284 lines
14 KiB
C++
284 lines
14 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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* Info: https://www.mech-mind.com/
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*
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******************************************************************************/
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#pragma once
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#include <memory>
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#include <optional>
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#include <opencv2/core/mat.hpp>
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#include "api_global.h"
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#include "profiler/calibration/MultiProfilerErrorStatus.h"
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#include "profiler/calibration/ProfilerCalibrationTypes.h"
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namespace mmind {
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namespace eye {
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class MultiProfilerCalibration;
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class MMIND_API_EXPORT ProfilerCalibrationInterfaces
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{
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public:
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ProfilerCalibrationInterfaces();
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~ProfilerCalibrationInterfaces();
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/**
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* @brief Sets the model of the laser profilers used in the calibration, in the form of a string
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* such as "Mech-Eye LNX-8030".
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* @param [in] cameraModel The laser profiler model.
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* @return Returns true on success and false on failure.
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*/
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bool setCalibCameraModel(const std::string& cameraModel);
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/**
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* @brief Initializes the configuration for the primary laser profiler.
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* @param [in] deviceInfo The configuration for the primary laser profiler. See @ref DeviceInfo
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* for details.
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*/
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void setMajorDeviceInfo(const DeviceInfo& deviceInfo);
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/**
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* @brief Initializes the configuration for the secondary laser profiler(s).
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* @param [in] deviceInfos The configuration for each secondary laser profiler. See @ref
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* DeviceInfo for details.
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*/
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void setMinorDeviceInfos(const std::vector<DeviceInfo>& deviceInfos);
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/**
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* @brief Sets the dimensions of the frustums of the calibration target.
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* @param [in] targetSize The dimensions of the frustums, including the upper base length, lower
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* base length, and height. See @ref TargetSize for details.
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*/
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void setCalibTargetSize(const TargetSize& targetSize);
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/**
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* @brief Defines the relative position of the frustums of the calibration target.
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* @param [in] targetPoses The position and orientation of the frustums of the calibration
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* target. See @ref TargetPose for details.
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*/
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void setCalibTargetPoses(const std::vector<TargetPose>& targetPoses);
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/**
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* @brief Calculates the calibration results based on the depth maps acquired by the primary and
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* secondary laser profilers.
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* @param [in] majorDepth Depth map acquired by the primary laser profiler.
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* @param [in] minorDepths Depth map(s) acquired by secondary laser profiler(s).
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* @param [out] calibResults The calibration results and errors. See @ref CalibResult for
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* details.
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* @return See @ref MultiProfilerErrorStatus for details.
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*/
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MultiProfilerErrorStatus calculateCalibration(const cv::Mat& majorDepth,
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const std::vector<cv::Mat>& minorDepths,
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std::vector<CalibResult>& calibResults);
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/**
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* @brief Saves the calibration data to files in the specified path.
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* @param [in] needSaveAll Specifies whether all data related to the calibration should be
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* saved. When set to "false", only the calibration configurations, results, and errors will be
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* saved. When set to "true" (the default value), the intensity images and depth maps acquired
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* by the laser profilers will also be saved.
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* @param [in] saveFolderName The path where the files should be saved. If left empty, the
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* default path will be used.
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* @return Returns true on success and false on failure.
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*/
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bool saveCalibFiles(bool needSaveAll = true, const std::string& saveFolderName = "") const;
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/**
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* @brief Calculates the stitching results when the laser profilers are arranged in the Angle
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* mode (i.e., in the opposite direction or around a circle).
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* @param [in] majorImage Intensity image and depth map from the primary laser profiler.
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* @param [in] minorImages Intensity image(s) and depth map(s) from the secondary laser
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* profiler(s).
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* @param [in] calibResults The calibration results and errors used for stitching, which can be
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* either calculated or loaded from files. See @ref CalibResult for details.
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* @param [out] stitchResults The stitched intensity image and depth map, and transformation
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* result file.
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* @param [in] stitchParams Optional. If left empty, default or previously set calibration
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* parameters will be used for stitching.
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* @return See @ref MultiProfilerErrorStatus for details.
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*/
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MultiProfilerErrorStatus stitchImages(
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const ProfilerImage& majorImage, const std::vector<ProfilerImage>& minorImages,
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const std::vector<CalibResult>& calibResults, MultiStitchResult& stitchResults,
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const std::optional<MultiStitchParams>& stitchParams = std::nullopt);
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/**
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* @brief Calculates the stitching results when the laser profilers are arranged in the Wide
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* mode (i.e., side-by-side or in the reversed direction).
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* @param [in] majorImage Intensity image and depth map from the primary laser profiler.
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* @param [in] minorImages Intensity image(s) and depth map(s) from the secondary laser
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* profiler(s).
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* @param [in] calibResults The calibration results and errors used for stitching, which can be
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* either calculated or loaded from files. See @ref CalibResult for details.
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* @param [out] stitchResults The stitched intensity image and depth map and transformation
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* result file.
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* @param [in] stitchParams Optional. If left empty, default or previously set calibration
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* parameters will be used for stitching.
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* @return See @ref MultiProfilerErrorStatus for details.
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*/
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MultiProfilerErrorStatus stitchImagesForZParallel(
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const ProfilerImage& majorImage, const std::vector<ProfilerImage>& minorImages,
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const std::vector<CalibResult>& calibResults, MultiStitchResultZParallel& stitchResults,
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const std::optional<MultiStitchParams>& stitchParams = std::nullopt);
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/**
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* @brief Performs fusion based on the stitching results when the laser profilers are arranged
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* in the Wide mode (i.e., side-by-side or in the reversed direction).
