298 lines
10 KiB
C++
298 lines
10 KiB
C++
#include <dora-node-api.h>
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#include <sl/Camera.hpp>
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#include <opencv2/opencv.hpp>
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#include <array>
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#include <cctype>
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#include <chrono>
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#include <cstdlib>
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#include <initializer_list>
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#include <iostream>
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#include <iterator>
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#include <string>
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#include <thread>
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#include <tuple>
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#include <vector>
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namespace {
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int get_env_int(const char* name, int default_value) {
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const char* value = std::getenv(name);
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if (!value || std::string(value).empty()) {
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return default_value;
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}
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return std::stoi(value);
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}
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bool get_env_bool(const char* name, bool default_value) {
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const char* value = std::getenv(name);
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if (!value || std::string(value).empty()) {
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return default_value;
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}
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std::string v(value);
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for (auto& c : v) {
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c = static_cast<char>(std::tolower(c));
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}
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return v == "1" || v == "true" || v == "yes" || v == "on";
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}
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std::string get_env_str(const char* name, const std::string& default_value) {
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const char* value = std::getenv(name);
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if (!value || std::string(value).empty()) {
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return default_value;
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}
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return std::string(value);
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}
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sl::RESOLUTION parse_resolution(int resolution) {
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switch (resolution) {
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case 1080:
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return sl::RESOLUTION::HD1080;
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case 2000:
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return sl::RESOLUTION::HD2K;
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case 720:
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default:
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return sl::RESOLUTION::HD720;
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}
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}
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sl::DEPTH_MODE parse_depth_mode(const std::string& mode) {
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if (mode == "PERFORMANCE") {
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return sl::DEPTH_MODE::PERFORMANCE;
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}
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if (mode == "QUALITY") {
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return sl::DEPTH_MODE::QUALITY;
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}
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if (mode == "NONE") {
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return sl::DEPTH_MODE::NONE;
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}
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return sl::DEPTH_MODE::NEURAL;
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}
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sl::FLIP_MODE parse_flip(const std::string& mode) {
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if (mode == "OFF") {
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return sl::FLIP_MODE::OFF;
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}
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return sl::FLIP_MODE::ON;
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}
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rust::Vec<int64_t> make_shape(int height, int width, int channels) {
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rust::Vec<int64_t> shape;
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shape.push_back(height);
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shape.push_back(width);
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shape.push_back(channels);
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return shape;
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}
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rust::Vec<double> make_distortion(const std::vector<double>& distortion) {
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rust::Vec<double> values;
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for (double v : distortion) {
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values.push_back(v);
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}
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return values;
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}
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rust::Vec<int64_t> make_vector_int(std::initializer_list<int64_t> values) {
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rust::Vec<int64_t> out;
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for (int64_t v : values) {
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out.push_back(v);
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}
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return out;
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}
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void list_available_cameras() {
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auto devices = sl::Camera::getDeviceList();
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std::cout << "Detected ZED cameras: " << devices.size() << std::endl;
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for (std::size_t i = 0; i < devices.size(); i++) {
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const auto& dev = devices[i];
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std::cout << " - [" << i << "] model=" << sl::toString(dev.camera_model)
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<< ", serial=" << dev.serial_number << std::endl;
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}
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}
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bool open_camera(sl::Camera& zed, const sl::InitParameters& init_params) {
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sl::ERROR_CODE err = zed.open(init_params);
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if (err != sl::ERROR_CODE::SUCCESS) {
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std::cerr << "Failed to open ZED camera: " << sl::toString(err) << std::endl;
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return false;
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}
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return true;
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}
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bool ensure_camera_ready(
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sl::Camera& zed,
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const sl::InitParameters& init_params,
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int sleep_ms
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) {
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while (true) {
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if (open_camera(zed, init_params)) {
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return true;
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(sleep_ms));
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}
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}
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} // namespace
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int main() {
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auto dora_node = init_dora_node();
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const int resolution = get_env_int("ZED_RESOLUTION", 720);
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const int fps = get_env_int("ZED_FPS", 15);
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const std::string depth_mode = get_env_str("ZED_DEPTH_MODE", "NEURAL");
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const int depth_min_mm = get_env_int("ZED_DEPTH_MIN_MM", 10);
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const int depth_max_mm = get_env_int("ZED_DEPTH_MAX_MM", 500);
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const bool depth_fill = get_env_bool("ZED_DEPTH_FILL", false);
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const std::string flip = get_env_str("ZED_FLIP", "ON");
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const int warmup_frames = get_env_int("ZED_WARMUP_FRAMES", 30);
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const int retry_interval_seconds = get_env_int("ZED_RETRY_INTERVAL_SECONDS", 5);
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const int retry_interval_ms = retry_interval_seconds * 1000;
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sl::InitParameters init_params;
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init_params.camera_resolution = parse_resolution(resolution);
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init_params.camera_fps = fps;
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init_params.depth_mode = parse_depth_mode(depth_mode);
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init_params.coordinate_units = sl::UNIT::MILLIMETER;
