Merge branch 'feature/gui2' of gitlab.utu.fi:nicolas.pope/ftl into feature/gui2

components/rgbd-sources/src/sources/stereovideo/pylon.cpp

@@ -50,9 +50,9 @@ PylonDevice::PylonDevice(nlohmann::json &config)
 			}
 
 			if (dev_left_num == i) {
-				LOG(INFO) << " - found Pylon device - " << d.GetSerialNumber() << "(" << d.GetModelName() << ") [primary]";
+				LOG(INFO) << " - found Pylon device - " << d.GetSerialNumber() << " (" << d.GetModelName() << ") [primary]";
 			} else {
-				LOG(INFO) << " - found Pylon device - " << d.GetSerialNumber() << "(" << d.GetModelName() << ")";
+				LOG(INFO) << " - found Pylon device - " << d.GetSerialNumber() << " (" << d.GetModelName() << ")";
 			}
 
 			++i;
@@ -147,8 +147,11 @@ void PylonDevice::_configureCamera(CBaslerUniversalInstantCamera *cam) {
 		LOG(WARNING) << "Could not change pixel format";
 	}
 
-	cam->ExposureTime.SetValue(24000.0f);  // Exposure time in microseconds
-	cam->LightSourcePreset.SetValue(Basler_UniversalCameraParams::LightSourcePreset_Tungsten2800K);  // White balance option
+	if (cam->GetDeviceInfo().GetModelName() != "Emulation") {
+		// Emulated device throws exception with these
+		cam->ExposureTime.SetValue(24000.0f);  // Exposure time in microseconds
+		cam->LightSourcePreset.SetValue(Basler_UniversalCameraParams::LightSourcePreset_Tungsten2800K);  // White balance option
+	}
 }
 
 bool PylonDevice::grab() {

components/rgbd-sources/src/sources/stereovideo/rectification.cpp

@@ -28,7 +28,9 @@ StereoRectification::StereoRectification(nlohmann::json &config, cv::Size image_
 
 void StereoRectification::setSize(cv::Size size) {
 	image_resolution_ = size;
-	calculateParameters();
+	if (calibrated()) {
+		calculateParameters();
+	}
 }
 
 void StereoRectification::setInterpolation(int interpolation) {
@@ -64,13 +66,18 @@ void StereoRectification::setCalibration(const CalibrationData &calib) {
 void StereoRectification::calculateParameters() {
 	using namespace ftl::calibration;
 	// TODO: lock
+	{
+		bool valid = true;
+		valid &= calib_left_.intrinsic.resolution != cv::Size{0, 0};
+		valid &= calib_right_.intrinsic.resolution != cv::Size{0, 0};
+		valid &= calib_left_.intrinsic.distCoeffs.size() != 0;
+		valid &= calib_right_.intrinsic.distCoeffs.size() != 0;
+		valid &= validate::cameraMatrix(calib_left_.intrinsic.matrix());
+		valid &= validate::cameraMatrix(calib_right_.intrinsic.matrix());
+		if (!valid) { return; }
+	}
+
 	valid_ = false;
-	bool valid = true;
-	valid_ &= !calib_left_.intrinsic.resolution.empty();
-	valid_ &= !calib_right_.intrinsic.resolution.empty();
-	valid_ &= validate::cameraMatrix(calib_left_.intrinsic.matrix());
-	valid_ &= validate::cameraMatrix(calib_right_.intrinsic.matrix());
-	if (!valid) { return; }
 
 	// create temporary buffers
 	if (tmp_l_.size() != image_resolution_) {
@@ -104,9 +111,8 @@ void StereoRectification::calculateParameters() {
 	cv::Mat R;
 	cv::Mat t;
 	transform::getRotationAndTranslation(T, R, t);
-	baseline_ = cv::norm(t);
 
-	if (baseline_ == 0) { return; }
+	if (baseline_ == 0.0) { return; }
 
 	// calculate rectification parameters
 	cv::stereoRectify(	K_l, dc_l, K_r, dc_r, image_resolution_,