199 lines
7.3 KiB
C++
199 lines
7.3 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 profile data triggered non-stop with software, and save the
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resulting intensity images and depth maps.
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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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constexpr int kRetrieveFrameCount = 3;
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void setParameters(mmind::eye::UserSet& userSet)
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{
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// Set the "Data Acquisition Method" parameter to "Nonstop"
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showError(userSet.setEnumValue(
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mmind::eye::trigger_settings::DataAcquisitionMethod::name,
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static_cast<int>(mmind::eye::trigger_settings::DataAcquisitionMethod::Value::Nonstop)));
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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,
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// 1000));
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}
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void saveDepthMap(const mmind::eye::ProfileBatch& batch, 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(batch.height(), batch.width(), CV_32FC1, batch.getDepthMap().data()));
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}
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void saveIntensityImage(const mmind::eye::ProfileBatch& batch, 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,
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cv::Mat(batch.height(), batch.width(), CV_8UC1, batch.getIntensityImage().data()));
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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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auto& callbackCounter = *static_cast<int*>(pUser);
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if (callbackCounter >= kRetrieveFrameCount)
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return;
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const auto status = batch.getErrorStatus();
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if (!status.isOK()) {
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std::cout << "Callback batch data with error:\n";
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showError(status);
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}
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if (batch.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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<< batch.validHeight() << "." << std::endl;
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std::cout << "Save the depth map and intensity image." << std::endl;
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saveDepthMap(batch, "DepthMap_" + std::to_string(callbackCounter) + ".tiff");
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saveIntensityImage(batch, "IntensityImage_" + std::to_string(callbackCounter) + ".png");
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++callbackCounter;
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}
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bool acquireProfileDataUsingCallback(mmind::eye::Profiler& profiler, bool isSoftwareTrigger)
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{
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int callbackCounter = 0;
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// Register the callback function
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auto status = profiler.registerAcquisitionCallback(callbackFunc, &callbackCounter);
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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 (callbackCounter >= kRetrieveFrameCount)
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break;
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lock.unlock();
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std::this_thread::sleep_for(std::chrono::milliseconds(500));
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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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} // 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 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 the profile data using the callback function
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if (!acquireProfileDataUsingCallback(profiler, isSoftwareTrigger))
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return -1;
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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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