DepthCameraSensor.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#include <mrpt/core/lock_helper.h>
#include <mrpt/opengl/CFrustum.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/opengl/stock_objects.h>
#include <mrpt/random.h>
#include <mrpt/version.h>
#include <mvsim/Sensors/DepthCameraSensor.h>
#include <mvsim/VehicleBase.h>
#include <mvsim/World.h>

#include "xml_utils.h"

using namespace mvsim;
using namespace rapidxml;

DepthCameraSensor::DepthCameraSensor(
        Simulable& parent, const rapidxml::xml_node<char>* root)
        : SensorBase(parent)
{
        DepthCameraSensor::loadConfigFrom(root);
}

DepthCameraSensor::~DepthCameraSensor() {}

void DepthCameraSensor::loadConfigFrom(const rapidxml::xml_node<char>* root)
{
        gui_uptodate_ = false;

        SensorBase::loadConfigFrom(root);
        SensorBase::make_sure_we_have_a_name("camera");

        fbo_renderer_depth_.reset();
        fbo_renderer_rgb_.reset();

        using namespace mrpt;  // _deg
        sensor_params_.sensorPose =
                mrpt::poses::CPose3D(0, 0, 0.5, 90.0_deg, 0, 90.0_deg);

        // Default values:
        {
                auto& c = sensor_params_.cameraParamsIntensity;
                c.ncols = 640;
                c.nrows = 480;
                c.cx(c.ncols / 2);
                c.cy(c.nrows / 2);
                c.fx(500);
                c.fy(500);
        }
        sensor_params_.cameraParams = sensor_params_.cameraParamsIntensity;

        // Other scalar params:
        TParameterDefinitions params;
        params["pose_3d"] = TParamEntry("%pose3d", &sensor_params_.sensorPose);
        params["relativePoseIntensityWRTDepth"] =
                TParamEntry("%pose3d", &sensor_params_.relativePoseIntensityWRTDepth);

        params["sense_depth"] = TParamEntry("%bool", &sense_depth_);
        params["sense_rgb"] = TParamEntry("%bool", &sense_rgb_);

        auto& depthCam = sensor_params_.cameraParams;
        params["depth_cx"] = TParamEntry("%lf", &depthCam.intrinsicParams(0, 2));
        params["depth_cy"] = TParamEntry("%lf", &depthCam.intrinsicParams(1, 2));
        params["depth_fx"] = TParamEntry("%lf", &depthCam.intrinsicParams(0, 0));
        params["depth_fy"] = TParamEntry("%lf", &depthCam.intrinsicParams(1, 1));

        unsigned int depth_ncols = depthCam.ncols, depth_nrows = depthCam.nrows;
        params["depth_ncols"] = TParamEntry("%u", &depth_ncols);
        params["depth_nrows"] = TParamEntry("%u", &depth_nrows);

        auto& rgbCam = sensor_params_.cameraParamsIntensity;
        params["rgb_cx"] = TParamEntry("%lf", &rgbCam.intrinsicParams(0, 2));
        params["rgb_cy"] = TParamEntry("%lf", &rgbCam.intrinsicParams(1, 2));
        params["rgb_fx"] = TParamEntry("%lf", &rgbCam.intrinsicParams(0, 0));
        params["rgb_fy"] = TParamEntry("%lf", &rgbCam.intrinsicParams(1, 1));

        unsigned int rgb_ncols = depthCam.ncols, rgb_nrows = depthCam.nrows;
        params["rgb_ncols"] = TParamEntry("%u", &rgb_ncols);
        params["rgb_nrows"] = TParamEntry("%u", &rgb_nrows);

        params["rgb_clip_min"] = TParamEntry("%f", &rgbClipMin_);
        params["rgb_clip_max"] = TParamEntry("%f", &rgbClipMax_);
        params["depth_clip_min"] = TParamEntry("%f", &depth_clip_min_);
        params["depth_clip_max"] = TParamEntry("%f", &depth_clip_max_);
        params["depth_resolution"] = TParamEntry("%f", &depth_resolution_);

        params["depth_noise_sigma"] = TParamEntry("%f", &depth_noise_sigma_);
        params["show_3d_pointcloud"] = TParamEntry("%bool", &show_3d_pointcloud_);

        // Parse XML params:
        parse_xmlnode_children_as_param(*root, params, varValues_);

        depthCam.ncols = depth_ncols;
        depthCam.nrows = depth_nrows;

        rgbCam.ncols = rgb_ncols;
        rgbCam.nrows = rgb_nrows;

