200 lines
7.4 KiB
C++
200 lines
7.4 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 correct the X-axis and Z-axis vibrations in the profiles (aligning the
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profiles) and obtain the corrected profile data.
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NOTE: The profile alignment function can only be applied after all profiles have been retrieved.
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Therefore, the profile data must be retrieved with a callback function instead of polling.
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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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// 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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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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// Enable the Z-axis profile alignment function
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showError(
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userSet.setBoolValue(mmind::eye::profile_alignment::EnableZAxisAlignment::name, true));
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// Enable the X-axis profile alignment function
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showError(
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userSet.setBoolValue(mmind::eye::profile_alignment::EnableXAxisAlignment::name, true));
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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, 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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// 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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