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Pass more data in board config: board name, revision, RGB FOV #9

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merged 7 commits into from
Apr 25, 2020
Merged

Pass more data in board config: board name, revision, RGB FOV #9

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d6e685a
Pass more data in board config: board name, revision, RGB FOV
alex-luxonis Apr 18, 2020
35ffa6f
Merge branch 'master' into eeprom_board_type
alex-luxonis Apr 22, 2020
039e926
Merge remote-tracking branch 'origin/master' into eeprom_board_type
alex-luxonis Apr 24, 2020
760f454
Rename 'override_eeprom_calib' to 'override_eeprom'
alex-luxonis Apr 24, 2020
a85cd47
Add 'stereo_center_crop' option, enabled from calib file or config
alex-luxonis Apr 24, 2020
b8cebab
Print EEPROM data
alex-luxonis Apr 24, 2020
fc2bbec
Merge pull request #15 from luxonis/eeprom_print__lr_center
alex-luxonis Apr 25, 2020
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24 changes: 22 additions & 2 deletions host/core/pipeline/host_pipeline_config.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -127,9 +127,14 @@ bool HostPipelineConfig::initWithJSON(const json &json_obj)
board_config.clear_eeprom = board_conf_obj.at("clear_eeprom").get<bool>();
}

if (board_conf_obj.contains("override_eeprom_calib"))
if (board_conf_obj.contains("override_eeprom"))
{
board_config.override_eeprom_calib = board_conf_obj.at("override_eeprom_calib").get<bool>();
board_config.override_eeprom = board_conf_obj.at("override_eeprom").get<bool>();
}

if (board_conf_obj.contains("stereo_center_crop"))
{
board_config.stereo_center_crop = board_conf_obj.at("stereo_center_crop").get<bool>();
}

// "blob_file_config"
Expand All @@ -144,6 +149,11 @@ bool HostPipelineConfig::initWithJSON(const json &json_obj)
board_config.left_fov_deg = board_conf_obj.at("left_fov_deg").get<float>();
}

if (board_conf_obj.contains("rgb_fov_deg"))
{
board_config.rgb_fov_deg = board_conf_obj.at("rgb_fov_deg").get<float>();
}

// "left_to_right_distance_cm"
if (board_conf_obj.contains("left_to_right_distance_cm"))
{
Expand All @@ -156,6 +166,16 @@ bool HostPipelineConfig::initWithJSON(const json &json_obj)
board_config.left_to_rgb_distance_m =
board_conf_obj.at("left_to_rgb_distance_cm").get<float>() / 100.f; // cm -> m
}

if (board_conf_obj.contains("name"))
{
board_config.name = board_conf_obj.at("name").get<std::string>();
}

if (board_conf_obj.contains("revision"))
{
board_config.revision = board_conf_obj.at("revision").get<std::string>();
}
}

result = true;
Expand Down
6 changes: 5 additions & 1 deletion host/core/pipeline/host_pipeline_config.hpp
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Expand Up @@ -36,11 +36,15 @@ struct HostPipelineConfig
{
bool clear_eeprom = false;
bool store_to_eeprom = false;
bool override_eeprom_calib = false;
bool override_eeprom = false;
bool swap_left_and_right_cameras = false;
float left_fov_deg = 69.f;
float rgb_fov_deg = 69.f;
float left_to_right_distance_m = 0.035f; // meters, not centimeters
float left_to_rgb_distance_m = 0;
bool stereo_center_crop = false;
std::string name;
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I think we should set these by default to : Unknown

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Maybe some checks in the code could be a bit cleaner by using name.empty()?
But when displayed for the user, yes we could print something like this.

std::string revision;
} board_config;


Expand Down
56 changes: 53 additions & 3 deletions host/py_module/py_bindings.cpp
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Expand Up @@ -223,6 +223,44 @@ bool init_device(
}
}