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init_params.camera_image_flip = parse_flip(flip);
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init_params.depth_minimum_distance = depth_min_mm;
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init_params.depth_maximum_distance = depth_max_mm;
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list_available_cameras();
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sl::Camera zed;
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ensure_camera_ready(zed, init_params, retry_interval_ms);
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sl::RuntimeParameters runtime_params;
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runtime_params.enable_depth = true;
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runtime_params.enable_fill_mode = depth_fill;
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sl::Mat image_mat;
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sl::Mat point_cloud_mat;
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for (int i = 0; i < warmup_frames; i++) {
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zed.grab(runtime_params);
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}
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auto reload_calibration = [&]() {
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sl::CameraInformation info = zed.getCameraInformation();
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auto calib = info.camera_configuration.calibration_parameters;
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auto left = calib.left_cam;
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std::vector<double> dist;
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dist.reserve(std::size(left.disto));
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for (double v : left.disto) {
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dist.push_back(v);
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}
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return std::tuple<float, float, float, float, std::vector<double>>(
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left.fx, left.fy, left.cx, left.cy, std::move(dist));
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};
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auto [fx, fy, cx, cy, distortion] = reload_calibration();
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int64_t frame_id = 0;
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while (true) {
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auto event = dora_node.events->next();
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auto type = event_type(event);
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if (type == DoraEventType::Stop || type == DoraEventType::AllInputsClosed) {
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break;
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}
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if (type != DoraEventType::Input) {
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continue;
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}
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auto input = event_as_input(std::move(event));
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(void)input;
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if (zed.grab(runtime_params) != sl::ERROR_CODE::SUCCESS) {
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std::cerr << "Grab failed; attempting to reconnect..." << std::endl;
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zed.close();
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list_available_cameras();
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ensure_camera_ready(zed, init_params, retry_interval_ms);
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std::tie(fx, fy, cx, cy, distortion) = reload_calibration();
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continue;
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}
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zed.retrieveImage(image_mat, sl::VIEW::LEFT);
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zed.retrieveMeasure(point_cloud_mat, sl::MEASURE::XYZRGBA);
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int width = image_mat.getWidth();
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int height = image_mat.getHeight();
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cv::Mat image_rgba(height, width, CV_8UC4, image_mat.getPtr<sl::uchar1>());
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cv::Mat image_bgr;
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cv::cvtColor(image_rgba, image_bgr, cv::COLOR_BGRA2BGR);
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const auto image_size = static_cast<size_t>(image_bgr.total() * image_bgr.elemSize());
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rust::Slice<const uint8_t> image_slice{
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reinterpret_cast<const uint8_t*>(image_bgr.data), image_size};
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auto image_metadata = new_metadata();
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image_metadata->set_string("dtype", "uint8");
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image_metadata->set_string("encoding", "bgr8");
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image_metadata->set_string("layout", "HWC");
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image_metadata->set_list_int("shape", make_shape(height, width, 3));
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image_metadata->set_float("fx", fx);
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image_metadata->set_float("fy", fy);
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image_metadata->set_float("cx", cx);
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image_metadata->set_float("cy", cy);
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image_metadata->set_list_float("distortion", make_distortion(distortion));
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image_metadata->set_int("frame_id", frame_id++);
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image_metadata->set_int("timestamp_ns", static_cast<int64_t>(
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std::chrono::duration_cast<std::chrono::nanoseconds>(
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std::chrono::steady_clock::now().time_since_epoch()
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).count()
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));
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auto image_result = send_output_with_metadata(
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dora_node.send_output, "image_bgr", image_slice, std::move(image_metadata));
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if (!std::string(image_result.error).empty()) {
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std::cerr << "Error sending image_bgr: " << std::string(image_result.error) << std::endl;
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}
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int pc_width = point_cloud_mat.getWidth();
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int pc_height = point_cloud_mat.getHeight();
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const size_t pc_size = static_cast<size_t>(pc_width * pc_height * sizeof(sl::float4));
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const auto* pc_ptr = reinterpret_cast<const uint8_t*>(point_cloud_mat.getPtr<sl::float4>());
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rust::Slice<const uint8_t> pc_slice{pc_ptr, pc_size};
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auto pc_metadata = new_metadata();
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pc_metadata->set_string("dtype", "float32");
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pc_metadata->set_string("layout", "HWC");
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pc_metadata->set_string("channels", "XYZRGBA");
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pc_metadata->set_string("units", "mm");
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pc_metadata->set_list_int("shape", make_shape(pc_height, pc_width, 4));
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pc_metadata->set_float("fx", fx);
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pc_metadata->set_float("fy", fy);
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pc_metadata->set_float("cx", cx);
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pc_metadata->set_float("cy", cy);
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pc_metadata->set_list_float("distortion", make_distortion(distortion));
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auto pc_result = send_output_with_metadata(
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dora_node.send_output, "point_cloud", pc_slice, std::move(pc_metadata));
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if (!std::string(pc_result.error).empty()) {
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std::cerr << "Error sending point_cloud: " << std::string(pc_result.error) << std::endl;
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}
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float camera_data[4] = {fx, fy, cx, cy};
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rust::Slice<const uint8_t> cam_slice{
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reinterpret_cast<const uint8_t*>(camera_data), sizeof(camera_data)};
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auto cam_metadata = new_metadata();
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cam_metadata->set_string("dtype", "float32");
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cam_metadata->set_string("layout", "C");
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cam_metadata->set_list_int("shape", make_vector_int({4}));
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cam_metadata->set_list_float("distortion", make_distortion(distortion));
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auto cam_result = send_output_with_metadata(
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dora_node.send_output, "camera_info", cam_slice, std::move(cam_metadata));
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if (!std::string(cam_result.error).empty()) {
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std::cerr << "Error sending camera_info: " << std::string(cam_result.error) << std::endl;
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}
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}
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zed.close();
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return 0;
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}
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