Attempted fix for bug where 2 camera got desynchronised

When the event camera has a high amount of events per second the program
can't keep up which results in trigger in signals being dropped.
This eventually results in the stereo images not being in sync anymore.
Implemented fix for this is to minimise the amount of events per second,
this can be done with a couple of new configuration values.

Author: Bas-Koerver

calibrate.py

@@ -346,7 +346,7 @@ def on_mouse(event, x, y, flags, userdata):
     fy = camera_matrix_l[1, 1]
     cx = camera_matrix_l[0, 2]
     cy = camera_matrix_l[1, 2]
-    Z = 450/1000  # in meters
+    Z = 430/1000  # in meters
 
     pt = np.array([[[point0_0[0], point0_0[1]]]], dtype=np.float32)
     pt_ud = cv2.undistortPoints(pt, camera_matrix_l, dist_coefs_l, P=camera_matrix_l)

example.toml

@@ -35,7 +35,7 @@ marker_length =
 #DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11,
 #DICT_7X7_50=12, DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15,
 #DICT_ARUCO_ORIGINAL = 16
-#charuco_dictionary = 8
+#opencv_aruco_dictionary = 8
 #detection_interval = 2
 #minimum_corner_fraction = 0.125
 
@@ -82,22 +82,37 @@ marker_length =
 #minMarkerLengthRatioOriginalImg = 0.0
 
 [recording]
-master_worker = 1
+master_worker =
+#fps = 30
+#detection_interval = 2
 
 # Possible workers are: prophesee, basler
 [[recording.workers]]
 type = "basler"
-placement = 1
-#cam_uuid = "789" # Optional
+placement =
+#cam_uuid =
 
 [[recording.workers]]
 type = "prophesee"
-accumulation_time = 33333
-placement = 0
-save_event_file = true # Optional
-falling_edge_polarity = 1
-cam_uuid = "9123" # Optional
+placement =
+#cam_uuid =
+#accumulation_time = 33333
+#save_event_file = true
+falling_edge_polarity =
+#bias_diff =
+#bias_diff_on =
+#bias_diff_off =
+#bias_fo =
+#bias_hpf =
+#bias_refr =
+
+#enable_erc =
+#erc_rate =
+
+#enable_etf =
+#etf_mode =
+#etf_threshold =
 
 [viewing]
-views_horizontal = 3
+#views_horizontal = 3
 

src/cli/board_creation.cpp

@@ -6,31 +6,7 @@ namespace YACCP::CLI {
 
         subCmd->add_flag("-l, --list", config.showAvailableJobs, "List jobs missing a board image and/or video");
 
-        subCmd->add_option("-j, --job-id", config.jobId, "Give a specific job ID to create a board for.")
-              ->default_str("Creates a new job");
-
-        // subCmd->add_option("-s, --square-length", config.squareLength, "The square length in pixels")
-        //       ->default_val(config.squareLength)
-        //       ->check(::CLI::PositiveNumber);
-        //
-        // subCmd
-        //     ->add_option("-m, --marker-length", config.markerLength, "The ArUco marker length in pixels")
-        //     ->default_val(config.markerLength)
-        //     ->check(::CLI::PositiveNumber);
-        //
-        // subCmd
-        //     ->add_option("-e, --marker-border",
-        //                  config.marginSize,
-        //                  "The border size (margins) of the ArUco marker in pixels")
-        //     ->default_str("square-length - marker-length")
-        //     ->check(::CLI::PositiveNumber);
-        //
-        // subCmd
-        //     ->add_option("-b, --border-point",
-        //                  config.borderBits,
-        //                  "The amount of points (pixels) for the border")
-        //     ->default_val(config.borderBits)
-        //     ->check(::CLI::PositiveNumber);
+        subCmd->add_option("-j, --job-id", config.jobId, "Give a specific job ID to create a board for.");
 
         subCmd
             ->add_flag("!-i, !--image",
@@ -44,12 +20,6 @@ namespace YACCP::CLI {
                        "Whether to generate an event video of the generated board")
             ->default_str("false");
 
