Added vPreProcess module code contained in icub23 pc.

src/processing/vPreProcess/CMakeLists.txt

@@ -1,24 +1,22 @@
-project(vPreProcess)
+cmake_minimum_required(VERSION 2.6)
+
+set(MODULENAME vPreProcess)
+project(${MODULENAME})
 
 file(GLOB source src/*.cpp)
 file(GLOB header include/*.h)
 
-add_executable(${PROJECT_NAME} ${source} ${header})
-
-target_include_directories(${PROJECT_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/include
-                                                   ${OpenCV_INCLUDE_DIRS})
+include_directories(${PROJECT_SOURCE_DIR}/include
+                    ${OpenCV_INCLUDE_DIRS}
+                    ${EVENTDRIVENLIBS_INCLUDE_DIRS})
 
-target_link_libraries(${PROJECT_NAME} PRIVATE YARP::YARP_OS
-                                              YARP::YARP_init
-                                              ${OpenCV_LIBRARIES}
-                                              ev::${EVENTDRIVEN_LIBRARY})
+add_executable(${MODULENAME} ${source} ${header})
 
-install(TARGETS ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_BINDIR})
+target_link_libraries(${MODULENAME} ${YARP_LIBRARIES} ${OpenCV_LIBRARIES} ${EVENTDRIVEN_LIBRARIES})
 
-yarp_install(FILES ${PROJECT_NAME}.ini
-             DESTINATION ${EVENT-DRIVEN_CONTEXTS_INSTALL_DIR}/${CONTEXT_DIR})
+install(TARGETS ${MODULENAME} DESTINATION bin)
 
+yarp_install(FILES ${MODULENAME}.ini DESTINATION ${ICUBCONTRIB_CONTEXTS_INSTALL_DIR}/${CONTEXT_DIR})
 if(ADD_DOCS_TO_IDE)
-  add_custom_target(${PROJECT_NAME}_docs SOURCES ${PROJECT_NAME}.ini ${PROJECT_NAME}.xml)
+    add_custom_target(${MODULENAME}_docs SOURCES ${MODULENAME}.ini ${MODULENAME}.xml)
 endif(ADD_DOCS_TO_IDE)
-

src/processing/vPreProcess/include/vPreProcess.h

@@ -24,39 +24,27 @@
 #ifndef __VPREPROCESS__
 #define __VPREPROCESS__
 
+#define DECODE_METHOD 2
+
 #include <yarp/os/all.h>
 #include <yarp/sig/all.h>
-#include <event-driven/all.h>
-#include <event-driven/vIPT.h>
+#include <iCub/eventdriven/all.h>
+//#include <opencv/cv.h>
 #include <opencv2/opencv.hpp>
+using namespace::ev;
 
-class vPreProcess : public yarp::os::RFModule, public yarp::os::Thread
+class vPreProcess : public yarp::os::Thread
 {
 private:
 
     //output port for the vBottle with the new events computed by the module
 
-    ev::vReadPort < vector<int32_t> > inPort;
-    ev::vWritePort outPortCamLeft;
-    ev::vWritePort outPortCamLeft_pos;
-    ev::vWritePort outPortCamLeft_neg;
-    ev::vWritePort outPortCamRight;
-    ev::vWritePort outPortCamRight_pos;
-    ev::vWritePort outPortCamRight_neg;
-    ev::vWritePort outPortCamStereo;
-    ev::vWritePort outPortCamStereo_pos;
-    ev::vWritePort outPortCamStereo_neg;
-    ev::vWritePort outPortSkin;
-    ev::vWritePort outPortSkinSamples;
-    ev::vWritePort out_port_aps_left;
-    ev::vWritePort out_port_aps_right;
-    ev::vWritePort out_port_aps_stereo;
-    ev::vWritePort out_port_imu_samples;
-    ev::vWritePort out_port_audio;
-    ev::vWritePort out_port_crn_left;
-    ev::vWritePort out_port_crn_right;
-    ev::vWritePort out_port_crn_stereo;
-    yarp::os::BufferedPort< yarp::sig::Vector > rate_port;
+    vReadPort < vector<int32_t> > inPort;
+    vWritePort outPortCamLeft;
+    vWritePort outPortCamRight;
+	vWritePort outPortCamCombined;
+    vWritePort outPortSkin;
+    vWritePort outPortSkinSamples;
 
     //parameters
     std::string name;
@@ -68,49 +56,67 @@ class vPreProcess : public yarp::os::RFModule, public yarp::os::Thread
     bool flipy;
 
     //filter class
-    bool apply_filter;
-    ev::vNoiseFilter filter_left;
-    ev::vNoiseFilter filter_right;
+    bool pepper;
+    ev::vNoiseFilter thefilter;
     int v_total;
     int v_dropped;
 
     //we store an openCV map to use as a look-up table for the undistortion
     //given the camera parameters provided
+    bool rectify;
     bool undistort;
-    ev::vIPT calibrator;
+    cv::Mat leftMap;
+    cv::Mat rightMap;
+    bool truncate;
+    bool use_local_stamp;
 
     //output
-    bool split_stereo;
-    bool split_polarities;
-    bool combined_stereo;
-    bool use_local_stamp;
-    bool corners;
+    bool split;
 
     //timing stats
     std::deque<double> delays;
     std::deque<double> rates;
     std::deque<double> intervals;
-    std::deque<double> proc_times;
-
-    bool vis{false};
-    std::deque<double> plot_rates;
-    void visualise_rate();
 
 public:
 
     vPreProcess();
     ~vPreProcess();
 
-
-    //inherited functions
-    virtual bool configure(yarp::os::ResourceFinder &rf);
-    double getPeriod();
-    bool interruptModule();
+    void initBasic(std::string name, int height, int width, bool precheck,
+                   bool flipx, bool flipy, bool pepper, bool rectify, bool undistort,
+                   bool split, bool local_stamp);
+    void initPepper(int spatialSize, int temporalSize);
+    void initUndistortion(const yarp::os::Bottle &left,
+                          const yarp::os::Bottle &right,
+                          const yarp::os::Bottle &stereo,
+                          bool truncate);
+    int queryUnprocessed();
+    std::deque<double> getDelays();
+    std::deque<double> getRates();
+    std::deque<double> getIntervals();
+    void printFilterStats();
+    void run();
     void onStop();
     bool threadInit();
-    bool updateModule();
-    void run();
 
 };
 
+class vPreProcessModule : public yarp::os::RFModule
+{
+    //the event bottle input and output handler
+    vPreProcess      eventManager;
+
+public:
+
+    //the virtual functions that need to be overloaded
+    virtual bool configure(yarp::os::ResourceFinder &rf);
+    virtual bool close();
+
+    virtual double getPeriod();
+    virtual bool updateModule();
+
+};
+
+
 #endif