ImageCalUtility.cc

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#ifdef WIN32
#ifndef WIN32_LEAN_AND_MEAN
#define WIN32_LEAN_AND_MEAN 1
#endif

#include <windows.h>
#include <winsock2.h>
#else
#include <unistd.h>
#endif

#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fstream>
#include <map>
#include <string.h>

#include <Utilities/portability/getopt/getopt.h>
#include <Utilities/shared/CalibrationYaml.hh>
#include <MultiSense/MultiSenseChannel.hh>
#include <MultiSense/MultiSenseTypes.hh>

using namespace crl::multisense;

namespace {  // anonymous

void usage(const char *programNameP)
{
    fprintf(stderr,
            "USAGE: %s -e <extrinisics_file> -i <intrinsics_file> [<options>]\n",
            programNameP);
    fprintf(stderr, "Where <options> are:\n");
    fprintf(stderr, "\t-a <ip_address>      : ip address (default=10.66.171.21)\n");
    fprintf(stderr, "\t-s                   : set the calibration (default is query)\n");
    fprintf(stderr, "\t-r                   : remote head channel (options: VPB, 0, 1, 2, 3)\n");
    fprintf(stderr, "\t-y                   : disable confirmation prompts\n");

    exit(-1);
}

bool fileExists(const std::string& name)
{
    struct stat sbuf;
    return (0 == stat(name.c_str(), &sbuf));
}

static int getRemoteHeadIdFromString(const std::string &head_str, RemoteHeadChannel & rh)
{
  int err = 0;

  if (head_str == "VPB")
      rh = Remote_Head_VPB;
  else if (head_str == "0")
      rh = Remote_Head_0;
  else if (head_str == "1")
      rh = Remote_Head_1;
  else if (head_str == "2")
      rh = Remote_Head_2;
  else if (head_str == "3")
      rh = Remote_Head_3;
  else {
       std::cerr << "Error: Unrecognized remote head" << '\n';
       std::cerr << "Please use one of the following:" << '\n';
       std::cerr << "\tVPB" << '\n';
       std::cerr << "\t0" << '\n';
       std::cerr << "\t1" << '\n';
       std::cerr << "\t2" << '\n';
       std::cerr << "\t3" << '\n';
       err = -1;
  }

  return err;
}

std::ostream& writeImageIntrinics (std::ostream& stream, image::Calibration const& calibration, bool hasAuxCamera)
{
    stream << "%YAML:1.0\n";
    writeMatrix (stream, "M1", 3, 3, &calibration.left.M[0][0]);
    writeMatrix (stream, "D1", 1, 8, &calibration.left.D[0]);
    writeMatrix (stream, "M2", 3, 3, &calibration.right.M[0][0]);
    writeMatrix (stream, "D2", 1, 8, &calibration.right.D[0]);

    if (hasAuxCamera)
    {
        writeMatrix (stream, "M3", 3, 3, &calibration.aux.M[0][0]);
        writeMatrix (stream, "D3", 1, 8, &calibration.aux.D[0]);
    }
    return stream;
}

std::ostream& writeImageExtrinics (std::ostream& stream, image::Calibration const& calibration, bool hasAuxCamera)
{
    stream << "%YAML:1.0\n";
    writeMatrix (stream, "R1", 3, 3, &calibration.left.R[0][0]);
    writeMatrix (stream, "P1", 3, 4, &calibration.left.P[0][0]);
    writeMatrix (stream, "R2", 3, 3, &calibration.right.R[0][0]);
    writeMatrix (stream, "P2", 3, 4, &calibration.right.P[0][0]);

    if (hasAuxCamera)
    {
        writeMatrix (stream, "R3", 3, 3, &calibration.aux.R[0][0]);
        writeMatrix (stream, "P3", 3, 4, &calibration.aux.P[0][0]);
    }
    return stream;
}