-        // subCmd->parse_complete_callback([&config] {
-        //     if (!config.marginSize) {
-        //         config.marginSize = config.squareLength - config.markerLength;
-        //     }
-        // });
-
         return subCmd;
     }
 } // namespace YACCP::CLI

src/config/board.cpp

@@ -18,7 +18,9 @@ namespace YACCP::Config {
 
     std::string boardTypeToString(const BoardTypes boardType) {
         for (const auto& [key, value] : boardTypesMap) {
-            if (value == boardType) return key;
+            if (value == boardType) {
+                return key;
+            }
         }
         throw std::runtime_error("unknown board enum type");
     }
@@ -29,11 +31,11 @@ namespace YACCP::Config {
         const auto* boardTbl{tbl["board"].as_table()};
         if (!boardTbl) throw std::runtime_error("Missing [board] table");
 
-        const BoardTypes type{stringToBoardType(requireVariable<std::string>(*boardTbl, "type", "board"))};
+        config.boardType = stringToBoardType(requireVariable<std::string>(*boardTbl, "type", "board"));
         config.boardSize.width = (*boardTbl)["squares_x"].value_or(GlobalVariables::boardWidth);
         config.boardSize.height = (*boardTbl)["squares_y"].value_or(GlobalVariables::boardHeight);
 
-        switch (type) {
+        switch (config.boardType) {
         case BoardTypes::charuco:
             config.squarePixelLength = (*boardTbl)["square_pixel_length"].value_or(
                 GlobalVariables::squarePixelLength);
@@ -52,4 +54,4 @@ namespace YACCP::Config {
             break;
         }
     }
-} // YACCP::Config
+} // YACCP::Config

src/config/board.hpp

@@ -19,18 +19,26 @@ namespace YACCP::Config {
     };
 
     struct BoardConfig {
+        BoardTypes boardType{};
         cv::Size boardSize{};
-        float squareLength{};
-        float markerLength{};
         int squarePixelLength{};
         int markerPixelLength{};
         int marginSize{};
         int borderBits{};
+        float squareLength{};
+        float markerLength{};
     };
 
+    BoardTypes stringToBoardType(std::string board);
+
+    std::string boardTypeToString(BoardTypes boardType);
+
+    void parseBoardConfig(const toml::table& tbl, BoardConfig& config, bool boardCreation);
+
 
     inline void to_json(nlohmann::json& j, const BoardConfig& b) {
         j = {
+            {"boardType", boardTypeToString(b.boardType)},
             {
                 "boardSize",
                 {
@@ -49,6 +57,7 @@ namespace YACCP::Config {
 
 
     inline void from_json(const nlohmann::json& j, BoardConfig& b) {
+        b.boardType = stringToBoardType(j.at("boardType").get<std::string>());
         j.at("boardSize").at("width").get_to(b.boardSize.width);
         j.at("boardSize").at("height").get_to(b.boardSize.height);
         j.at("squareLength").get_to(b.squareLength);
@@ -58,13 +67,6 @@ namespace YACCP::Config {
         j.at("marginSize").get_to(b.marginSize);
         j.at("borderBits").get_to(b.borderBits);
     }
-
-
-    BoardTypes stringToBoardType(std::string board);
-
-    std::string boardTypeToString(BoardTypes boardType);
-
-    void parseBoardConfig(const toml::table& tbl, BoardConfig& config, bool boardCreation);
 } // YACCP::Config
 
 #endif //YACCP_SRC_CONFIG_BOARD_HPP

src/config/detection.cpp

@@ -8,8 +8,7 @@ namespace YACCP::Config {
         const auto* detectionTbl{tbl["detection"].as_table()};
         if (!detectionTbl) return;
 
-        config.openCvDictionaryId = (*detectionTbl)["charuco_dictionary"].value_or(GlobalVariables::charucoDictionary);
-        config.detectionInterval = (*detectionTbl)["detection_interval"].value_or(GlobalVariables::detectionInterval);
+        config.openCvArucoDictionaryId = (*detectionTbl)["opencv_aruco_dictionary"].value_or(GlobalVariables::charucoDictionary);
         config.cornerMin = (*detectionTbl)["minimum_corner_fraction"].value_or(GlobalVariables::minCornerFraction);
 
         // Load custom charuco parameters if set, otherwise load defaults.

src/config/detection.hpp

@@ -16,8 +16,8 @@ namespace cv::aruco {
 
 
     inline void from_json(const nlohmann::json& j, CharucoParameters& p) {
-        j.at("minMarkers").get_to(p.minMarkers);
-        j.at("tryRefineMarkers").get_to(p.tryRefineMarkers);
+        (void)j.at("minMarkers").get_to(p.minMarkers);
+        (void)j.at("tryRefineMarkers").get_to(p.tryRefineMarkers);
     }
 
