pcl/common/common_headers.h>
#endif
 
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpPoint.h>
 
BEGIN_VISP_NAMESPACE
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
  struct SessionDelegate : ST::CaptureSessionDelegate
{
  std::mutex m_sampleLock;
  std::condition_variable cv_sampleLock;
 
  ST::ColorFrame m_visibleFrame;
  ST::DepthFrame m_depthFrame;
  ST::InfraredFrame m_infraredFrame;
  ST::AccelerometerEvent m_accelerometerEvent;
  ST::GyroscopeEvent m_gyroscopeEvent;
  ST::StructureCoreCameraType m_cameraType;
  ST::CaptureSessionUSBVersion m_USBVersion;
  std::string m_serialNumber;
 
  ~SessionDelegate() { }
 
  void captureSessionEventDidOccur(ST::CaptureSession *session, ST::CaptureSessionEventId event) VP_OVERRIDE
  {
    switch (event) {
    case ST::CaptureSessionEventId::Booting:
      break;
    case ST::CaptureSessionEventId::Connected:
      printf("Starting streams...\n");
      session->startStreaming();
      // The following wait function will let the capture session load correctly.
      vpTime::wait(1000);
 
      // Getting details about capture session.
      // (USB Version, Serial Number of the camera connected, Camera Monochorme/Color)
      m_USBVersion = session->USBVersion();
      m_serialNumber = session->sensorInfo().serialNumber;
      m_cameraType = session->getCameraType();
      break;
    case ST::CaptureSessionEventId::Disconnected:
      break;
    case ST::CaptureSessionEventId::Error:
      throw vpException(vpException::fatalError, "Capture session error");
      break;
    default:
      printf("Capture session event unhandled\n");
    }
  }
 
  void captureSessionDidOutputSample(ST::CaptureSession *, const ST::CaptureSessionSample &sample) VP_OVERRIDE
  {
    // acquire sampleLock mutex.
    std::lock_guard<std::mutex> u(m_sampleLock);
 
    // Perform the modification needed on the shared variables.
    if (sample.visibleFrame.isValid())
      m_visibleFrame = sample.visibleFrame;
 
    if (sample.depthFrame.isValid())
      m_depthFrame = sample.depthFrame;
 
    if (sample.infraredFrame.isValid())
      m_infraredFrame = sample.infraredFrame;
 
    if (sample.type == ST::CaptureSessionSample::Type::AccelerometerEvent)
      m_accelerometerEvent = sample.accelerometerEvent;
 
    if (sample.type == ST::CaptureSessionSample::Type::GyroscopeEvent)
      m_gyroscopeEvent = sample.gyroscopeEvent;
 
    // If any thread is waiting on `cv_sampleLock`, the following instruction will unblock it.
    // In our case, `open()` and `acquire()` will be blocked on `cv_sampleLock`.
    cv_sampleLock.notify_one();
  }
};
#endif // DOXYGEN_SHOULD_SKIP_THIS
 
class VISP_EXPORT vpOccipitalStructure
{
public:
  typedef enum
  {
    visible,  
    depth,    
    infrared, 
    imu       
  } vpOccipitalStructureStream;
 
  vpOccipitalStructure();
  ~vpOccipitalStructure();
 
  void acquire(vpImage<unsigned char> &gray, bool undistorted = false, double *ts = nullptr);
  void acquire(vpImage<vpRGBa> &rgb, bool undistorted = false, double *ts = nullptr);
 
  void acquire(vpImage<vpRGBa> *rgb, vpImage<vpRGBa> *depth, vpColVector *acceleration_data = nullptr,
               vpColVector *gyroscope_data = nullptr, bool undistorted = false, double *ts = nullptr);
  void acquire(vpImage<unsigned char> *gray, vpImage<vpRGBa> *depth, vpColVector *acceleration_data = nullptr,
               vpColVector *gyroscope_data = nullptr, bool undistorted = false, double *ts = nullptr);
 
  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
               std::vector<vpColVector> *const data_pointCloud = nullptr, unsigned char *const data_infrared = nullptr,
               vpColVector *acceleration_data = nullptr, vpColVector *gyroscope_data = nullptr, bool undistorted = true,
               double *ts = nullptr);
 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
               std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud,
               unsigned char *const data_infrared = nullptr, vpColVector *acceleration_data = nullptr,
               vpColVector *gyroscope_data = nullptr, bool undistorted = true, double *ts = nullptr);
  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
               std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud,
               unsigned char *const data_infrared = nullptr, vpColVector *acceleration_data = nullptr,
               vpColVector *gyroscope_data = nullptr, bool undistorted = true, double *ts = nullptr);
#endif
 
  void getIMUVelocity(vpColVector *imu_vel, double *ts);
  void getIMUAcceleration(vpColVector *imu_acc, double *ts);
  void getIMUData(vpColVector *imu_vel, vpColVector *imu_acc, double *ts = nullptr);
 
  bool open(const ST::CaptureSessionSettings &settings);
  void close();

  ST::StructureCoreCameraType getCameraType() const { return m_delegate.m_cameraType; }
 
  ST::CaptureSessionUSBVersion getUSBVersion() const { return m_delegate.m_USBVersion; }
  std::string getSerialNumber() const { return m_delegate.m_serialNumber; }
  ST::CaptureSession &getCaptureSession() { return m_captureSession; }
  ST::CaptureSessionSettings &getCaptureSessionSettings() { return m_captureSessionSettings; }
 
  unsigned int getWidth(vpOccipitalStructureStream stream_type);
  unsigned int getHeight(vpOccipitalStructureStream stream_type);
 
  // Returns depth in millimeters at (x,y) if it exists, NAN otherwise.
  float getDepth(int x, int y);
 
  vpPoint unprojectPoint(int row, int col);
 
  vpHomogeneousMatrix getTransform(const vpOccipitalStructureStream from, const vpOccipitalStructureStream to);
 
  ST::Intrinsics getIntrinsics(const vpOccipitalStructureStream stream_type) const;
 
  vpCameraParameters getCameraParameters(
      const vpOccipitalStructureStream stream_type,
      vpCameraParameters::vpCameraParametersProjType type = vpCameraParameters::perspectiveProjWithoutDistortion);
 
  void saveDepthImageAsPointCloudMesh(std::string &filename);
 
protected:
  bool m_init;
  float m_invalidDepthValue;
  float m_maxZ;
 
  ST::CaptureSession m_captureSession;
  ST::CaptureSessionSettings m_captureSessionSettings;
  SessionDelegate m_delegate;
  vpCameraParameters m_visible_camera_parameters, m_depth_camera_parameters;
 
  void getPointcloud(std::vector<vpColVector> &pointcloud);
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
  void getPointcloud(pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
  void getColoredPointcloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);
#endif
};
END_VISP_NAMESPACE
#endif
#endif