} // anonymous

int main(int    argc,
         char **argvPP)
{
    std::string ipAddress = "10.66.171.21";
    std::string intrinsicsFile;
    std::string extrinsicsFile;
    std::string remoteHeadChannelId;
    bool        cameraRemoteHead=false;
    bool        setCal=false;
    bool        prompt=true;

    //
    // Parse args

    int c;

    while(-1 != (c = getopt(argc, argvPP, "a:e:i:r:sy")))
        switch(c) {
        case 'a': ipAddress      = std::string(optarg);    break;
        case 'i': intrinsicsFile = std::string(optarg);    break;
        case 'e': extrinsicsFile = std::string(optarg);    break;
        case 'r': {
              remoteHeadChannelId = std::string(optarg);
              cameraRemoteHead = true;
              break;
        }
        case 's': setCal         = true;                   break;
        case 'y': prompt         = false;                  break;
        default: usage(*argvPP);                           break;
        }

    //
    // Verify options

    if (intrinsicsFile.empty() || extrinsicsFile.empty()) {
        fprintf(stderr, "Both intrinsics and extrinsics files must be set\n");
        usage(*argvPP);
    }

    if (true == setCal &&
        (false == fileExists(intrinsicsFile) ||
         false == fileExists(extrinsicsFile))) {

        fprintf(stderr, "intrinsics or extrinsics file not found\n");
        usage(*argvPP);
    }

    if (false == setCal && true == prompt &&
        (true == fileExists(intrinsicsFile) ||
         true == fileExists(extrinsicsFile))) {

        fprintf(stdout,
                "One or both of \"%s\" and \"%s\" already exists.\n\n"
                "Really overwrite these files? (y/n): ",
                intrinsicsFile.c_str(),
                extrinsicsFile.c_str());
        fflush(stdout);

        int reply = getchar();
        if ('Y' != reply && 'y' != reply) {
            fprintf(stdout, "Aborting\n");
            return 0;
        }
    }

    //
    // Initialize communications.
    Channel *channelP = NULL;
    if (cameraRemoteHead) {
        RemoteHeadChannel rch;
        if (getRemoteHeadIdFromString(remoteHeadChannelId, rch) < 0) {
            return -1;
        }
        channelP = Channel::Create(ipAddress, rch);
    }
    else {
        channelP = Channel::Create(ipAddress);
    }

    if (NULL == channelP) {
        fprintf(stderr, "Failed to establish communications with \"%s\"\n",
                ipAddress.c_str());
        return -1;
    }

    //
    // Query Device Info

    Status status;

    system::DeviceInfo info;
    bool hasAuxCamera = false;
    status = channelP->getDeviceInfo(info);
    if (Status_Ok != status)
    {
        fprintf(stderr, "Failed to query device info: %s\n",
                Channel::statusString(status));
        goto clean_out;
    }

    hasAuxCamera = info.hardwareRevision == system::DeviceInfo::HARDWARE_REV_MULTISENSE_C6S2_S27 ||
                   info.hardwareRevision == system::DeviceInfo::HARDWARE_REV_MULTISENSE_S30 ||
                   info.hardwareRevision == system::DeviceInfo::HARDWARE_REV_MULTISENSE_MONOCAM;

    //
    // Query

    if (false == setCal) {

        image::Calibration calibration;

        status = channelP->getImageCalibration(calibration);
        if (Status_Ok != status) {
            fprintf(stderr, "failed to query image calibration: %s\n",
                    Channel::statusString(status));
            goto clean_out;
        }

        std::ofstream inFile, exFile;

        inFile.open (intrinsicsFile.c_str (), std::ios_base::out | std::ios_base::trunc);

        if (!inFile) {
            fprintf(stderr, "failed to open '%s' for writing\n",
                    intrinsicsFile.c_str());
            goto clean_out;
        }

        exFile.open (extrinsicsFile.c_str (), std::ios_base::out | std::ios_base::trunc);

        if (!exFile) {
            fprintf(stderr, "failed to open '%s' for writing\n",
                    extrinsicsFile.c_str());
            goto clean_out;
        }

        writeImageIntrinics (inFile, calibration, hasAuxCamera);
        writeImageExtrinics (exFile, calibration, hasAuxCamera);

        inFile.flush ();
        exFile.flush ();

