CSwissRanger3DCamera.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "hwdrivers-precomp.h"   // Precompiled headers

#include <mrpt/hwdrivers/CSwissRanger3DCamera.h>

#include <mrpt/system/string_utils.h>
#include <mrpt/system/filesystem.h>

using namespace mrpt::hwdrivers;
using namespace mrpt::system;
using namespace std;

IMPLEMENTS_GENERIC_SENSOR(CSwissRanger3DCamera,mrpt::hwdrivers)


#if MRPT_HAS_SWISSRANGE
        #ifdef MRPT_OS_WINDOWS
                #define WIN32_LEAN_AND_MEAN
                #include <windows.h>
        #endif

        #include <libMesaSR.h>

        #ifdef MRPT_OS_LINUX
                #include <termios.h>
                #include <stdio.h>
                #include <unistd.h>

                #include <linux/sockios.h>
                #include <asm/ioctls.h>
                #include <sys/select.h>
        #endif
#endif



/*-------------------------------------------------------------
                ctor
 -------------------------------------------------------------*/
CSwissRanger3DCamera::CSwissRanger3DCamera()  :
        m_sensorPoseOnRobot     (),
        m_save_3d               (true),
        m_save_range_img(true),
        m_save_intensity_img(true),
        m_save_confidence(false),

        m_enable_img_hist_equal(false),
        m_enable_median_filter (true),
        m_enable_mediancross_filter(false),
        m_enable_conv_gray (false),
        m_enable_denoise_anf (true),

        m_open_from_usb         (true),
        m_usb_serial            (0),
        m_ip_address            ("192.168.2.14"),
        m_rows                  (0),
        m_cols                  (0),
        m_cam_serial_num(0),
        m_maxRange              (5),
        m_preview_window(false)
{
        m_sensorLabel = "3DCAM";

        // Default params: Obtained from a SR4000 with 0.004px avr reprojection error.
        m_cameraParams.ncols = 176;
        m_cameraParams.nrows = 144;
        m_cameraParams.intrinsicParams(0,0) = 262.9201; // fx
        m_cameraParams.intrinsicParams(1,1) = 262.9218; // fy
        m_cameraParams.intrinsicParams(0,2) = 87.99958; // cx
        m_cameraParams.intrinsicParams(1,2) = 68.99957; // cy
        m_cameraParams.dist[0] = -8.258543e-01;
        m_cameraParams.dist[1] =  6.561022e-01;
        m_cameraParams.dist[2] =  2.699818e-06;
        m_cameraParams.dist[3] = -3.263559e-05;
        m_cameraParams.dist[4] = 0;

#if !MRPT_HAS_SWISSRANGE
        THROW_EXCEPTION("MRPT was compiled without support for SwissRanger 3D cameras! Rebuild it.")
#endif
}

/*-------------------------------------------------------------
                        dtor
 -------------------------------------------------------------*/
CSwissRanger3DCamera::~CSwissRanger3DCamera()
{
        this->close();
}


/*-------------------------------------------------------------
        Modified A-law compression algorithm for uint16_t -> uint8_t
         The original method uses signed int16_t. It's being tuned for
         what we want here...
 -------------------------------------------------------------*/
static char ALawCompressTable[128] =
{
     1,1,2,2,3,3,3,3,
     4,4,4,4,4,4,4,4,
     5,5,5,5,5,5,5,5,
     5,5,5,5,5,5,5,5,
     6,6,6,6,6,6,6,6,
     6,6,6,6,6,6,6,6,
     6,6,6,6,6,6,6,6,
     6,6,6,6,6,6,6,6,
     7,7,7,7,7,7,7,7,
     7,7,7,7,7,7,7,7,
     7,7,7,7,7,7,7,7,
     7,7,7,7,7,7,7,7,
     7,7,7,7,7,7,7,7,
     7,7,7,7,7,7,7,7,
     7,7,7,7,7,7,7,7,
     7,7,7,7,7,7,7,7
};