        // save sensor label here too:
        sensor_params_.sensorLabel = name_;

        sensor_params_.maxRange = depth_clip_max_;
        sensor_params_.rangeUnits = depth_resolution_;
}

void DepthCameraSensor::internalGuiUpdate(
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
        [[maybe_unused]] const mrpt::optional_ref<mrpt::opengl::COpenGLScene>&
                physical,
        [[maybe_unused]] bool childrenOnly)
{
        mrpt::opengl::CSetOfObjects::Ptr glVizSensors;
        if (viz)
        {
                glVizSensors = std::dynamic_pointer_cast<mrpt::opengl::CSetOfObjects>(
                        viz->get().getByName("group_sensors_viz"));
                if (!glVizSensors) return;      // may happen during shutdown
        }

        // 1st time?
        if (!gl_obs_ && glVizSensors)
        {
                gl_obs_ = mrpt::opengl::CPointCloudColoured::Create();
                gl_obs_->setPointSize(2.0f);
                gl_obs_->setLocalRepresentativePoint(
                        sensor_params_.sensorPose.translation());
                glVizSensors->insert(gl_obs_);
        }

        if (!gl_sensor_origin_ && viz)
        {
                gl_sensor_origin_ = mrpt::opengl::CSetOfObjects::Create();
#if MRPT_VERSION >= 0x270
                gl_sensor_origin_->castShadows(false);
#endif
                gl_sensor_origin_corner_ =
                        mrpt::opengl::stock_objects::CornerXYZSimple(0.15f);

                gl_sensor_origin_->insert(gl_sensor_origin_corner_);

                gl_sensor_origin_->setVisibility(false);
                viz->get().insert(gl_sensor_origin_);
                SensorBase::RegisterSensorOriginViz(gl_sensor_origin_);
        }
        if (!gl_sensor_fov_ && viz)
        {
                gl_sensor_fov_ = mrpt::opengl::CSetOfObjects::Create();
                gl_sensor_fov_->setVisibility(false);
                viz->get().insert(gl_sensor_fov_);
                SensorBase::RegisterSensorFOVViz(gl_sensor_fov_);
        }

        if (!gui_uptodate_)
        {
                {
                        std::lock_guard<std::mutex> csl(last_obs_cs_);
                        if (last_obs2gui_ && glVizSensors->isVisible())
                        {
                                if (show_3d_pointcloud_)
                                {
                                        mrpt::obs::T3DPointsProjectionParams pp;
                                        pp.takeIntoAccountSensorPoseOnRobot = true;
                                        last_obs2gui_->unprojectInto(*gl_obs_, pp);
                                        // gl_obs_->recolorizeByCoordinate() ...??
                                }

                                gl_sensor_origin_corner_->setPose(last_obs2gui_->sensorPose);

                                if (!gl_sensor_frustum_)
                                {
                                        gl_sensor_frustum_ = mrpt::opengl::CSetOfObjects::Create();

                                        const float frustumScale = 0.4e-3;
                                        auto frustum = mrpt::opengl::CFrustum::Create(
                                                last_obs2gui_->cameraParams, frustumScale);

                                        gl_sensor_frustum_->insert(frustum);
                                        gl_sensor_fov_->insert(gl_sensor_frustum_);
                                }

                                gl_sensor_frustum_->setPose(last_obs2gui_->sensorPose);

                                last_obs2gui_.reset();
                        }
                }
                gui_uptodate_ = true;
        }

        // Move with vehicle:
        const auto& p = vehicle_.getPose();

        if (gl_obs_) gl_obs_->setPose(p);
        if (gl_sensor_fov_) gl_sensor_fov_->setPose(p);
        if (gl_sensor_origin_) gl_sensor_origin_->setPose(p);

        if (glCustomVisual_)
                glCustomVisual_->setPose(p + sensor_params_.sensorPose.asTPose());
}

void DepthCameraSensor::simul_pre_timestep(
        [[maybe_unused]] const TSimulContext& context)
{
}

void DepthCameraSensor::simulateOn3DScene(
        mrpt::opengl::COpenGLScene& world3DScene)
{
        using namespace mrpt;  // _deg

