specify calibration file for vIPT (#136)

* Update printing calibration file content. * use absolute path to find vIPT calibration file *updated vPreProcess and vFramer to use this new method Co-authored-by: arrenglover <arren.glover@iit.it>
robotology · May 3, 2021 · ff93edf · ff93edf
1 parent 6cd11fd
commit ff93edf
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Showing 5 changed files with 51 additions and 15 deletions.
diff --git a/lib/include/event-driven/vIPT.h b/lib/include/event-driven/vIPT.h
@@ -20,7 +20,7 @@
 #define VIPT_H
 
 #include <opencv2/opencv.hpp>
-#include <yarp/os/Bottle.h>
+#include <yarp/os/all.h>
 
 namespace ev {
 
@@ -51,12 +51,12 @@ class vIPT {
 
     vIPT();
 
-
     const cv::Mat& getQ();
     void setProjectedImageSize(int height, int width);
-    bool configure(const std::string calibContext, const std::string calibFile, int size_scaler = 2);
+    bool configure(const std::string &calib_file_path, int size_scaler = 2);
     bool showMapProjections(double seconds = 0);
     void showMonoProjections(int cam, double seconds);
+    void printValidCalibrationValues();
 
     bool sparseForwardTransform(int cam, int &y, int &x);
     bool sparseReverseTransform(int cam, int &y, int &x);

diff --git a/lib/src/vIPT.cpp b/lib/src/vIPT.cpp
@@ -35,6 +35,7 @@ vIPT::vIPT()
 
 bool vIPT::importIntrinsics(int cam, Bottle &parameters)
 {
+
     if(parameters.isNull()) {
         yWarning() << "Could not find camera" << cam <<"parameters";
         return false;
@@ -161,15 +162,14 @@ const cv::Mat& vIPT::getQ(){
     return Q;
 }
 
-bool vIPT::configure(const string calibContext, const string calibFile, int size_scaler)
+bool vIPT::configure(const string &calib_file_path, int size_scaler)
 
 {
     ResourceFinder calibfinder;
-    calibfinder.setVerbose();
-    calibfinder.setDefaultContext(calibContext);
-    calibfinder.setDefaultConfigFile(calibFile);
+    calibfinder.setDefault("from", calib_file_path);
     calibfinder.configure(0, 0);
 
+
     //import intrinsics
     bool valid_cam1 = importIntrinsics(0, calibfinder.findGroup("CAMERA_CALIBRATION_LEFT"));
     bool valid_cam2 = importIntrinsics(1, calibfinder.findGroup("CAMERA_CALIBRATION_RIGHT"));
@@ -357,6 +357,35 @@ bool vIPT::showMapProjections(double seconds)
     return true;
 }
 
+void vIPT::printValidCalibrationValues()
+{
+    yInfo() << "Printing non-empty intrinsic and extrinsic parameters:";
+    std::stringstream ss;
+    for(auto i : {0, 1}) {
+        if(!size_cam[i].empty()) {
+            ss << "size_cam[" << i << "]" << std::endl;
+            ss << size_cam[i] << std::endl; yInfo() << ss.str(); ss.str("");
+        }
+        if(!cam_matrix[i].empty()) {
+            ss << "cam_matrix[" << i << "]" << std::endl;
+            ss << cam_matrix[i] << std::endl; yInfo() << ss.str(); ss.str("");
+        }
+        if(!dist_coeff[i].empty()) {
+            ss << "dist_coeff[" << i << "]" << std::endl;
+            ss << dist_coeff[i] << std::endl; yInfo() << ss.str(); ss.str("");
+        }
+    }
+
+    if(!stereo_translation.empty()) {
+        ss << "stereo_translation" << std::endl;
+        ss << stereo_translation << std::endl; yInfo() << ss.str(); ss.str("");
+    }
+    if(!stereo_rotation.empty()) {
+        ss << "stereo_rotation" << std::endl;
+        ss << stereo_rotation << std::endl; yInfo() << ss.str(); ss.str("");
+    }
+}
+
 bool vIPT::sparseForwardTransform(int cam, int &y, int &x)
 {
     cv::Vec2i p(y, x);

diff --git a/src/processing/vFramer/include/vFramerLite.h b/src/processing/vFramer/include/vFramerLite.h
@@ -74,10 +74,11 @@ class channelInstance : public RateThread {
 public:
 
     channelInstance(string channel_name, cv::Size render_size = cv::Size(-1, -1));
-    bool addFrameDrawer(unsigned int width, unsigned int height);
+    bool addFrameDrawer(unsigned int width, unsigned int height, 
+                        const std::string &calibration_file = "");
     bool addDrawer(string drawer_name, unsigned int width,
                    unsigned int height, unsigned int window_size, double isoWindow, bool flip);
-    
+
     bool threadInit();
     void run();
     void threadRelease();

diff --git a/src/processing/vFramer/src/vFramerLite.cpp b/src/processing/vFramer/src/vFramerLite.cpp
@@ -114,9 +114,10 @@ string channelInstance::getName()
     return channel_name;
 }
 
-bool channelInstance::addFrameDrawer(unsigned int width, unsigned int height)
+bool channelInstance::addFrameDrawer(unsigned int width, unsigned int height, 
+    const std::string &calibration_file)
 {
-    calib_configured = unwarp.configure("camera", "stefi_calib.ini");
+    calib_configured = unwarp.configure(calibration_file);
     if(!calib_configured)
         yWarning() << "Calibration was not configured";
 

diff --git a/src/processing/vPreProcess/src/vPreProcess.cpp b/src/processing/vPreProcess/src/vPreProcess.cpp
@@ -107,6 +107,7 @@ bool vPreProcess::configure(yarp::os::ResourceFinder &rf) {
         yInfo() << "--sf_time <double>: spatial filter time window (sec)";
         yInfo() << "--sf_size <int>: spatial filter (half) size (pixels)";
         yInfo() << "--tf_time <double>: temporal filter time window (sec)";
+        yInfo() << "--camera_calibration_file <path>: calibration file to use for undistort";
         return false;
     }
 
@@ -188,10 +189,14 @@ bool vPreProcess::configure(yarp::os::ResourceFinder &rf) {
 
     if(undistort) {
 
-        if(calibrator.configure("camera", "atis_calib.ini", 1))
-            calibrator.showMapProjections(3.0);
-        else
-            yWarning() << "Could not correctly configure the cameras";
+        std::string calib_file_path = rf.check("camera_calibration_file", Value("")).asString();
+        if(calibrator.configure(calib_file_path, 1)) {
+            calibrator.printValidCalibrationValues();
+            //calibrator.showMapProjections(3.0);
+        } else {
+            yError() << "Could not correctly configure the cameras";
+            return false;
+        }
     }
 
     if(vis) {