uint8_t table_16u_to_8u [0x10000];
bool    table_16u_to_8u_init = false;

unsigned char LinearToALawSample(uint16_t sample)
{
     if (sample >= 0x200)
     {
          int exponent =  ALawCompressTable[(sample >> 9) & 0x7F];
          int mantissa = (sample >> (exponent + 3) ) & 0x1F;
          return ((exponent << 5) | mantissa);
     }
     else
     {
          return (sample >> 4);
     }
}

void do_init_table_16u_to_8u()
{
        for (unsigned int i=0;i<0x10000;i++)
                table_16u_to_8u[i] = LinearToALawSample(i);
}


/** This method can or cannot be implemented in the derived class, depending on the need for it.
*  \exception This method must throw an exception with a descriptive message if some critical error is found.
*/
void CSwissRanger3DCamera::initialize()
{
        if (!open())
                THROW_EXCEPTION("Error opening SwissRanger 3D camera.")
}

/** This method will be invoked at a minimum rate of "process_rate" (Hz)
*  \exception This method must throw an exception with a descriptive message if some critical error is found.
*/
void CSwissRanger3DCamera::doProcess()
{
        using namespace mrpt::obs;

        bool    thereIs, hwError;

        CObservation3DRangeScanPtr newObs = CObservation3DRangeScan::Create();

        getNextObservation( *newObs, thereIs, hwError );

        if (hwError)
        {
                m_state = ssError;
            THROW_EXCEPTION("Couldn't communicate to the SwissRanger 3D camera!");
        }

        if (thereIs)
        {
                m_state = ssWorking;

                appendObservation( newObs );
        }
}

/** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)
*  \exception This method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.
*/
void  CSwissRanger3DCamera::loadConfig_sensorSpecific(
        const mrpt::utils::CConfigFileBase &configSource,
        const std::string                       &iniSection )
{
        using mrpt::utils::DEG2RAD;

        m_sensorPoseOnRobot.setFromValues(
                configSource.read_float(iniSection,"pose_x",0),
                configSource.read_float(iniSection,"pose_y",0),
                configSource.read_float(iniSection,"pose_z",0),
                DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
                DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
                DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
                );

        m_preview_window = configSource.read_bool(iniSection,"preview_window",m_preview_window);

        m_save_3d = configSource.read_bool(iniSection,"save_3d",m_save_3d);
        m_save_range_img= configSource.read_bool(iniSection,"save_range_img",m_save_range_img);
        m_save_intensity_img= configSource.read_bool(iniSection,"save_intensity_img",m_save_intensity_img);
        m_save_confidence= configSource.read_bool(iniSection,"save_confidence",m_save_confidence);

        m_enable_img_hist_equal = configSource.read_bool(iniSection,"enable_img_hist_equal",m_enable_img_hist_equal);
        m_enable_median_filter = configSource.read_bool(iniSection,"enable_median_filter",m_enable_median_filter);
        m_enable_mediancross_filter = configSource.read_bool(iniSection,"enable_mediancross_filter",m_enable_mediancross_filter);
        m_enable_conv_gray = configSource.read_bool(iniSection,"enable_conv_gray",m_enable_conv_gray);
        m_enable_denoise_anf = configSource.read_bool(iniSection,"enable_denoise_anf",m_enable_denoise_anf);

        m_open_from_usb = configSource.read_bool(iniSection,"open_from_usb",m_open_from_usb);
        m_usb_serial = configSource.read_uint64_t(iniSection,"usb_serial",m_usb_serial);
        m_ip_address = configSource.read_string(iniSection,"ip_address",m_ip_address);

        m_external_images_format = mrpt::system::trim( configSource.read_string( iniSection, "external_images_format", m_external_images_format ) );
        m_external_images_jpeg_quality = configSource.read_int( iniSection, "external_images_jpeg_quality", m_external_images_jpeg_quality );