 
@@ -60,45 +60,44 @@ namespace cv::aruco {
 
 
     inline void from_json(const nlohmann::json& j, DetectorParameters& p) {
-        j.at("adaptiveThreshWinSizeMin").get_to(p.adaptiveThreshWinSizeMin);
-        j.at("adaptiveThreshWinSizeMax").get_to(p.adaptiveThreshWinSizeMax);
-        j.at("adaptiveThreshWinSizeStep").get_to(p.adaptiveThreshWinSizeStep);
-        j.at("adaptiveThreshConstant").get_to(p.adaptiveThreshConstant);
-        j.at("minMarkerPerimeterRate").get_to(p.minMarkerPerimeterRate);
-        j.at("maxMarkerPerimeterRate").get_to(p.maxMarkerPerimeterRate);
-        j.at("polygonalApproxAccuracyRate").get_to(p.polygonalApproxAccuracyRate);
-        j.at("minCornerDistanceRate").get_to(p.minCornerDistanceRate);
-        j.at("minDistanceToBorder").get_to(p.minDistanceToBorder);
-        j.at("minMarkerDistanceRate").get_to(p.minMarkerDistanceRate);
-        j.at("cornerRefinementMethod").get_to(p.cornerRefinementMethod);
-        j.at("cornerRefinementWinSize").get_to(p.cornerRefinementWinSize);
-        j.at("cornerRefinementMaxIterations").get_to(p.cornerRefinementMaxIterations);
-        j.at("cornerRefinementMinAccuracy").get_to(p.cornerRefinementMinAccuracy);
-        j.at("markerBorderBits").get_to(p.markerBorderBits);
-        j.at("perspectiveRemovePixelPerCell").get_to(p.perspectiveRemovePixelPerCell);
-        j.at("perspectiveRemoveIgnoredMarginPerCell").get_to(p.perspectiveRemoveIgnoredMarginPerCell);
-        j.at("maxErroneousBitsInBorderRate").get_to(p.maxErroneousBitsInBorderRate);
-        j.at("minOtsuStdDev").get_to(p.minOtsuStdDev);
-        j.at("errorCorrectionRate").get_to(p.errorCorrectionRate);
-        j.at("aprilTagQuadDecimate").get_to(p.aprilTagQuadDecimate);
-        j.at("aprilTagQuadSigma").get_to(p.aprilTagQuadSigma);
-        j.at("aprilTagMinClusterPixels").get_to(p.aprilTagMinClusterPixels);
-        j.at("aprilTagMaxNmaxima").get_to(p.aprilTagMaxNmaxima);
-        j.at("aprilTagCriticalRad").get_to(p.aprilTagCriticalRad);
-        j.at("aprilTagMaxLineFitMse").get_to(p.aprilTagMaxLineFitMse);
-        j.at("aprilTagMinWhiteBlackDiff").get_to(p.aprilTagMinWhiteBlackDiff);
-        j.at("aprilTagDeglitch").get_to(p.aprilTagDeglitch);
-        j.at("detectInvertedMarker").get_to(p.detectInvertedMarker);
-        j.at("useAruco3Detection").get_to(p.useAruco3Detection);
-        j.at("minSideLengthCanonicalImg").get_to(p.minSideLengthCanonicalImg);
-        j.at("minMarkerLengthRatioOriginalImg").get_to(p.minMarkerLengthRatioOriginalImg);
+        (void)j.at("adaptiveThreshWinSizeMin").get_to(p.adaptiveThreshWinSizeMin);
+        (void)j.at("adaptiveThreshWinSizeMax").get_to(p.adaptiveThreshWinSizeMax);
+        (void)j.at("adaptiveThreshWinSizeStep").get_to(p.adaptiveThreshWinSizeStep);
+        (void)j.at("adaptiveThreshConstant").get_to(p.adaptiveThreshConstant);
+        (void)j.at("minMarkerPerimeterRate").get_to(p.minMarkerPerimeterRate);
+        (void)j.at("maxMarkerPerimeterRate").get_to(p.maxMarkerPerimeterRate);
+        (void)j.at("polygonalApproxAccuracyRate").get_to(p.polygonalApproxAccuracyRate);
+        (void)j.at("minCornerDistanceRate").get_to(p.minCornerDistanceRate);
+        (void)j.at("minDistanceToBorder").get_to(p.minDistanceToBorder);
+        (void)j.at("minMarkerDistanceRate").get_to(p.minMarkerDistanceRate);
+        (void)j.at("cornerRefinementMethod").get_to(p.cornerRefinementMethod);
+        (void)j.at("cornerRefinementWinSize").get_to(p.cornerRefinementWinSize);
+        (void)j.at("cornerRefinementMaxIterations").get_to(p.cornerRefinementMaxIterations);
+        (void)j.at("cornerRefinementMinAccuracy").get_to(p.cornerRefinementMinAccuracy);
+        (void)j.at("markerBorderBits").get_to(p.markerBorderBits);
+        (void)j.at("perspectiveRemovePixelPerCell").get_to(p.perspectiveRemovePixelPerCell);
+        (void)j.at("perspectiveRemoveIgnoredMarginPerCell").get_to(p.perspectiveRemoveIgnoredMarginPerCell);
+        (void)j.at("maxErroneousBitsInBorderRate").get_to(p.maxErroneousBitsInBorderRate);
+        (void)j.at("minOtsuStdDev").get_to(p.minOtsuStdDev);
+        (void)j.at("errorCorrectionRate").get_to(p.errorCorrectionRate);
+        (void)j.at("aprilTagQuadDecimate").get_to(p.aprilTagQuadDecimate);
+        (void)j.at("aprilTagQuadSigma").get_to(p.aprilTagQuadSigma);
+        (void)j.at("aprilTagMinClusterPixels").get_to(p.aprilTagMinClusterPixels);
+        (void)j.at("aprilTagMaxNmaxima").get_to(p.aprilTagMaxNmaxima);
+        (void)j.at("aprilTagCriticalRad").get_to(p.aprilTagCriticalRad);
+        (void)j.at("aprilTagMaxLineFitMse").get_to(p.aprilTagMaxLineFitMse);
+        (void)j.at("aprilTagMinWhiteBlackDiff").get_to(p.aprilTagMinWhiteBlackDiff);
+        (void)j.at("aprilTagDeglitch").get_to(p.aprilTagDeglitch);
+        (void)j.at("detectInvertedMarker").get_to(p.detectInvertedMarker);
+        (void)j.at("useAruco3Detection").get_to(p.useAruco3Detection);
+        (void)j.at("minSideLengthCanonicalImg").get_to(p.minSideLengthCanonicalImg);
+        (void)j.at("minMarkerLengthRatioOriginalImg").get_to(p.minMarkerLengthRatioOriginalImg);
     }
 }
 
