385 lines
17 KiB
C++
385 lines
17 KiB
C++
/*******************************************************************************
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*BSD 3-Clause License
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*
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*Copyright (c) 2016-2025, Mech-Mind Robotics
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*All rights reserved.
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*
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*Redistribution and use in source and binary forms, with or without
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*modification, are permitted provided that the following conditions are met:
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*
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*1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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*2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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*3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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*THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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*AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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*IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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*DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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*FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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*DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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*SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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*CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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*OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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*OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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******************************************************************************/
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/*
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With this sample, you can acquire the profile data triggered with software in a fixed rate, generate
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and save the intensity image, depth map, and point cloud.
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*/
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#include <opencv2/imgcodecs.hpp>
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#include <iostream>
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#include <thread>
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#include <cstdio>
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#include <cmath>
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#include <chrono>
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#include <mutex>
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#include "profiler/Profiler.h"
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#include "profiler/api_util.h"
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#include "profiler/parameters/ProfileProcessingParameters.h"
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#include "profiler/parameters/ProfileExtractionParameters.h"
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#include "profiler/parameters/RawImageParameters.h"
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#include "profiler/parameters/ScanParameters.h"
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namespace {
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std::mutex kMutex;
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void setTimedExposure(mmind::eye::UserSet& userSet, int exposureTime)
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{
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// Set the "Exposure Mode" parameter to "Timed"
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showError(userSet.setEnumValue(
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mmind::eye::brightness_settings::ExposureMode::name,
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static_cast<int>(mmind::eye::brightness_settings::ExposureMode::Value::Timed)));
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// Set the "Exposure Time" parameter to {exposureTime} μs
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showError(
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userSet.setIntValue(mmind::eye::brightness_settings::ExposureTime::name, exposureTime));
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}
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void setHDRExposure(mmind::eye::UserSet& userSet, int exposureTime, double proportion1,
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double proportion2, double firstThreshold, double secondThreshold)
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{
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// Set the "Exposure Mode" parameter to "HDR"
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showError(userSet.setEnumValue(
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mmind::eye::brightness_settings::ExposureMode::name,
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static_cast<int>(mmind::eye::brightness_settings::ExposureMode::Value::HDR)));
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// Set the total exposure time to {exposureTime} μs
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showError(
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userSet.setIntValue(mmind::eye::brightness_settings::ExposureTime::name, exposureTime));
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// Set the proportion of the first exposure phase to {proportion1}%
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showError(userSet.setFloatValue(
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mmind::eye::brightness_settings::HdrExposureTimeProportion1::name, proportion1));
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// Set the proportion of the first + second exposure phases to {proportion2}% (that is, the
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// second exposure phase occupies {proportion2 - proportion1}%, and the third exposure phase
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// occupies {100 - proportion2}% of the total exposure time)
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showError(userSet.setFloatValue(
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mmind::eye::brightness_settings::HdrExposureTimeProportion2::name, proportion2));
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// Set the first threshold to {firstThreshold}. This limits the maximum grayscale value to
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// {firstThreshold} after the first exposure phase is completed.
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showError(userSet.setFloatValue(mmind::eye::brightness_settings::HdrFirstThreshold::name,
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firstThreshold));
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// Set the second threshold to {secondThreshold}. This limits the maximum grayscale value to
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// {secondThreshold} after the second exposure phase is completed.
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showError(userSet.setFloatValue(mmind::eye::brightness_settings::HdrSecondThreshold::name,
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secondThreshold));
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}
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void setParameters(mmind::eye::UserSet& userSet)
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{
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// Set the "Exposure Mode" parameter to "Timed"
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// Set the "Exposure Time" parameter to 100 μs
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setTimedExposure(userSet, 100);
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/*You can also use the HDR exposure mode, in which the laser profiler exposes in three phases
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while acquiring one profile. In this mode, you need to set the total exposure time, the
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proportions of the three exposure phases, as well as the two thresholds of grayscale values. The
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code for setting the relevant parameters for the HDR exposure mode is given in the following
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comments.*/
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// // Set the "Exposure Mode" parameter to "HDR"
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// // Set the total exposure time to 100 μs
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// // Set the proportion of the first exposure phase to 40%
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// // Set the proportion of the first + second exposure phases to 80% (that is, the second
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// // exposure phase occupies 40%, and the third exposure phase occupies 20% of the total
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// // exposure
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// // Set the first threshold to 10. This limits the maximum grayscale value to 10 after the
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// // first exposure phase is completed.