        try
        {
                m_cameraParams.loadFromConfigFile(iniSection, configSource);
        }
        catch(std::exception &)
        {
                // If there's some missing field, just keep the default values.
        }
}



bool CSwissRanger3DCamera::getMesaLibVersion(std::string &out_version) const
{
#if MRPT_HAS_SWISSRANGE
        unsigned short version[4];
        if (0!=SR_GetVersion(version))
                return false;

        out_version = format("%d.%d.%d.%d",version[3],version[2],version[1],version[0]);
        return true;
#else
        MRPT_UNUSED_PARAM(out_version);
        return false;
#endif
}

bool CSwissRanger3DCamera::isOpen() const
{
        return m_cam != NULL;
}

bool CSwissRanger3DCamera::open()
{
#if MRPT_HAS_SWISSRANGE
        if (isOpen())
                close();

        SRCAM cam;
        if (m_open_from_usb)
        {
                if (SR_OpenUSB(&cam, this->m_usb_serial)<=0)
                        return false;
        }
        else
        {
                if (SR_OpenETH(&cam, this->m_ip_address.c_str() )<=0)
                        return false;
        }
        m_cam = cam;

        // Initialization code:
        m_rows = SR_GetRows(cam);
        m_cols = SR_GetCols(cam);

        m_cam_serial_num = SR_ReadSerial(cam);

        // Deduce max range from frequency:
        const ModulationFrq fr = SR_GetModulationFrequency(cam);
        switch(fr)
        {
                case MF_40MHz: m_maxRange = 3.75; break;
                case MF_30MHz: m_maxRange = 5; break;
                case MF_21MHz: m_maxRange = 7.14; break;
                case MF_20MHz: m_maxRange = 7.5; break;
                case MF_19MHz: m_maxRange = 7.89; break;
                case MF_60MHz: m_maxRange = 2.5; break;
                case MF_15MHz: m_maxRange = 10; break;
                case MF_10MHz: m_maxRange = 15; break;
                case MF_29MHz: m_maxRange = 5.17; break;
                case MF_31MHz: m_maxRange = 4.84; break;
                case MF_14_5MHz: m_maxRange = 10.34; break;
                case MF_15_5MHz: m_maxRange = 9.68; break;

                default:  m_maxRange = 5.0; break;
        }

        SR_SetTimeout(cam, 1000 /* ms */);

        internal_resendParamsToCamera();

        return true;
#else
        return false;
#endif
}

void CSwissRanger3DCamera::close()
{
#if MRPT_HAS_SWISSRANGE
        if (m_cam)
                SR_Close(SRCAM(m_cam));
        m_cam = NULL;
#endif
}

void CSwissRanger3DCamera::internal_resendParamsToCamera() const
{
#if MRPT_HAS_SWISSRANGE
        if (!isOpen()) return;

        SR_SetMode(SRCAM(m_cam),
                AM_COR_FIX_PTRN  | // turns on fix pattern noise correction <b>this should always be enabled for good distance measurement</b>
                (m_enable_median_filter ? AM_MEDIAN : 0 ) |
                (m_enable_conv_gray ? AM_CONV_GRAY : 0 ) |
                (m_enable_denoise_anf ? AM_DENOISE_ANF : 0 ) |
                (m_save_confidence ? AM_CONF_MAP : 0 ) |
                (m_enable_mediancross_filter ? AM_MEDIANCROSS : 0 )
                );
#endif
}


/** The main data retrieving function, to be called after calling loadConfig() and initialize().
  *  \param out_obs The output retrieved observation (only if there_is_obs=true).
  *  \param there_is_obs If set to false, there was no new observation.
  *  \param hardware_error True on hardware/comms error.
  *
  * \sa doProcess
  */
void CSwissRanger3DCamera::getNextObservation(
        mrpt::obs::CObservation3DRangeScan &_out_obs,
        bool &there_is_obs,
        bool &hardware_error )
{
        there_is_obs=false;
        hardware_error = false;
#if MRPT_HAS_SWISSRANGE

        int bytesRx = SR_Acquire( SRCAM(m_cam) );
        if (!bytesRx)
        {
                cerr << "[CSwissRanger3DCamera] Zero bytes read from the camera." << endl;
                hardware_error = true;
                return;
        }