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* @param [out] fusionResult The fused intensity image and depth map, and the coordinates of the
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* upper-left pixels of the intensity image and depth map acquired by the primary laser
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* profiler.
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* @param [in] fusionFlag Optional. Specifies whether to perform fusion. If left empty, fusion
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* will be performed.
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* @return See @ref MultiProfilerErrorStatus for details.
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*/
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MultiProfilerErrorStatus imageFusionForZParallel(FusionResult& fusionResult,
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const std::vector<bool>& fusionFlag = {});
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/**
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* @brief Performs fusion based on the stitching results when the laser profilers are arranged
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* in the Wide mode (i.e., side-by-side or in the reversed direction).
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* @param [in] majorStitchImage The intensity image and depth map acquired by the primary laser
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* profiler and converted to the coordinate system of the secondary laser profiler.
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* @param [in] minorStitchResults The intensity image and depth map acquired by the secondary
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* laser profiler(s) and converted to the coordinate system of the primary laser profiler.
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* @param [in] majorBias The bias of the primary laser profiler relative to the laser profiler
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* used as the reference in stitching.
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* @param [out] fusionResult The fused intensity image and depth map, and the coordinates of the
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* upper-left pixels of the intensity image and depth may acquired by the primary laser
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* profiler.
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* @param [in] fusionFlag Optional. Specifies whether to perform fusion. If left empty, fusion
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* will be performed.
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* @return See @ref MultiProfilerErrorStatus for details.
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*/
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MultiProfilerErrorStatus imageFusionForZParallel(
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const ProfilerImage& majorStitchImage,
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const std::vector<MinorStitchResultZParallel>& minorStitchResults,
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const cv::Point2i& majorBias, FusionResult& fusionResult,
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const std::vector<bool>& fusionFlag = {});
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/**
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* @brief Saves the stitching results to files in the specified path.
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* @param [in] saveFolderName The path where the files should be saved. If left empty, the
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* default path will be used.
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* @return Returns true on success and false on failure.
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*/
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bool saveStitchFiles(const std::string& saveFolderName = "") const;
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/**
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* @brief Saves the stitching results to files in the specified path when the laser profilers
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* are arranged in the Wide mode (i.e., side-by-side or in the reversed direction).
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* @param [in] saveFolderName The path where the files should be saved. If left empty, the
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* default path will be used.
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* @return Returns true on success and false on failure.
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*/
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bool saveStitchFilesForZParallel(const std::string& saveFolderName = "") const;
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/**
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* @brief Loads the calibration data from the files in the specified path, typically used before
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* stitching starts.
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* @param [in] loadFolderName The path of the files storing the calibration data to be loaded.
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* @param [in] needLoadAll Specifies whether all data related to the calibration should be
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* loaded. When set to "false", only the calibration configurations, results, and errors will be
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* loaded. When set to "true" (the default value), the intensity images and depth maps acquired
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* by the laser profilers will also be loaded.
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* @return See @ref MultiProfilerErrorStatus for details.
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*/
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MultiProfilerErrorStatus loadCalibProperties(const std::string& loadFolderName = "",
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bool needLoadAll = false);
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/**
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* @brief Gets the current calibration results, which can be used for stitching.
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* @return Returns the calibration results and errors. See @ref CalibResult for details.
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*/
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std::vector<CalibResult> getCurrentCalibResults() const;
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/**
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* @brief Gets the major device information.
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* This function retrieves the information of the primary device used in the calibration
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* or processing pipeline.
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* @return Returns a `DeviceInfo` object containing the details of the major device.
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*/
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DeviceInfo getMajorDeviceInfo() const;
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/**
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* @brief Gets the target size.
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* This function retrieves the size of the calibration target.
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* @return Returns a `TargetSize` object representing the size of the target.
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*/
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TargetSize getTargetSize() const;
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/**
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* @brief Gets the camera model identifier.
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* This function retrieves the model name of the profiler.
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* @return Returns a string containing the camera model name.
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*/
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std::string getCameraModel() const;
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/**
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* @brief Gets the minor devices' information.
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* This function retrieves a list of information for all minor devices in the system.
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* @return Returns a vector of `DeviceInfo` containing details of the minor devices.
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*/
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std::vector<DeviceInfo> getMinorDeviceInfos() const;
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/**
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* @brief Gets the calibration target poses.
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* This function retrieves the spatial positions and orientations of the calibration target
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* captured during the calibration process.
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* @return Returns a vector of `TargetPose` containing the captured pose data.
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*/
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std::vector<TargetPose> getTargetPoses() const;
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/**
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* @brief Constructs a new `ProfilerCalibrationInterfaces` object with specified parameters.
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* This constructor initializes the calibration interface with the provided camera model,
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* device information, target size, and target poses.
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* @param [in] cameraModel A string representing the camera model (e.g., "Mech-Eye LNX-8030").
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* @param [in] majorDeviceInfo A structure containing the configuration parameters of the
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* major device.
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* @param [in] minorDeviceInfos A vector of `DeviceInfo` structures containing configuration
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* data for each minor device.
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* @param [in] targetSize A structure defining the size of the calibration target.
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* @param [in] targetPoses A vector of `TargetPose` structures describing the positions and
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* orientations of the calibration targets.
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*/
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ProfilerCalibrationInterfaces(const std::string& cameraModel, const DeviceInfo& majorDeviceInfo,
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const std::vector<DeviceInfo>& minorDeviceInfos,
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const TargetSize& targetSize,
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const std::vector<TargetPose>& targetPoses);
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private:
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std::unique_ptr<MultiProfilerCalibration> calibrationInstance;
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};
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} // namespace eye
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} // namespace mmind
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