rtabmap/tools/CameraRGBD/main.cpp

/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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 Universite de Sherbrooke 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 HOLDER 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.
*/

#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraStereo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/SensorCaptureThread.h"
#include <rtabmap/gui/CameraViewer.h>
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UMath.h"
#include "rtabmap/utilite/UFile.h"
#include "rtabmap/utilite/UDirectory.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UEventsManager.h"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <pcl/visualization/cloud_viewer.h>
#include <stdio.h>
#include <signal.h>
#include <QApplication>
#include <QSurfaceFormat>
#include <vtkVersionMacros.h>
#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
#include <QVTKRenderWidget.h>
#endif

void showUsage(const char * executableName)
{
	printf("\nUsage:\n"
			"%s [options] driver\n"
			"  driver       Driver number to use: 0=OpenNI-PCL (Kinect)\n"
			"                                     1=OpenNI2    (Kinect and Xtion PRO Live)\n"
			"                                     2=Freenect   (Kinect)\n"
			"                                     3=OpenNI-CV  (Kinect)\n"
			"                                     4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
			"                                     5=Freenect2  (Kinect v2)\n"
			"                                     6=DC1394     (Bumblebee2)\n"
			"                                     7=FlyCapture2 (Bumblebee2)\n"
			"                                     8=ZED stereo\n"
			"                                     9=RealSense\n"
			"                                     10=Kinect for Windows 2 SDK\n"
			"                                     11=RealSense2\n"
			"                                     12=Kinect for Azure SDK\n"
			"                                     13=MYNT EYE S\n"
			"                                     14=ZED Open Capture\n"
			"                                     15=depthai-core\n"
			"                                     16=XVSDK     (SeerSense)\n"
			"                                     17=Orbbec SDK\n"
			"  Options:\n"
			"      -r #.#                         Input rate Hz (default 0=inf)\n"
			"      -d #                           Device ID (number or string)\n"
			"      -w #                           Request a specific image width. Not all camera drivers support this.\n"
			"      -h #                           Request a specific image height. Not all camera drivers support this.\n"
			"      -pcl                           Use PCL's CloudViewer for visualization (legacy).\n",
		executableName);
	exit(1);
}

// catch ctrl-c
bool running = true;
void sighandler(int sig)
{
	printf("\nSignal %d caught...\n", sig);
	running = false;
}

int main(int argc, char * argv[])
{
	ULogger::setType(ULogger::kTypeConsole);
	ULogger::setLevel(ULogger::kDebug);
	//ULogger::setPrintTime(false);
	//ULogger::setPrintWhere(false);

	int driver = 0;
	float rate = 0.0f;
	std::string deviceId;
	int width = 0;
	int height = 0;
	bool usePCLViz = false;
	if(argc < 2)
	{
		showUsage(argv[0]);
	}
	else
	{
		for(int i=1; i<argc; ++i)
		{
			if(strcmp(argv[i], "-rate") == 0 || strcmp(argv[i], "-r") == 0)
			{
				++i;
				if(i < argc)
				{
					rate = uStr2Float(argv[i]);
					if(rate < 0.0f)
					{
						showUsage(argv[0]);
					}
				}
				else
				{
					showUsage(argv[0]);
				}
				continue;
			}
			if (strcmp(argv[i], "-device") == 0 || strcmp(argv[i], "-d") == 0)
			{
				++i;
				if (i < argc)
				{
					deviceId = argv[i];
				}
				else
				{
					showUsage(argv[0]);
				}
				continue;
			}
			if (strcmp(argv[i], "-w") == 0)
			{
				++i;
				if (i < argc)
				{
					width = atoi(argv[i]);
				}
				else
				{
					showUsage(argv[0]);
				}
				continue;
			}
			if (strcmp(argv[i], "-h") == 0)
			{
				++i;
				if (i < argc)
				{
					height = atoi(argv[i]);
				}
				else
				{
					showUsage(argv[0]);
				}
				continue;
			}
			if (strcmp(argv[i], "-pcl") == 0)
			{
				usePCLViz = true;
				continue;
			}
			if(strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0)
			{
				showUsage(argv[0]);
			}
			else if(i< argc-1)
			{
				printf("Unrecognized option \"%s\"", argv[i]);
				showUsage(argv[0]);
			}