        // Extract images:
        ImgEntry *imgEntryArray;
        const int nImgs=SR_GetImageList( SRCAM(m_cam),&imgEntryArray);

        if (!nImgs)
        {
                cerr << "[CSwissRanger3DCamera] Error: no images in image list." << endl;
                hardware_error = true;
                return;
        }

        // Initialize the output observation:
        obs::CObservation3DRangeScan obs;
        obs.sensorLabel     = m_sensorLabel;
        obs.sensorPose          = m_sensorPoseOnRobot;
        obs.maxRange  = m_maxRange;
        obs.stdError  = 0.01f;

        // Process each of the images:
        for (int i=0;i<nImgs;i++)
        {
                const ImgEntry *img = imgEntryArray+i;
                switch (img->imgType)
                {
                        // Ranges:
                        case ImgEntry::IT_DISTANCE:
                        {
                                if (this->m_save_range_img)
                                {
                                        ASSERT_(img->dataType==ImgEntry::DT_USHORT)
                                        obs.hasRangeImage = true;
                                        obs.range_is_depth = false;

                                        // Convert data from uint16_t to float ranges:
                                        //  (0x0000, 0xFFFF)  -> (0m, 5m)
                                        const float K = obs.maxRange / 0xFFFF;
                                        obs.rangeImage.setSize(img->height, img->width);

                                        const uint16_t *data_ptr = reinterpret_cast<const uint16_t *>(img->data);

                                        for (size_t y=0;y<img->height;y++)
                                                for (size_t x=0;x<img->width;x++)
                                                        obs.rangeImage.set_unsafe(y,x, K * (*data_ptr++) );
                                }

                                if (this->m_save_3d)
                                {
                                        ASSERT_(img->dataType==ImgEntry::DT_USHORT)
                                        obs.hasPoints3D  = true;

                                        const size_t N = img->height * img->width;
                                        obs.points3D_x.resize(N);
                                        obs.points3D_y.resize(N);
                                        obs.points3D_z.resize(N);

                                        // Swap XYZ order, so:
                                        //  SwissRange   -> MRPT
                                        //      Z            X
                                        //      X            Y
                                        //      Y            Z
                                        SR_CoordTrfFlt(SRCAM(m_cam),
                                                &obs.points3D_y[0],  // X
                                                &obs.points3D_z[0],  // Y
                                                &obs.points3D_x[0],  // Z
                                                sizeof(float), sizeof(float), sizeof(float));
                                }
                        }
                        break;

                        // Intensity:
                        case ImgEntry::IT_AMPLITUDE:
                        {
                                if (this->m_save_intensity_img)
                                {
                                        ASSERT_(img->dataType==ImgEntry::DT_USHORT)
                                        obs.hasIntensityImage = true;

                                        // Make sure the camera params are there:
                                        m_cameraParams.scaleToResolution(img->width,img->height);
                                        obs.cameraParams = m_cameraParams;

                                        // make sure the modified A-law Look Up Table is up-to-date:
                                        if (!table_16u_to_8u_init)
                                        {
                                                table_16u_to_8u_init = true;
                                                do_init_table_16u_to_8u();
                                        }

                                        obs.intensityImage.resize(img->width,img->height,1, true);

                                        const uint16_t *data_ptr = reinterpret_cast<const uint16_t *>(img->data);
                                        for (size_t y=0;y<img->height;y++)
                                        {
                                                uint8_t *row = obs.intensityImage.get_unsafe(0,y,0);
                                                for (size_t x=0;x<img->width;x++)
                                                        // Convert 16u -> 8u
                                                        (*row++) = table_16u_to_8u[ *data_ptr++ ];
                                        }

                                        if (m_enable_img_hist_equal)
                                                obs.intensityImage.equalizeHistInPlace();