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// // Set the second threshold to 60. This limits the maximum grayscale value to 60 after the
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// // second exposure phase is completed.
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// setHDRExposure(userSet, 100, 40, 80, 10, 60);
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// // Enable outlier removal and adjust the outlier removal intensity.
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// // Set the "EnableOutlierRemoval" parameter to true
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// showError(
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// userSet.setBoolValue(mmind::eye::profile_processing::EnableOutlierRemoval::name, true));
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// // Set the "OutlierRemovalIntensity" parameter to "VeryLow"
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// showError(userSet.setEnumValue(
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// mmind::eye::profile_processing::OutlierRemovalIntensity::name,
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// static_cast<int>(
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// mmind::eye::profile_processing::OutlierRemovalIntensity::Value::VeryLow)));
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// Set the "Data Acquisition Trigger Source" parameter to "Software"
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showError(userSet.setEnumValue(
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mmind::eye::trigger_settings::DataAcquisitionTriggerSource::name,
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static_cast<int>(
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mmind::eye::trigger_settings::DataAcquisitionTriggerSource::Value::Software)));
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// Set the "Line Scan Trigger Source" parameter to "Fixed rate"
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showError(userSet.setEnumValue(
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mmind::eye::trigger_settings::LineScanTriggerSource::name,
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static_cast<int>(mmind::eye::trigger_settings::LineScanTriggerSource::Value::FixedRate)));
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// Set the "Software Trigger Rate" to 1000 Hz
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showError(userSet.setFloatValue(mmind::eye::trigger_settings::SoftwareTriggerRate::name, 1000));
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// Set the "Scan Line Count" parameter (the number of lines to be scanned) to 1600
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showError(userSet.setIntValue(mmind::eye::scan_settings::ScanLineCount::name, 1600));
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// Set the "Laser Power" parameter to 100
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showError(userSet.setIntValue(mmind::eye::brightness_settings::LaserPower::name, 100));
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// Set the "Analog Gain" parameter to "Gain_2"
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showError(userSet.setEnumValue(
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mmind::eye::brightness_settings::AnalogGain::name,
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static_cast<int>(mmind::eye::brightness_settings::AnalogGain::Value::Gain_2)));
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// Set the "Digital Gain" parameter to 0
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showError(userSet.setIntValue(mmind::eye::brightness_settings::DigitalGain::name, 0));
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// Set the "Minimum Grayscale Value" parameter to 50
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showError(userSet.setIntValue(mmind::eye::profile_extraction::MinGrayscaleValue::name, 50));
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// Set the "Minimum Laser Line Width" parameter to 2
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showError(userSet.setIntValue(mmind::eye::profile_extraction::MinLaserLineWidth::name, 2));
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// Set the "Maximum Laser Line Width" parameter to 20
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showError(userSet.setIntValue(mmind::eye::profile_extraction::MaxLaserLineWidth::name, 20));
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// Set the "Spot Selection" parameter to "Strongest"
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showError(userSet.setEnumValue(
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mmind::eye::profile_extraction::SpotSelection::name,
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static_cast<int>(mmind::eye::profile_extraction::SpotSelection::Value::Strongest)));
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// This parameter is only effective for firmware 2.2.1 and below. For firmware 2.3.0 and above,
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// adjustment of this parameter does not take effect.
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// Set the "Minimum Spot Intensity" parameter to 51
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showError(userSet.setIntValue(mmind::eye::profile_extraction::MinSpotIntensity::name, 51));
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// This parameter is only effective for firmware 2.2.1 and below. For firmware 2.3.0 and above,
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// adjustment of this parameter does not take effect.
