Camera.h

/*
 * Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef ROBOTSIO_CAMERA_H
#define ROBOTSIO_CAMERA_H
 
#include <RobotsIO/Camera/CameraParameters.h>
#include <RobotsIO/Camera/DatasetParameters.h>
#include <RobotsIO/Utils/ProbeContainer.h>
 
#include <Eigen/Dense>
 
#include <limits>
#include <opencv2/opencv.hpp>
 
#include <cstdint>
#include <fstream>
#include <string>
 
namespace RobotsIO {
    namespace Camera {
        class Camera;
    }
}
 
 
class RobotsIO::Camera::Camera : public RobotsIO::Utils::ProbeContainer
{
public:
    Camera();
 
    virtual ~Camera();
 
    virtual bool status() const;
 
    virtual bool reset();
 
    virtual std::pair<bool, Eigen::MatrixXd> deprojection_matrix() const;
 
    virtual std::pair<bool, RobotsIO::Camera::CameraParameters> parameters() const;
 
    virtual std::pair<bool, Eigen::MatrixXf> depth(const bool& blocking) = 0;
 
    virtual std::pair<bool, Eigen::MatrixXd> point_cloud(const bool& blocking, const double& maximum_depth = std::numeric_limits<double>::infinity(), const bool& use_root_frame = false, const bool& enable_colors = false);
 
    virtual std::pair<bool, Eigen::Transform<double, 3, Eigen::Affine>> pose(const bool& blocking) = 0;
 
    virtual std::pair<bool, cv::Mat> rgb(const bool& blocking) = 0;
 
    virtual std::pair<bool, double> time_stamp_rgb() const;
 
    virtual std::pair<bool, double> time_stamp_depth() const;
 
    virtual std::pair<bool, Eigen::VectorXd> auxiliary_data(const bool& blocking);
 
    virtual std::size_t auxiliary_data_size() const;
 
    virtual std::int32_t frame_index() const;
 
    virtual bool is_offline() const;
 
    virtual bool set_frame_index(const std::int32_t& index);
 
    virtual bool step_frame();
 
    virtual bool log_frame(const bool& log_depth = false);
 
    virtual bool start_log(const std::string& path);
 
    virtual bool stop_log();
 
protected:
    virtual bool initialize();
 
    bool status_ = true;
 
    virtual bool evaluate_deprojection_matrix();
 
    RobotsIO::Camera::CameraParameters parameters_;
 
    Eigen::MatrixXd deprojection_matrix_;
 
    bool deprojection_matrix_initialized_ = false;
 
    Camera(const std::string& data_path, const std::size_t& width, const std::size_t& height, const double& fx, const double& cx, const double& fy, const double& cy);
 
    virtual std::pair<bool, Eigen::MatrixXf> depth_offline();
 
    virtual std::pair<bool, Eigen::Transform<double, 3, Eigen::Affine>> pose_offline();
 
    virtual std::pair<bool, cv::Mat> rgb_offline();
 
    virtual std::pair<bool, double> time_stamp_rgb_offline() const;
 
    virtual std::pair<bool, double> time_stamp_depth_offline() const;
 
    virtual std::pair<bool, Eigen::VectorXd> auxiliary_data_offline();
 
    /*
     * Offline playback.
     */
 
    std::string compose_index(const std::size_t& index);
 
    virtual std::pair<bool, Eigen::MatrixXd> load_data();
 
    RobotsIO::Camera::DatasetParameters dataset_parameters_;
 
    const bool offline_mode_ = false;
 
    Eigen::MatrixXd data_;
 
    std::int32_t frame_index_ = -1;
 
    std::size_t rgb_offset_ = 0;
 
    std::size_t depth_offset_ = 0;
 
    std::size_t number_frames_;
 
    /*
     * Data logging.
     */
 
    std::ofstream log_;
 
    std::string log_path_;
 
    std::int32_t log_index_ = 0;
 
    const std::string log_name_ = "Camera";
};
 
#endif /* ROBOTSIO_CAMERA_H */