                                        // Save as external image file??
                                        if (!m_path_for_external_images.empty())
                                        {
                                                const string filName = fileNameStripInvalidChars( trim(m_sensorLabel) ) + format( "_INT_%f.%s", (double)timestampTotime_t( obs.timestamp ), m_external_images_format.c_str() );
                                                obs.intensityImage.saveToFile( m_path_for_external_images + string("/") +filName, m_external_images_jpeg_quality );
                                                obs.intensityImage.setExternalStorage( filName );
                                        }
                                }
                        }
                        break;

                        // Confidence:
                        case ImgEntry::IT_CONF_MAP:
                        {
                                if (this->m_save_confidence)
                                {
                                        ASSERT_(img->dataType==ImgEntry::DT_USHORT)
                                        obs.hasConfidenceImage  = true;

                                        obs.confidenceImage.resize(img->width,img->height,1, true);

                                        const uint16_t *data_ptr = reinterpret_cast<const uint16_t *>(img->data);
                                        for (size_t y=0;y<img->height;y++)
                                        {
                                                uint8_t *row = obs.confidenceImage.get_unsafe(0,y,0);
                                                for (size_t x=0;x<img->width;x++)
                                                        (*row++) = (*data_ptr++) >> 8;  // Convert 16u -> 8u
                                        }

                                        // Save as external image file??
                                        if (!m_path_for_external_images.empty())
                                        {
                                                const string filName = fileNameStripInvalidChars( trim(m_sensorLabel) ) + format( "_CONF_%f.%s", (double)timestampTotime_t( obs.timestamp ), m_external_images_format.c_str() );
                                                obs.confidenceImage.saveToFile( m_path_for_external_images + string("/") +filName, m_external_images_jpeg_quality );
                                                obs.confidenceImage.setExternalStorage( filName );
                                        }

                                }
                        }
                        break;

                        default:
                                break;
                }
        }

        // Save the observation to the user's object:
        _out_obs.swap(obs);

        there_is_obs = true;

        // preview in real-time?
        if (m_preview_window)
        {
                if ( _out_obs.hasRangeImage )
                {
                        static int decim = 0;
                        if (++decim>10)
                        {
                                decim=0;
                                if (!m_win_range)       { m_win_range = mrpt::gui::CDisplayWindow::Create("Preview RANGE"); m_win_range->setPos(5,5); }

                                mrpt::utils::CImage  img;
                                // Normalize the image
                                math::CMatrixFloat  range2D = _out_obs.rangeImage;
                                range2D*= 1.0/m_maxRange;
                                img.setFromMatrix(range2D);
                                m_win_range->showImage(img);
                        }
                }
                if ( _out_obs.hasIntensityImage )
                {
                        static int decim = 0;
                        if (++decim>10)
                        {
                                decim=0;
                                if (!m_win_int)         { m_win_int = mrpt::gui::CDisplayWindow::Create("Preview INTENSITY"); m_win_int->setPos(300,5); }
                                m_win_int->showImage(_out_obs.intensityImage );
                        }
                }
        }
        else
        {
                if (m_win_range) m_win_range.clear();
                if (m_win_int) m_win_int.clear();
        }

        return;
#else
        MRPT_UNUSED_PARAM(_out_obs);
        MRPT_UNUSED_PARAM(there_is_obs);
        MRPT_UNUSED_PARAM(hardware_error);
#endif
}


/* -----------------------------------------------------
                                setPathForExternalImages
----------------------------------------------------- */
void CSwissRanger3DCamera::setPathForExternalImages( const std::string &directory )
{
        return;
        // Ignore for now. It seems performance is better grabbing everything
        // to a single big file than creating hundreds of smaller files per second...

        if (!mrpt::system::createDirectory( directory ))
        {
                THROW_EXCEPTION_FMT("Error: Cannot create the directory for externally saved images: %s",directory.c_str() )
        }
        m_path_for_external_images = directory;
}