YARP video viewer issues

[patrickshas]

Hi all,
So we are displaying a processed video feed "icub/cameracalib/right/out" using a viewer port. The python process which creates this video feed takes in the undistorted right eye video feed and does some processing, adding a bounding box and some vectors to the video feed before it is displayed. As it could be seen in the video attached here (once the computational load gets heavy/ we are assuming this is what's happening) the displayed video starts switching between distorted and undistorted.
Any ideas what is happening here?
Thanks in advance.

001.mp4

[pattacini]

Hi @patrickshas

Would you be willing to repeat your experiment keeping an eye on the uncalibrated images too?
You can connect the two viewers above on the left to the uncalibrated streams provided via the ports /icub/cam/left and /icub/cam/right.

This way, we should be able to confirm whether camCalib is playing a role here.

[patrickshas]

Hi @pattacini,
I am attaching the requested video here.
Seems like the issue is not present when using the uncalibrated stream.

camera-2024-02-28_14.43.00.mp4

[pattacini]

Hi @patrickshas

Another test to perform for us.
Could you please run a yarp ping for all the ports involved here and report the output?

For example:

yarp ping /icub/cam/left

Let's ping all the ports:

• /icub/cam/[left|right]
• /icub/camcalib/[left|right]/[in|out]
• /icub/view/[left|right]
• your module's input ports

Ideally, we should do that for both conditions: when you use calibrated and uncalibrated images.

Thanks!

[patrickshas]

Hello @pattacini,
Here are the results for that test.
Apologies for the delay,
Thanks again

ping test.txt

[pattacini]

Hi @patrickshas

From the log, everything seems to be in order from the standpoint of cam/camcalib YARP port connections.

For doubt's sake, could you yarp ping the input ports opened by your module, in both cases, with calibrated and with uncalibrated images?

• yarp ping /ptgaze-in-left
• yarp ping /ptgaze-in-right

Also, a few other steps that would help debug the problem:

• I assume that the system was working as expected some time ago and then started misbehaving. What happened? Any SW update?
• What is the version of icub-main you're building? Git tag or Git hash are ok.
• You may consider dumping the calibrated images streamed out by camCalib via the tool yarpdatadumper. Then, you could zip them and post the archive here.