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// Set the "Maximum Spot Intensity" parameter to 205
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showError(userSet.setIntValue(mmind::eye::profile_extraction::MaxSpotIntensity::name, 205));
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/* Set the "Gap Filling" parameter to 16, which controls the size of the gaps that can be filled
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* in the profile. When the number of consecutive data points in a gap in the profile is no
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* greater than 16, this gap will be filled. */
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showError(userSet.setIntValue(mmind::eye::profile_processing::GapFilling::name, 16));
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/* Set the "Filter" parameter to "Mean". The "Mean Filter Window Size" parameter needs to be set
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* as well. This parameter controls the window size of mean filter. If the "Filter" parameter is
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* set to "Median", the "Median Filter Window Size" parameter needs to be set. This parameter
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* controls the window size of median filter.*/
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showError(userSet.setEnumValue(
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mmind::eye::profile_processing::Filter::name,
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static_cast<int>(mmind::eye::profile_processing::Filter::Value::Mean)));
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// Set the "Mean Filter Window Size" parameter to 2
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showError(userSet.setEnumValue(
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mmind::eye::profile_processing::MeanFilterWindowSize::name,
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static_cast<int>(
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mmind::eye::profile_processing::MeanFilterWindowSize::Value::WindowSize_2)));
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}
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bool acquireProfileData(mmind::eye::Profiler& profiler, mmind::eye::ProfileBatch& totalBatch,
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int captureLineCount, int dataWidth, bool isSoftwareTrigger)
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{
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/* Call startAcquisition() to enter the laser profiler into the acquisition ready status, and
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then call triggerSoftware() to start the data acquisition (triggered by software).*/
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std::cout << "Start data acquisition." << std::endl;
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auto status = profiler.startAcquisition();
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if (!status.isOK()) {
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showError(status);
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return false;
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}
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if (isSoftwareTrigger) {
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status = profiler.triggerSoftware();
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if (!status.isOK()) {
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showError(status);
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return false;
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}
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}
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totalBatch.clear();
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totalBatch.reserve(captureLineCount);
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while (totalBatch.height() < captureLineCount) {
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// Retrieve the profile data
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mmind::eye::ProfileBatch batch(dataWidth);
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status = profiler.retrieveBatchData(batch);
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if (status.isOK()) {
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if (!totalBatch.append(batch))
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break;
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std::this_thread::sleep_for(std::chrono::milliseconds(200));
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} else {
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showError(status);
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return false;
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}
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}
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std::cout << "Stop data acquisition." << std::endl;
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status = profiler.stopAcquisition();
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if (!status.isOK())
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showError(status);
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return status.isOK();
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}
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// Define the callback function for retrieving the profile data
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void callbackFunc(const mmind::eye::ProfileBatch& batch, void* pUser)
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{
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std::unique_lock<std::mutex> lock(kMutex);
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if (!batch.getErrorStatus().isOK()) {
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std::cout << "Error occurred during data acquisition." << std::endl;
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showError(batch.getErrorStatus());
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}
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auto* outPutBatch = static_cast<mmind::eye::ProfileBatch*>(pUser);
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outPutBatch->append(batch);
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}
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bool acquireProfileDataUsingCallback(mmind::eye::Profiler& profiler,
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mmind::eye::ProfileBatch& profileBatch, bool isSoftwareTrigger)
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{
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profileBatch.clear();
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// Set a large value for CallbackRetrievalTimeout
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showError(profiler.currentUserSet().setIntValue(
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mmind::eye::scan_settings::CallbackRetrievalTimeout::name, 60000));
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// Register the callback function
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auto status = profiler.registerAcquisitionCallback(callbackFunc, &profileBatch);
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if (!status.isOK()) {
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showError(status);
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return false;
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}
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// Call startAcquisition() to enter the laser profiler into the acquisition ready status
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std::cout << "Start data acquisition." << std::endl;
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status = profiler.startAcquisition();
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if (!status.isOK()) {
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showError(status);
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return false;
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}
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// Call triggerSoftware() to start the data acquisition
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if (isSoftwareTrigger) {
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status = profiler.triggerSoftware();
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if (!status.isOK()) {
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showError(status);
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return false;
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}
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}
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while (true) {
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std::unique_lock<std::mutex> lock(kMutex);
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if (profileBatch.isEmpty()) {
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lock.unlock();
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std::this_thread::sleep_for(std::chrono::milliseconds(500));
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} else
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break;
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}
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std::cout << "Stop data acquisition." << std::endl;
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status = profiler.stopAcquisition();
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if (!status.isOK())
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showError(status);
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return status.isOK();
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}
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void saveDepthMap(const mmind::eye::ProfileBatch& batch, int lineCount, int width,
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const std::string& path)
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{
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if (batch.isEmpty()) {
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std::cout
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<< "The depth map cannot be saved because the batch does not contain any profile data."
