virtual void close() {
yInfo() << "Bye bye";
}
virtual void endPacket() {
yInfo() << "Packet ends";
}
virtual void reset() {
inputCache = outputCache = "";
yInfo() << "Stream reset";
}
virtual void beginPacket() {
yInfo() << "Packet begins";
inputCache = "";
outputCache = "";
}
bool vPreProcessModule::configure(yarp::os::ResourceFinder &rf)
{
bool pepper = rf.check("pepper") &&
rf.check("pepper", yarp::os::Value(true)).asBool();
bool rectify = rf.check("rectify") &&
rf.check("rectify", yarp::os::Value(true)).asBool();
bool undistort = rf.check("undistort") &&
rf.check("undistort", yarp::os::Value(true)).asBool();
bool truncate = rf.check("truncate") &&
rf.check("truncate", yarp::os::Value(true)).asBool();
bool flipx = rf.check("flipx") &&
rf.check("flipx", yarp::os::Value(true)).asBool();
bool flipy = rf.check("flipy") &&
rf.check("flipy", yarp::os::Value(true)).asBool();
bool precheck = rf.check("precheck") &&
rf.check("precheck", yarp::os::Value(true)).asBool();
bool split = rf.check("split") &&
rf.check("split", yarp::os::Value(true)).asBool();
bool local_stamp = rf.check("local_stamp") &&
rf.check("local_stamp", yarp::os::Value(true)).asBool();
if(precheck)
yInfo() << "Performing precheck for event corruption";
if(flipx)
yInfo() << "Flipping vision horizontally";
if(flipy)
yInfo() << "Flipping vision vertically";
if(pepper)
yInfo() << "Applying salt and pepper filter";
if(rectify)
yInfo() << "Rectifying image pairs using extrinsic parameters";
if(undistort && truncate)
yInfo() << "Applying camera undistortion - truncating to sensor size";
if(undistort && !truncate)
yInfo() << "Applying camera undistortion - without truncation";
if(split)
yInfo() << "Splitting into left/right streams";
eventManager.initBasic(rf.check("name", yarp::os::Value("/vPreProcess")).asString(),
rf.check("height", yarp::os::Value(240)).asInt(),
rf.check("width", yarp::os::Value(304)).asInt(),
precheck, flipx, flipy, pepper, rectify, undistort, split, local_stamp);
if(pepper) {
eventManager.initPepper(rf.check("spatialSize", yarp::os::Value(1)).asDouble(),
rf.check("temporalSize", yarp::os::Value(0.1)).asDouble() * vtsHelper::vtsscaler);
}
if(undistort) {
yarp::os::ResourceFinder calibfinder;
calibfinder.setVerbose();
calibfinder.setDefaultContext(rf.check("calibContext", yarp::os::Value("cameraCalib")).asString().c_str());
calibfinder.setDefaultConfigFile(rf.check("calibFile", yarp::os::Value("iCubEyes-ATIS.ini")).asString().c_str());
calibfinder.configure(0, 0);
yarp::os::Bottle &leftParams = calibfinder.findGroup("CAMERA_CALIBRATION_LEFT");
yarp::os::Bottle &rightParams = calibfinder.findGroup("CAMERA_CALIBRATION_RIGHT");
yarp::os::Bottle &stereoParams = calibfinder.findGroup("STEREO_DISPARITY");
if(leftParams.isNull() || rightParams.isNull()) {
yError() << "Could not load intrinsic camera parameters";
return false;
}
if (rectify && stereoParams.isNull()) {
yError() << "Could not load extrinsic camera parameters";
return false;
}
std::cout << leftParams.toString() << std::endl;
std::cout << rightParams.toString() << std::endl;
std::cout << stereoParams.toString() << std::endl;
eventManager.initUndistortion(leftParams, rightParams, stereoParams, truncate);
}
return eventManager.start();
}
