CSwissRanger3DCamera.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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>

IMPLEMENTS_GENERIC_SENSOR(CSwissRanger3DCamera, mrpt::hwdrivers)

#if MRPT_HAS_SWISSRANGE
#ifdef _WIN32
#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

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

/*-------------------------------------------------------------
        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;

    CObservation3DRangeScan::Ptr newObs =
        mrpt::make_aligned_shared<CObservation3DRangeScan>();

    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 config::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::config::CConfigFileBase& configSource,
    const std::string& iniSection)
{
    using mrpt::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 != nullptr; }
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 = nullptr;
#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::make_aligned_shared<mrpt::gui::CDisplayWindow>(
                            "Preview RANGE");
                    m_win_range->setPos(5, 5);
                }

                mrpt::img::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::make_aligned_shared<mrpt::gui::CDisplayWindow>(
                            "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;
}