        {
                auto lckHasTo = mrpt::lockHelper(has_to_render_mtx_);
                if (!has_to_render_.has_value()) return;
        }

        auto tleWhole =
                mrpt::system::CTimeLoggerEntry(world_->getTimeLogger(), "sensor.RGBD");

        auto tle1 = mrpt::system::CTimeLoggerEntry(
                world_->getTimeLogger(), "sensor.RGBD.acqGuiMtx");

        tle1.stop();

        if (glCustomVisual_) glCustomVisual_->setVisibility(false);

        // Start making a copy of the pattern observation:
        auto curObsPtr = mrpt::obs::CObservation3DRangeScan::Create(sensor_params_);
        auto& curObs = *curObsPtr;

        // Set timestamp:
        curObs.timestamp = world_->get_simul_timestamp();

        // Create FBO on first use, now that we are here at the GUI / OpenGL thread.
        if (!fbo_renderer_rgb_ && sense_rgb_)
        {
                auto tle2 = mrpt::system::CTimeLoggerEntry(
                        world_->getTimeLogger(), "sensor.RGBD.createFBO");

                mrpt::opengl::CFBORender::Parameters p;
                p.width = sensor_params_.cameraParamsIntensity.ncols;
                p.height = sensor_params_.cameraParamsIntensity.nrows;
                p.create_EGL_context = world()->sensor_has_to_create_egl_context();

                fbo_renderer_rgb_ = std::make_shared<mrpt::opengl::CFBORender>(p);
        }

        if (!fbo_renderer_depth_ && sense_depth_)
        {
                auto tle2 = mrpt::system::CTimeLoggerEntry(
                        world_->getTimeLogger(), "sensor.RGBD.createFBO");

                mrpt::opengl::CFBORender::Parameters p;
                p.width = sensor_params_.cameraParams.ncols;
                p.height = sensor_params_.cameraParams.nrows;
                p.create_EGL_context = world()->sensor_has_to_create_egl_context();

                fbo_renderer_depth_ = std::make_shared<mrpt::opengl::CFBORender>(p);
        }

        auto viewport = world3DScene.getViewport();

        auto* camDepth = fbo_renderer_depth_
                                                 ? &fbo_renderer_depth_->getCamera(world3DScene)
                                                 : nullptr;
        auto* camRGB = fbo_renderer_rgb_
                                           ? &fbo_renderer_rgb_->getCamera(world3DScene)
                                           : nullptr;

        const auto fixedAxisConventionRot =
                mrpt::poses::CPose3D(0, 0, 0, -90.0_deg, 0.0_deg, -90.0_deg);

        // ----------------------------------------------------------
        // RGB first with its camera intrinsics & clip distances
        // ----------------------------------------------------------

        // RGB camera pose:
        //   vehicle (+) relativePoseOnVehicle (+) relativePoseIntensityWRTDepth
        //
        // Note: relativePoseOnVehicle should be (y,p,r)=(-90deg,0,-90deg) to make
        // the camera to look forward:

        const auto vehiclePose = mrpt::poses::CPose3D(vehicle_.getPose());

        const auto depthSensorPose =
                vehiclePose + curObs.sensorPose + fixedAxisConventionRot;

        const auto rgbSensorPose =
                vehiclePose + curObs.sensorPose + curObs.relativePoseIntensityWRTDepth;

        if (fbo_renderer_rgb_)
        {
                auto tle2 = mrpt::system::CTimeLoggerEntry(
                        world_->getTimeLogger(), "sensor.RGBD.renderRGB");

                camRGB->set6DOFMode(true);
                camRGB->setProjectiveFromPinhole(curObs.cameraParamsIntensity);
                camRGB->setPose(rgbSensorPose);

                // viewport->setCustomBackgroundColor({0.3f, 0.3f, 0.3f, 1.0f});
                viewport->setViewportClipDistances(rgbClipMin_, rgbClipMax_);

                fbo_renderer_rgb_->render_RGB(world3DScene, curObs.intensityImage);

                curObs.hasIntensityImage = true;
        }
        else
        {
                curObs.hasIntensityImage = false;
        }

        // ----------------------------------------------------------
        // DEPTH camera next
        // ----------------------------------------------------------
        if (fbo_renderer_depth_)
        {
                auto tle2 = mrpt::system::CTimeLoggerEntry(
                        world_->getTimeLogger(), "sensor.RGBD.renderD");

                camDepth->setProjectiveFromPinhole(curObs.cameraParams);