uint32_t version = g_config_d2h.at("eeprom").at("version").get<int>();
printf("EEPROM data:");
if (version == -1) {
printf(" invalid / unprogrammed\n");
} else {
printf(" valid (v%d)\n", version);
std::string board_name;
std::string board_rev;
float rgb_fov_deg = 0;
bool stereo_center_crop = false;
if (version >= 2) {
board_name = g_config_d2h.at("eeprom").at("board_name").get<std::string>();
board_rev = g_config_d2h.at("eeprom").at("board_rev").get<std::string>();
rgb_fov_deg= g_config_d2h.at("eeprom").at("rgb_fov_deg").get<float>();
}
if (version >= 3) {
stereo_center_crop = g_config_d2h.at("eeprom").at("stereo_center_crop").get<bool>();
}
float left_fov_deg = g_config_d2h.at("eeprom").at("left_fov_deg").get<float>();
float left_to_right_distance_m = g_config_d2h.at("eeprom").at("left_to_right_distance_m").get<float>();
float left_to_rgb_distance_m = g_config_d2h.at("eeprom").at("left_to_rgb_distance_m").get<float>();
bool swap_left_and_right_cameras = g_config_d2h.at("eeprom").at("swap_left_and_right_cameras").get<bool>();
std::vector<float> calib = g_config_d2h.at("eeprom").at("calib").get<std::vector<float>>();
printf(" Board name : %s\n", board_name.empty() ? "<NOT-SET>" : board_name.c_str());
printf(" Board rev : %s\n", board_rev.empty() ? "<NOT-SET>" : board_rev.c_str());
printf(" HFOV L/R : %g deg\n", left_fov_deg);
printf(" HFOV RGB : %g deg\n", rgb_fov_deg);
printf(" L-R distance : %g cm\n", 100 * left_to_right_distance_m);
printf(" L-RGB distance : %g cm\n", 100 * left_to_rgb_distance_m);
printf(" L/R swapped : %s\n", swap_left_and_right_cameras ? "yes" : "no");
printf(" L/R crop region: %s\n", stereo_center_crop ? "center" : "top");
printf(" Calibration homography:\n");
for (int i = 0; i < 9; i++) {
printf(" %11.6f,", calib.at(i));
if (i % 3 == 2) printf("\n");
}
}

// device support listener
g_device_support_listener = std::unique_ptr<DeviceSupportListener>(new DeviceSupportListener);

Expand Down Expand Up @@ -324,6 +362,7 @@ std::shared_ptr<CNNHostPipeline> create_pipeline(
-8.7650679e-03, 9.9214733e-01, -8.7952757e+00,
-8.4495878e-06, -3.6034894e-06, 1.0000000e+00
};
bool stereo_center_crop = false;

if (config.depth.calibration_file.empty())
{
Expand All @@ -338,19 +377,30 @@ std::shared_ptr<CNNHostPipeline> create_pipeline(
break;
}

const int homography_size = sizeof(float) * 9;
int sz = calibration_reader.getSize();
assert(sz == sizeof(float) * 9);
std::cout << "Read: " << calibration_reader.readData(reinterpret_cast<unsigned char*>(homography_buff.data()), sz) << std::endl;
assert(sz >= homography_size);
calibration_reader.readData(reinterpret_cast<unsigned char*>(homography_buff.data()), homography_size);
int flags_size = sz - homography_size;
if (flags_size > 0)
{
assert(flags_size == 1);
calibration_reader.readData(reinterpret_cast<unsigned char*>(&stereo_center_crop), 1);
}
}

json json_config_obj;
json_config_obj["board"]["clear-eeprom"] = config.board_config.clear_eeprom;
json_config_obj["board"]["store-to-eeprom"] = config.board_config.store_to_eeprom;
json_config_obj["board"]["override-eeprom"] = config.board_config.override_eeprom_calib;
json_config_obj["board"]["override-eeprom"] = config.board_config.override_eeprom;
json_config_obj["board"]["swap-left-and-right-cameras"] = config.board_config.swap_left_and_right_cameras;
json_config_obj["board"]["left_fov_deg"] = config.board_config.left_fov_deg;
json_config_obj["board"]["rgb_fov_deg"] = config.board_config.rgb_fov_deg;
json_config_obj["board"]["left_to_right_distance_m"] = config.board_config.left_to_right_distance_m;
json_config_obj["board"]["left_to_rgb_distance_m"] = config.board_config.left_to_rgb_distance_m;
json_config_obj["board"]["stereo_center_crop"] = config.board_config.stereo_center_crop || stereo_center_crop;
json_config_obj["board"]["name"] = config.board_config.name;
json_config_obj["board"]["revision"] = config.board_config.revision;
json_config_obj["_board"] =
{
{"_homography_right_to_left", homography_buff}
Expand Down