From 6053c5f5c3ab0b1e93e6e18d361b158578aa2219 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Mon, 20 Jan 2020 15:30:17 +0200
Subject: [PATCH] RPC: set_intrinsics
---
applications/calibration-multi/src/main.cpp | 30 ++++++++++---------
.../src/sources/stereovideo/stereovideo.cpp | 8 ++---
2 files changed, 20 insertions(+), 18 deletions(-)
diff --git a/applications/calibration-multi/src/main.cpp b/applications/calibration-multi/src/main.cpp
index 7256c48fe..d8f20041f 100644
--- a/applications/calibration-multi/src/main.cpp
+++ b/applications/calibration-multi/src/main.cpp
@@ -126,7 +126,6 @@ bool setRectifyRPC(ftl::net::Universe* net, ftl::stream::Net* nstream, bool enab
bool setIntrinsicsRPC(ftl::net::Universe* net, ftl::stream::Net* nstream, Size size, vector<Mat> K, vector<Mat> D) {
Mat K0 = K[0].t();
Mat K1 = K[1].t();
-
return net->call<bool>( nstream->getPeer(), "set_intrinsics",
vector<int>{size.width, size.height},
vector<double>(K0.begin<double>(), K0.end<double>()),
@@ -208,19 +207,19 @@ void calibrateRPC( ftl::net::Universe* net,
auto *nstream = nstreams[c/2];
while(true) {
try {
- /*setIntrinsicsRPC(net, nstream,
+ setIntrinsicsRPC(net, nstream,
params.size,
vector<Mat>{calib.getCameraMat(c), calib.getCameraMat(c+1)},
vector<Mat>{calib.getDistCoeffs(c), calib.getDistCoeffs(c+1)}
- );*/
+ );
setExtrinsicsRPC(net, nstream, R_c1c2, T_c1c2);
setPoseRPC(net, nstream, Rt_out[c]);
saveCalibrationRPC(net, nstream);
LOG(INFO) << "CALIBRATION SENT";
break;
}
- catch (...) {
- LOG(ERROR) << "RPC failed!";
+ catch (std::exception ex) {
+ LOG(ERROR) << "RPC failed: " << ex.what();
sleep(1);
}
}
@@ -315,15 +314,18 @@ void runCameraCalibration( ftl::Configurable* root,
}
for (auto *nstream: nstreams) {
- bool res = false;
- try { res = setRectifyRPC(net, nstream, false); }
- catch (...) {}
-
- if (!res) {
- LOG(ERROR) << "set_rectify() failed for " << *(nstream->get<string>("uri"));
- }
- else {
- LOG(INFO) << "rectification disabled for " << *(nstream->get<string>("uri"));
+ bool res = true;
+ while(res) {
+ try { res = setRectifyRPC(net, nstream, false); }
+ catch (...) {}
+
+ if (res) {
+ LOG(ERROR) << "set_rectify() failed for " << *(nstream->get<string>("uri"));
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
+ }
+ else {
+ LOG(INFO) << "rectification disabled for " << *(nstream->get<string>("uri"));
+ }
}
}
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index b5b2ae2db..b28fed8de 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -123,8 +123,8 @@ void StereoVideoSource::init(const string &file) {
host_->getNet()->bind("set_intrinsics",
[this]( std::vector<int> size,
- std::vector<double> camera_l, std::vector<double> d_left,
- std::vector<double> camera_r, std::vector<double> d_right) {
+ std::vector<double> camera_l, std::vector<double> dist_l,
+ std::vector<double> camera_r, std::vector<double> dist_r) {
if ((size.size() != 2) || (camera_l.size() != 9) || (camera_r.size() != 9)) {
LOG(ERROR) << "bad intrinsic parameters (wrong size)";
return false;
@@ -132,8 +132,8 @@ void StereoVideoSource::init(const string &file) {
cv::Size calib_size(size[0], size[1]);
cv::Mat K_l = cv::Mat(camera_l).reshape(1, 3).t();
cv::Mat K_r = cv::Mat(camera_r).reshape(1, 3).t();
- cv::Mat D_l = cv::Mat(D_l);
- cv::Mat D_r = cv::Mat(D_r);
+ cv::Mat D_l = cv::Mat(dist_l);
+ cv::Mat D_r = cv::Mat(dist_r);
if (!calib_->setIntrinsics(calib_size, {K_l, K_r}, {D_l, D_r})) {
LOG(ERROR) << "bad intrinsic parameters (bad values)";
--
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