 namespace YACCP::Config {
     struct DetectionConfig {
-        int openCvDictionaryId{};
-        int detectionInterval{};
+        int openCvArucoDictionaryId{};
         float cornerMin{};
 
         cv::aruco::CharucoParameters charucoParameters{};
@@ -108,8 +107,7 @@ namespace YACCP::Config {
 
     inline void to_json(nlohmann::json& j, const DetectionConfig& d) {
         j = {
-            {"openCvDictionaryId", d.openCvDictionaryId},
-            // DetectionInterval is a user variable and not needed to recreate an experiment.
+            {"openCvDictionaryId", d.openCvArucoDictionaryId},
             {"cornerMin", d.cornerMin},
             {"charucoParameters", d.charucoParameters},
             {"detectorParameters", d.detectorParameters},
@@ -118,10 +116,10 @@ namespace YACCP::Config {
 
 
     inline void from_json(const nlohmann::json& j, DetectionConfig& d) {
-        j.at("openCvDictionaryId").get_to(d.openCvDictionaryId);
-        j.at("cornerMin").get_to(d.cornerMin);
-        j.at("charucoParameters").get_to(d.charucoParameters);
-        j.at("detectorParameters").get_to(d.detectorParameters);
+        (void)j.at("openCvDictionaryId").get_to(d.openCvArucoDictionaryId);
+        (void)j.at("cornerMin").get_to(d.cornerMin);
+        (void)j.at("charucoParameters").get_to(d.charucoParameters);
+        (void)j.at("detectorParameters").get_to(d.detectorParameters);
     }