    } else {

        std::ifstream inFile, exFile;
        std::map<std::string, std::vector<float> > data;

        inFile.open (intrinsicsFile.c_str ());

        if (!inFile) {
            fprintf(stderr, "failed to open '%s' for reading\n",
                    intrinsicsFile.c_str());
            goto clean_out;
        }

        parseYaml (inFile, data);

        inFile.close ();

        if (data["M1"].size () != 3 * 3 ||
            (data["D1"].size () != 5 && data["D1"].size () != 8) ||
            data["M2"].size () != 3 * 3 ||
            (data["D2"].size () != 5 && data["D2"].size () != 8) ||
            (hasAuxCamera && data["M3"].size () != 3 * 3) ||
            (hasAuxCamera && data["D3"].size () != 5 && data["D3"].size () != 8)) {
            fprintf(stderr, "intrinsic matrices incomplete in %s\n",
                    intrinsicsFile.c_str());
            goto clean_out;
        }

        exFile.open (extrinsicsFile.c_str ());

        if (!exFile) {
            fprintf(stderr, "failed to open '%s' for reading\n",
                    extrinsicsFile.c_str());
            goto clean_out;
        }

        parseYaml (exFile, data);

        exFile.close ();

        if (data["R1"].size () != 3 * 3 ||
            data["P1"].size () != 3 * 4 ||
            data["R2"].size () != 3 * 3 ||
            data["P2"].size () != 3 * 4 ||
            (hasAuxCamera && (data["R3"].size () != 3 * 3 || data["P3"].size () != 3 * 4))) {
            fprintf(stderr, "extrinsic matrices incomplete in %s\n",
                    extrinsicsFile.c_str());
            goto clean_out;
        }

        image::Calibration calibration;

        memcpy (&calibration.left.M[0][0], &data["M1"].front (), data["M1"].size () * sizeof (float));
        memset (&calibration.left.D[0], 0, sizeof (calibration.left.D));
        memcpy (&calibration.left.D[0], &data["D1"].front (), data["D1"].size () * sizeof (float));
        memcpy (&calibration.left.R[0][0], &data["R1"].front (), data["R1"].size () * sizeof (float));
        memcpy (&calibration.left.P[0][0], &data["P1"].front (), data["P1"].size () * sizeof (float));

        memcpy (&calibration.right.M[0][0], &data["M2"].front (), data["M2"].size () * sizeof (float));
        memset (&calibration.right.D[0], 0, sizeof (calibration.right.D));
        memcpy (&calibration.right.D[0], &data["D2"].front (), data["D2"].size () * sizeof (float));
        memcpy (&calibration.right.R[0][0], &data["R2"].front (), data["R2"].size () * sizeof (float));
        memcpy (&calibration.right.P[0][0], &data["P2"].front (), data["P2"].size () * sizeof (float));

        if (hasAuxCamera) {
            memcpy (&calibration.aux.M[0][0], &data["M3"].front (), data["M3"].size () * sizeof (float));
            memset (&calibration.aux.D[0], 0, sizeof (calibration.aux.D));
            memcpy (&calibration.aux.D[0], &data["D3"].front (), data["D3"].size () * sizeof (float));
            memcpy (&calibration.aux.R[0][0], &data["R3"].front (), data["R3"].size () * sizeof (float));
            memcpy (&calibration.aux.P[0][0], &data["P3"].front (), data["P3"].size () * sizeof (float));
        }

        status = channelP->setImageCalibration(calibration);
        if (Status_Ok != status) {
            fprintf(stderr, "failed to set image calibration: %s\n",
                    Channel::statusString(status));
            goto clean_out;
        }

        fprintf(stdout, "Image calibration successfully updated\n");
    }

clean_out:

    Channel::Destroy(channelP);
    return 0;
}