			// last
			driver = atoi(argv[i]);
			if(driver < 0 || driver > 17)
			{
				UERROR("driver should be between 0 and 17.");
				showUsage(argv[0]);
			}
		}
	}
	UINFO("Using driver %d (device=%s)", driver, deviceId.empty()?"0": deviceId.c_str());

	rtabmap::Camera * camera = 0;
	if(driver == 0)
	{
		camera = new rtabmap::CameraOpenni(deviceId, rate);
	}
	else if(driver == 1)
	{
		if(!rtabmap::CameraOpenNI2::available())
		{
			UERROR("Not built with OpenNI2 support...");
			exit(-1);
		}
		camera = new rtabmap::CameraOpenNI2(deviceId, rtabmap::CameraOpenNI2::kTypeColorDepth, rate);
	}
	else if(driver == 2)
	{
		if(!rtabmap::CameraFreenect::available())
		{
			UERROR("Not built with Freenect support...");
			exit(-1);
		}
		camera = new rtabmap::CameraFreenect(deviceId.empty()?0:uStr2Int(deviceId), rtabmap::CameraFreenect::kTypeColorDepth, rate);
	}
	else if(driver == 3)
	{
		if(!rtabmap::CameraOpenNICV::available())
		{
			UERROR("Not built with OpenNI from OpenCV support...");
			exit(-1);
		}
		camera = new rtabmap::CameraOpenNICV(false, rate);
	}
	else if(driver == 4)
	{
		if(!rtabmap::CameraOpenNICV::available())
		{
			UERROR("Not built with OpenNI from OpenCV support...");
			exit(-1);
		}
		camera = new rtabmap::CameraOpenNICV(true, rate);
	}
	else if(driver == 5)
	{
		if(!rtabmap::CameraFreenect2::available())
		{
			UERROR("Not built with Freenect2 support...");
			exit(-1);
		}
		camera = new rtabmap::CameraFreenect2(deviceId.empty()?0:uStr2Int(deviceId), rtabmap::CameraFreenect2::kTypeColor2DepthSD, rate);
	}
	else if(driver == 6)
	{
		if(!rtabmap::CameraStereoDC1394::available())
		{
			UERROR("Not built with DC1394 support...");
			exit(-1);
		}
		camera = new rtabmap::CameraStereoDC1394(rate);
	}
	else if(driver == 7)
	{
		if(!rtabmap::CameraStereoFlyCapture2::available())
		{
			UERROR("Not built with FlyCapture2/Triclops support...");
			exit(-1);
		}
		camera = new rtabmap::CameraStereoFlyCapture2(rate);
	}
	else if(driver == 8)
	{
		if(!rtabmap::CameraStereoZed::available())
		{
			UERROR("Not built with ZED sdk support...");
			exit(-1);
		}
		camera = new rtabmap::CameraStereoZed(deviceId.empty()?0:uStr2Int(deviceId), -1, 1, 0, 100, false, rate);
	}
	else if (driver == 9)
	{
		if (!rtabmap::CameraRealSense::available())
		{
			UERROR("Not built with RealSense support...");
			exit(-1);
		}
		camera = new rtabmap::CameraRealSense(deviceId.empty()?0:uStr2Int(deviceId), 0, 0, false, rate);
	}
	else if (driver == 10)
	{
		if (!rtabmap::CameraK4W2::available())
		{
			UERROR("Not built with Kinect for Windows 2 SDK support...");
			exit(-1);
		}
		camera = new rtabmap::CameraK4W2(deviceId.empty()?0:uStr2Int(deviceId), rtabmap::CameraK4W2::kTypeDepth2ColorSD, rate);
	}
	else if (driver == 11)
	{
		if (!rtabmap::CameraRealSense2::available())
		{
			UERROR("Not built with RealSense2 SDK support...");
			exit(-1);
		}
		camera = new rtabmap::CameraRealSense2(deviceId, width > 0 && height > 0 ? 0.0f:rate);
		if(width > 0 && height > 0) 
		{
			((rtabmap::CameraRealSense2*)camera)->setResolution(width, height, rate);
		}
	}
	else if (driver == 12)
	{
		if (!rtabmap::CameraK4A::available())
		{
			UERROR("Not built with Kinect for Azure SDK support...");
			exit(-1);
		}
		camera = new rtabmap::CameraK4A(1, rate);
	}
	else if (driver == 13)
	{
		if (!rtabmap::CameraMyntEye::available())
		{
			UERROR("Not built with Mynt Eye S support...");
			exit(-1);
		}
		camera = new rtabmap::CameraMyntEye(deviceId, false, false, rate);
	}
	else if (driver == 14)
	{
		if (!rtabmap::CameraStereoZedOC::available())
		{
			UERROR("Not built with Zed Open Capture support...");
			exit(-1);
		}
		camera = new rtabmap::CameraStereoZedOC(deviceId.empty()?-1:uStr2Int(deviceId), 3, rate);
	}
	else if (driver == 15)
	{
		if (!rtabmap::CameraDepthAI::available())
		{
			UERROR("Not built with depthai-core support...");
			exit(-1);
		}
		camera = new rtabmap::CameraDepthAI(deviceId, width>0?width:1280, rate);
	}
	else if (driver == 16)
	{
		if (!rtabmap::CameraSeerSense::available())
		{
			UERROR("Not built with XVisio SDK support...");
			exit(-1);
		}
		camera = new rtabmap::CameraSeerSense(false, rate);
	}
	else if (driver == 17)
	{
		if (!rtabmap::CameraOrbbecSDK::available())
		{
			UERROR("Not built with Orbbec SDK support...");
			exit(-1);
		}
		if(width>0 && height>0)
			camera = new rtabmap::CameraOrbbecSDK(deviceId, width, height, width, height, rate);
		else
			camera = new rtabmap::CameraOrbbecSDK(deviceId, 800, 600, 800, 600, rate);
	}
	else
	{
		UFATAL("");
	}