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<< std::endl;
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return;
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}
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cv::imwrite(path, cv::Mat(lineCount, width, CV_32FC1, batch.getDepthMap().data()));
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}
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void saveIntensityImage(const mmind::eye::ProfileBatch& batch, int lineCount, int width,
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const std::string& path)
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{
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if (batch.isEmpty()) {
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std::cout << "The intensity image cannot be saved because the batch does not contain any "
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"profile data."
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<< std::endl;
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return;
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}
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cv::imwrite(path, cv::Mat(lineCount, width, CV_8UC1, batch.getIntensityImage().data()));
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}
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} // namespace
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int main()
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{
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mmind::eye::Profiler profiler;
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if (!findAndConnect(profiler))
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return -1;
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if (!confirmCapture()) {
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profiler.disconnect();
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return -1;
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}
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mmind::eye::UserSet userSet = profiler.currentUserSet();
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// Set the parameters
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setParameters(userSet);
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int dataWidth = 0;
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// Get the number of data points in each profile
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showError(
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userSet.getIntValue(mmind::eye::scan_settings::DataPointsPerProfile::name, dataWidth));
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int captureLineCount = 0;
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// Get the current value of the "Scan Line Count" parameter
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userSet.getIntValue(mmind::eye::scan_settings::ScanLineCount::name, captureLineCount);
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// Define a ProfileBatch object to store the profile data
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mmind::eye::ProfileBatch profileBatch(dataWidth);
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int dataAcquisitionTriggerSource{};
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showError(userSet.getEnumValue(mmind::eye::trigger_settings::DataAcquisitionTriggerSource::name,
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dataAcquisitionTriggerSource));
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bool isSoftwareTrigger =
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dataAcquisitionTriggerSource ==
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static_cast<int>(
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mmind::eye::trigger_settings::DataAcquisitionTriggerSource::Value::Software);
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// Acquire profile data without using callback
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if (!acquireProfileData(profiler, profileBatch, captureLineCount, dataWidth, isSoftwareTrigger))
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return -1;
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// // Acquire the profile data using the callback function
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// if (!acquireProfileDataUsingCallback(profiler, profileBatch, isSoftwareTrigger))
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// return -1;
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if (profileBatch.checkFlag(mmind::eye::ProfileBatch::BatchFlag::Incomplete))
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std::cout << "Part of the batch's data is lost, the number of valid profiles is: "
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<< profileBatch.validHeight() << "." << std::endl;
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std::cout << "Save the depth map and intensity image." << std::endl;
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saveDepthMap(profileBatch, captureLineCount, dataWidth, "DepthMap.tiff");
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saveIntensityImage(profileBatch, captureLineCount, dataWidth, "IntensityImage.png");
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savePointCloud(profileBatch, userSet);
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// Uncomment the following line to save a virtual device file using the ProfileBatch
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// profileBatch acquired.
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// profiler.saveVirtualDeviceFile(profileBatch, "test.mraw");
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// Disconnect from the laser profiler
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profiler.disconnect();
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return 0;
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}
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