VelodyneCalibration.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "obs-precomp.h"  // Precompiled headers
 
#include <mrpt/obs/VelodyneCalibration.h>
#include <mrpt/utils/bits.h>
#include <iostream>
#include <map>
 
#undef _UNICODE  // JLBC, for xmlParser
#include "xmlparser/xmlParser.h"
 
// ======= Default calibration files ========================
#include "velodyne_default_calib_VLP-16.h"
#include "velodyne_default_calib_HDL-32.h"
// ======= End of default calibration files =================
 
using namespace std;
using namespace mrpt::obs;
 
VelodyneCalibration::PerLaserCalib::PerLaserCalib()
        : azimuthCorrection(.0),
          verticalCorrection(.0),
          distanceCorrection(.0),
          verticalOffsetCorrection(.0),
          horizontalOffsetCorrection(.0),
          sinVertCorrection(.0),
          cosVertCorrection(1.0),
          sinVertOffsetCorrection(.0),
          cosVertOffsetCorrection(1.0)
{
}
 
VelodyneCalibration::VelodyneCalibration() : laser_corrections(0) {}
bool VelodyneCalibration::internal_loadFromXMLNode(void* node)
{
        XMLNode& root = *reinterpret_cast<XMLNode*>(node);
 
        XMLNode node_bs = root.getChildNode("boost_serialization");
        if (node_bs.isEmpty())
                throw std::runtime_error("Cannot find XML node: 'boost_serialization'");
 
        XMLNode node_DB = node_bs.getChildNode("DB");
        if (node_DB.isEmpty())
                throw std::runtime_error("Cannot find XML node: 'DB'");
 
        XMLNode node_enabled_ = node_DB.getChildNode("enabled_");
        if (node_enabled_.isEmpty())
                throw std::runtime_error("Cannot find XML node: 'enabled_'");
 
        // Clear previous contents:
        clear();
 
        XMLNode node_enabled_count = node_enabled_.getChildNode("count");
        if (node_enabled_count.isEmpty())
                throw std::runtime_error("Cannot find XML node: 'enabled_::count'");
        const int nEnabled = atoi(node_enabled_count.getText());
        if (nEnabled <= 0 || nEnabled > 10000)
                throw std::runtime_error(
                        "Senseless value found reading 'enabled_::count'");
 
        int enabledCount = 0;
        for (int i = 0; i < nEnabled; i++)
        {
                XMLNode node_enabled_ith = node_enabled_.getChildNode("item", i);
                if (node_enabled_ith.isEmpty())
                        throw std::runtime_error(
                                "Cannot find the expected number of XML nodes: "
                                "'enabled_::item'");
                const int enable_val = atoi(node_enabled_ith.getText());
                if (enable_val) ++enabledCount;
        }
 
        // enabledCount = number of lasers in the LIDAR
        this->laser_corrections.resize(enabledCount);
 
        XMLNode node_points_ = node_DB.getChildNode("points_");
        if (node_points_.isEmpty())
                throw std::runtime_error("Cannot find XML node: 'points_'");
 
        for (int i = 0;; ++i)
        {
                XMLNode node_points_item = node_points_.getChildNode("item", i);
                if (node_points_item.isEmpty()) break;
 
                XMLNode node_px = node_points_item.getChildNode("px");
                if (node_px.isEmpty())
                        throw std::runtime_error(
                                "Cannot find XML node: 'points_::item::px'");
 
                XMLNode node_px_id = node_px.getChildNode("id_");
                if (node_px_id.isEmpty())
                        throw std::runtime_error(
                                "Cannot find XML node: 'points_::item::px::id_'");
                const int id = atoi(node_px_id.getText());
                ASSERT_ABOVEEQ_(id, 0);
                if (id >= enabledCount) continue;  // ignore
 
                PerLaserCalib* plc = &laser_corrections[id];
 
