Icub23 code

[lunagava]

In the case the user wants to remove lens distortion when launching vPreProcess module, he/she has to specify the calibration folder containing the calibration file (e.g. atis_calib.ini), using the just added parameters calibContext and calibFile from terminal or within vPreProcess.ini .

[arrenglover]

Hi @lunagava - I made a change to remove the declaration of the strings from the class. Does it still work as I have changed it?

[lunagava]

Hi @arrenglover, I've just tested and it still works.

I am wondering if it would be appropriate to add a print of intrinsic and extrinsic parameters in vIPT.cpp, so that the user can check these are taken correctly from the specified calibration file.

[arrenglover]

good idea: I would suggest having an additional argument bool verbose = false at this function:

event-driven/lib/src/vIPT.cpp

Line 36 in 6ec17d7

bool vIPT::importIntrinsics(int cam, Bottle &parameters)

then if verbose = true you can print the calibration parameters read.

by the way there are the functions

event-driven/lib/src/vIPT.cpp

Line 234 in 6ec17d7

void vIPT::showMonoProjections(int cam, double seconds)

that show the projections based on the parameters, that can be useful to "debug" the calibration is correct.

can we add these changes to this pull request please?

[lunagava]

@arrenglover, I've just pushed the changes you required. Let me know, if they are okay.

[arrenglover]

sorry I think you misunderstood. I think we should make the function like:
bool vIPT::importIntrinsics(int cam, Bottle &parameters, bool verbose = false)

then inside the function

if(verbose) {
 yInfo() << parameters.getContent().toString();
}

we don't need to pass the resources find into the importIntrinsics function because the parameters argument is already the extracted parameters.

we should also do the same thing for the importStereo function to display the stereo values.

[lunagava]

Sorry @arrenglover, I misunderstood. I've just corrected the code according to what you said, also adding stereo printing. Tell me if it is finally okay.

[arrenglover]

@lunagava - please check you can find the calibration file using
--camera_calibration_file <path>
The found camera parameters are now output to the terminal using the default opencv Mat printing funciton. Is it okay for you?

[lunagava]

@arrenglover Well done Arren, I've just tried to pass the calibration file path and it has worked. In my opinion, the printing is well-organized now.

/usr/local/src/event-driven/cmake-build-debug/bin/vPreProcess --undistort true --camera_calibration_file /usr/local/share/event-driven/contexts/camera/atis_calib.ini --flipx true --flipy true --filter_spatial true --filter_temporal true --sf_tsize 0.05 -split_stereo true --combined_stereo false
[INFO] Flipping vision horizontally
[INFO] Flipping vision vertically
[INFO] Applying spatial "salt and pepper" filter
[INFO] Applying temporal "refractory" filter
[INFO] Applying camera undistortion
[INFO] Splitting into left/right streams
[INFO] Camera 0 and Camera 1 is and Extrinsic parameters exist - creating rectified transforms
[INFO] Printing non-empty intrinsic and extrinsic parameters:
[INFO] size_cam[0]
[304 x 240]
[INFO] cam_matrix[0]
[192.578, 0, 151.638;
 0, 192.318, 113.121;
 0, 0, 1]
[INFO] dist_coeff[0]
[-0.294963;
 0.0771249;
 -0.0006767709999999999;
 0.00170161]
[INFO] size_cam[1]
[304 x 240]
[INFO] cam_matrix[1]
[177.611, 0, 150.974;
 0, 177.935, 113.802;
 0, 0, 1]
[INFO] dist_coeff[1]
[-0.333412;
 0.122394;
 0.00245141;
 0.000201785]
[INFO] stereo_translation
[-0.07308729999999999;
 0.00079387;
 -0.00796638]
[INFO] stereo_rotation
[0.996733, 0.00941561, -0.0802102;
 -0.00669509, 0.999395, 0.0341191;
 0.080483, -0.0334706, 0.996194]
[INFO] |yarp.os.Port| Port /vPreProcess/left:o active at tcp://172.17.0.2:10002/
[INFO] |yarp.os.Port| Port /vPreProcess/right:o active at tcp://172.17.0.2:10003/
[INFO] |yarp.os.Port| Port /vPreProcess/aps_left:o active at tcp://172.17.0.2:10004/
[INFO] |yarp.os.Port| Port /vPreProcess/aps_right:o active at tcp://172.17.0.2:10005/
[INFO] |yarp.os.Port| Port /vPreProcess/imu_samples:o active at tcp://172.17.0.2:10006/
[INFO] |yarp.os.Port| Port /vPreProcess/audio:o active at tcp://172.17.0.2:10007/
[INFO] |yarp.os.Port| Port /vPreProcess/skin:o active at tcp://172.17.0.2:10008/
[INFO] |yarp.os.Port| Port /vPreProcess/skin_samples:o active at tcp://172.17.0.2:10009/
[INFO] |yarp.os.Port| Port /vPreProcess/AE:i active at tcp://172.17.0.2:10010/
[INFO] |yarp.os.Port| Port /vPreProcess/rate:o active at tcp://172.17.0.2:10011/