iCubCameraDepth.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_ICUBCAMERADEPTH_H
#define ROBOTSIO_ICUBCAMERADEPTH_H
 
#include <RobotsIO/Camera/iCubCameraRelative.h>
 
#include <Eigen/Dense>
 
#include <opencv2/opencv.hpp>
 
#include <string>
 
namespace RobotsIO {
    namespace Camera {
        class iCubCameraDepth;
    }
}
 
 
class RobotsIO::Camera::iCubCameraDepth : public RobotsIO::Camera::iCubCameraRelative
{
public:
 
    iCubCameraDepth(const std::string& robot_name, const std::string& port_prefix, const bool& use_calibration = false, const std::string& calibration_path = "");
 
    iCubCameraDepth(const std::string& data_path_left, const std::string& data_path_right, const std::size_t& width, const std::size_t& height, const double& fx_l, const double& cx_l, const double& fy_l, const double& cy_l, const double& fx_r, const double& cx_r, const double& fy_r, const double& cy_r, const bool& load_encoders_data, const bool& use_calibration = false, const std::string& calibration_path = "");
 
    ~iCubCameraDepth();
 
    std::pair<bool, Eigen::MatrixXd> deprojection_matrix() const override;
 
    std::pair<bool, Eigen::MatrixXf> depth(const bool& blocking) override;
 
    std::pair<bool, Eigen::Transform<double, 3, Eigen::Affine>> pose(const bool& blocking) override;
 
    std::pair<bool, cv::Mat> rgb(const bool& blocking) override;
 
private:
    void configure_sgbm();
 
    cv::Mat intrinsic_left_;
 
    cv::Mat distortion_left_;
 
    cv::Mat intrinsic_right_;
 
    cv::Mat distortion_right_;
 
    cv::Ptr<cv::StereoSGBM> sgbm_;
 
    int uniqueness_ratio_ = 15;
 
    int speckle_window_size_ = 50;
 
    int speckle_range_ = 1;
 
    int number_of_disparities_ = 96;
 
    int block_size_ = 7;
 
    int min_disparity_ = 0;
 
    int pre_filter_cap_ = 63;
 
    int disp_12_max_diff_ = 0;
 
    const std::string log_name_ = "iCubCameraDepth";
};
 
#endif /* ROBOTSIO_ICUBCAMERADEPTH_H */