                {
                        XMLNode node = node_px.getChildNode("rotCorrection_");
                        if (node.isEmpty())
                                throw std::runtime_error(
                                        "Cannot find XML node: "
                                        "'points_::item::px::rotCorrection_'");
                        plc->azimuthCorrection = atof(node.getText());
                }
                {
                        XMLNode node = node_px.getChildNode("vertCorrection_");
                        if (node.isEmpty())
                                throw std::runtime_error(
                                        "Cannot find XML node: "
                                        "'points_::item::px::vertCorrection_'");
                        plc->verticalCorrection = atof(node.getText());
                }
                {
                        XMLNode node = node_px.getChildNode("distCorrection_");
                        if (node.isEmpty())
                                throw std::runtime_error(
                                        "Cannot find XML node: "
                                        "'points_::item::px::distCorrection_'");
                        plc->distanceCorrection = 0.01f * atof(node.getText());
                }
                {
                        XMLNode node = node_px.getChildNode("vertOffsetCorrection_");
                        if (node.isEmpty())
                                throw std::runtime_error(
                                        "Cannot find XML node: "
                                        "'points_::item::px::vertOffsetCorrection_'");
                        plc->verticalOffsetCorrection = 0.01f * atof(node.getText());
                }
                {
                        XMLNode node = node_px.getChildNode("horizOffsetCorrection_");
                        if (node.isEmpty())
                                throw std::runtime_error(
                                        "Cannot find XML node: "
                                        "'points_::item::px::horizOffsetCorrection_'");
                        plc->horizontalOffsetCorrection = 0.01f * atof(node.getText());
                }
 
                plc->sinVertCorrection =
                        std::sin(mrpt::utils::DEG2RAD(plc->verticalCorrection));
                plc->cosVertCorrection =
                        std::cos(mrpt::utils::DEG2RAD(plc->verticalCorrection));
 
                plc->sinVertOffsetCorrection =
                        plc->sinVertCorrection * plc->sinVertOffsetCorrection;
                plc->cosVertOffsetCorrection =
                        plc->cosVertCorrection * plc->sinVertOffsetCorrection;
        }
 
        return true;  // Ok
}
 
bool VelodyneCalibration::loadFromXMLText(const std::string& xml_file_contents)
{
        try
        {
                XMLResults results;
                XMLNode root =
                        XMLNode::parseString(xml_file_contents.c_str(), nullptr, &results);
 
                if (results.error != eXMLErrorNone)
                {
                        cerr << "[VelodyneCalibration::loadFromXMLText] Error parsing XML "
                                        "content: "
                                 << XMLNode::getError(results.error) << " at line "
                                 << results.nLine << ":" << results.nColumn << endl;
                        return false;
                }
 
                return internal_loadFromXMLNode(reinterpret_cast<void*>(&root));
        }
        catch (exception& e)
        {
                cerr << "[VelodyneCalibration::loadFromXMLFile] Exception:" << endl
                         << e.what() << endl;
                return false;
        }
}
 
/** Loads calibration from file. \return false on any error, true on success */
// See reference code in:
// vtkVelodyneHDLReader::vtkInternal::LoadCorrectionsFile()
bool VelodyneCalibration::loadFromXMLFile(
        const std::string& velodyne_calibration_xml_filename)
{
        try
        {
                XMLResults results;
                XMLNode root = XMLNode::parseFile(
                        velodyne_calibration_xml_filename.c_str(), nullptr, &results);
 
                if (results.error != eXMLErrorNone)
                {
                        cerr << "[VelodyneCalibration::loadFromXMLFile] Error loading XML "
                                        "file: "
                                 << XMLNode::getError(results.error) << " at line "
                                 << results.nLine << ":" << results.nColumn << endl;
                        return false;
                }
                return internal_loadFromXMLNode(reinterpret_cast<void*>(&root));
        }
        catch (exception& e)
        {
                cerr << "[VelodyneCalibration::loadFromXMLFile] Exception:" << endl
                         << e.what() << endl;
                return false;
        }
}
 
bool VelodyneCalibration::empty() const { return laser_corrections.empty(); }
void VelodyneCalibration::clear() { laser_corrections.clear(); }
std::map<std::string, VelodyneCalibration> cache_default_calibs;
 
// It always return a calibration structure, but it may be empty if the model
// name is unknown.
const VelodyneCalibration& VelodyneCalibration::LoadDefaultCalibration(
        const std::string& lidar_model)
{
        // Cached calib data?
        std::map<std::string, VelodyneCalibration>::const_iterator it =
                cache_default_calibs.find(lidar_model);
        if (it != cache_default_calibs.end()) return it->second;
 
        VelodyneCalibration result;  // Leave empty to indicate unknown model
        std::string xml_contents;
 
        if (lidar_model == "VLP16")
                xml_contents = velodyne_default_calib_VLP16;
        else if (lidar_model == "HDL32")
                xml_contents = velodyne_default_calib_HDL32;
        else
        {
        }
 
        if (!xml_contents.empty())
        {
                if (!result.loadFromXMLText(xml_contents))
                        std::cerr << "[VelodyneCalibration::LoadDefaultCalibration] Error "
                                                 "parsing default XML calibration file for model '"
                                          << lidar_model << "'\n";
        }
 
        cache_default_calibs[lidar_model] = result;
        return cache_default_calibs[lidar_model];
}