	if(!camera->init())
	{
		printf("Camera init failed! Please select another driver (see \"--help\").\n");
		delete camera;
		exit(1);
	}

#ifdef __APPLE__
	if(usePCLViz)
	{
		// pcl::visualization::CloudViewer creates its render window on its own
		// background thread, but macOS only allows NSWindow creation on the main
		// thread, so it aborts. Fall back to the default (Qt) viewer.
		printf("-pcl is not supported on macOS (pcl::visualization::CloudViewer creates its "
			   "window on a background thread, which macOS forbids). Using the default viewer instead.\n");
		usePCLViz = false;
	}
#endif

	if(usePCLViz)
	{
		rtabmap::SensorData data = camera->takeData();
		if (data.imageRaw().empty())
		{
			printf("Cloud not get frame from the camera!\n");
			delete camera;
			exit(1);
		}
		if(data.imageRaw().cols % data.depthOrRightRaw().cols != 0 || data.imageRaw().rows % data.depthOrRightRaw().rows != 0)
		{
			UWARN("RGB (%d/%d) and depth (%d/%d) frames are not the same size! The registered cloud cannot be shown.",
					data.imageRaw().cols, data.imageRaw().rows, data.depthOrRightRaw().cols, data.depthOrRightRaw().rows);
		}

		pcl::visualization::CloudViewer * viewer = 0;
		if((data.stereoCameraModels().empty() || data.stereoCameraModels()[0].isValidForProjection()) &&
		(data.cameraModels().empty() || !data.cameraModels()[0].isValidForProjection()))
		{
			UWARN("Camera not calibrated! The registered cloud cannot be shown.");
		}
		else
		{
			viewer = new pcl::visualization::CloudViewer("cloud");
		}