                // Camera pose: vehicle + relativePoseOnVehicle:
                // Note: relativePoseOnVehicle should be (y,p,r)=(90deg,0,90deg) to make
                // the camera to look forward:
                camDepth->set6DOFMode(true);
                camDepth->setPose(depthSensorPose);

                // viewport->setCustomBackgroundColor({0.3f, 0.3f, 0.3f, 1.0f});
                viewport->setViewportClipDistances(depth_clip_min_, depth_clip_max_);

                auto tle2c = mrpt::system::CTimeLoggerEntry(
                        world_->getTimeLogger(), "sensor.RGBD.renderD_core");

                fbo_renderer_depth_->render_depth(world3DScene, depthImage_);

                tle2c.stop();

                // Convert depth image:
                curObs.hasRangeImage = true;
                curObs.range_is_depth = true;

                auto tle2cnv = mrpt::system::CTimeLoggerEntry(
                        world_->getTimeLogger(), "sensor.RGBD.renderD_cast");

                // float -> uint16_t with "curObs.rangeUnits" units:
                curObs.rangeImage_setSize(depthImage_.rows(), depthImage_.cols());
                curObs.rangeImage = (depthImage_.asEigen().cwiseMin(curObs.maxRange) /
                                                         curObs.rangeUnits)
                                                                .cast<uint16_t>();

                tle2cnv.stop();

                // Add random noise:
                if (depth_noise_sigma_ > 0)
                {
                        // Each thread must create its own rng:
                        thread_local mrpt::random::CRandomGenerator rng;
                        thread_local std::vector<int16_t> noiseSeq;
                        thread_local size_t noiseIdx = 0;
                        constexpr size_t noiseLen = 7823;  // prime
                        if (noiseSeq.empty())
                        {
                                noiseSeq.reserve(noiseLen);
                                for (size_t i = 0; i < noiseLen; i++)
                                {
                                        noiseSeq.push_back(static_cast<int16_t>(mrpt::round(
                                                rng.drawGaussian1D(0.0, depth_noise_sigma_) /
                                                curObs.rangeUnits)));
                                }
                        }

                        auto tle2noise = mrpt::system::CTimeLoggerEntry(
                                world_->getTimeLogger(), "sensor.RGBD.renderD_noise");

                        uint16_t* d = curObs.rangeImage.data();
                        const size_t N = curObs.rangeImage.size();

                        const int16_t maxRangeInts =
                                static_cast<int16_t>(curObs.maxRange / curObs.rangeUnits);

                        for (size_t i = 0; i < N; i++)
                        {
                                if (d[i] == 0) continue;  // it was an invalid ray return.

                                const int16_t dNoisy =
                                        static_cast<int16_t>(d[i]) + noiseSeq[noiseIdx++];

                                if (noiseIdx >= noiseLen) noiseIdx = 0;

                                if (dNoisy > maxRangeInts) continue;

                                d[i] = static_cast<uint16_t>(dNoisy);
                        }
                }
        }
        else
        {
                curObs.hasRangeImage = false;
        }

        // Store generated obs:
        {
                auto tle3 = mrpt::system::CTimeLoggerEntry(
                        world_->getTimeLogger(), "sensor.RGBD.acqObsMtx");

                std::lock_guard<std::mutex> csl(last_obs_cs_);
                last_obs_ = std::move(curObsPtr);
                last_obs2gui_ = last_obs_;
        }

        {
                auto lckHasTo = mrpt::lockHelper(has_to_render_mtx_);

                auto tlePub = mrpt::system::CTimeLoggerEntry(
                        world_->getTimeLogger(), "sensor.RGBD.report");

                SensorBase::reportNewObservation(last_obs_, *has_to_render_);

                tlePub.stop();

                if (glCustomVisual_) glCustomVisual_->setVisibility(true);

                gui_uptodate_ = false;
                has_to_render_.reset();
        }
}

// Simulate sensor AFTER timestep, with the updated vehicle dynamical state:
void DepthCameraSensor::simul_post_timestep(const TSimulContext& context)
{
        Simulable::simul_post_timestep(context);
        if (SensorBase::should_simulate_sensor(context))
        {
                auto lckHasTo = mrpt::lockHelper(has_to_render_mtx_);
                has_to_render_ = context;
                world_->mark_as_pending_running_sensors_on_3D_scene();
        }
}

void DepthCameraSensor::freeOpenGLResources()
{
        fbo_renderer_depth_.reset();
        fbo_renderer_rgb_.reset();
}