		// to catch the ctrl-c
		signal(SIGABRT, &sighandler);
		signal(SIGTERM, &sighandler);
		signal(SIGINT, &sighandler);

		while(!data.imageRaw().empty() && (viewer==0 || !viewer->wasStopped()) && running)
		{
			cv::Mat rgb = data.imageRaw();
			if(!data.depthRaw().empty() && (data.depthRaw().type() == CV_16UC1 || data.depthRaw().type() == CV_32FC1))
			{
				// depth
				cv::Mat depth = data.depthRaw();
				if(depth.type() == CV_32FC1)
				{
					depth = rtabmap::util2d::cvtDepthFromFloat(depth);
				}

				if(!rgb.empty() && rgb.cols % depth.cols == 0 && rgb.rows % depth.rows == 0 &&
						data.cameraModels().size() &&
						data.cameraModels()[0].isValidForProjection())
				{
					pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromDepthRGB(
							rgb, depth,
							data.cameraModels()[0]);
					cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform::opengl_T_rtabmap()*data.cameraModels()[0].localTransform());
					if(viewer)
						viewer->showCloud(cloud, "cloud");
				}
				else if(!depth.empty() &&
						data.cameraModels().size() &&
						data.cameraModels()[0].isValidForProjection())
				{
					pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(
							depth,
							data.cameraModels()[0]);
					cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform::opengl_T_rtabmap()*data.cameraModels()[0].localTransform());
					viewer->showCloud(cloud, "cloud");
				}

				cv::Mat tmp;
				unsigned short min=0, max = 2048;
				uMinMax((unsigned short*)depth.data, depth.rows*depth.cols, min, max);
				depth.convertTo(tmp, CV_8UC1, 255.0/max);

				cv::imshow("Video", rgb); // show frame
				cv::imshow("Depth", tmp);
			}
			else if(!data.rightRaw().empty())
			{
				// stereo
				cv::Mat right = data.rightRaw();
				cv::imshow("Left", rgb); // show frame
				cv::imshow("Right", right);

				if(rgb.cols == right.cols && rgb.rows == right.rows && data.stereoCameraModels().size()==1 && data.stereoCameraModels()[0].isValidForProjection())
				{
					if(right.channels() == 3)
					{
						cv::cvtColor(right, right, cv::COLOR_BGR2GRAY);
					}
					pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromStereoImages(
							rgb, right,
							data.stereoCameraModels()[0]);
					cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform::opengl_T_rtabmap()*data.stereoCameraModels()[0].localTransform());
					if(viewer)
						viewer->showCloud(cloud, "cloud");
				}
			}

			int c = cv::waitKey(10); // wait 10 ms or for key stroke
			if(c == 27)
				break; // if ESC, break and quit

			data = camera->takeData();
		}
		printf("Closing...\n");
		if(viewer)
		{
			delete viewer;
		}
		if(usePCLViz)
		{
			cv::destroyWindow("Video");
			cv::destroyWindow("Depth");
		}
		delete camera;
	}
	else // Use our own visualizer
	{
#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
		// Needed to ensure the appropriate OpenGL context is created for VTK
		// rendering (QVTKOpenGLNativeWidget). Without it the embedded VTK widget
		// gets an incompatible context and VTK calls a null GL function pointer
		// (crash in vtkOpenGLVertexArrayObject::Bind on first paint). Must be set
		// before QApplication is constructed.
		QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
#endif
		QApplication app(argc, argv);

		rtabmap::CameraViewer cameraViewer;
		UEventsManager::addHandler(&cameraViewer);

		cameraViewer.setWindowTitle("Camera view");
		cameraViewer.resize(1280, 480);

		rtabmap::SensorCaptureThread cameraThread(camera);

		cameraThread.start();
		cameraViewer.exec();
		cameraThread.join(true);
	}
	printf("Exiting cleanly.\n");
	return 0;
}