Updated chunk parser, lint fix

common/chunk_parser.py

@@ -243,9 +243,6 @@ def decode_chunk_pointcloud(data):
         x = np.frombuffer(data[i:i + 4], dtype=dt)
         y = np.frombuffer(data[i + 4:i + 8], dtype=dt)
         z = np.frombuffer(data[i + 8:i + 12], dtype=dt)
-        # # FIXME: premature abort if decoding fails
-        # if len(x) == 0 or len(y) == 0 or len(z) == 0:
-        #     return points
         pt = Point3D(x[0], y[0], z[0])
         points.append(pt)
 

sparse3d/README.md

@@ -3,8 +3,9 @@
 ***This demo requires Bottlenose Stereo, it will not work with Bottlenose Mono.***
 
 This example assumes that:
-- your camera is properly [calibrated and the calibration parameters uploaded the camera](). Checkout the [calibration example](../calibration/README.md) to see how to upload your parameters.
-- all the image quality related settings such as `exposure`, `gain`, and `CCM` are set. Please use `Stereo Viewer` or `eBusPlayer` to configure the image quality to your like.
+ * your camera is properly [calibrated and the calibration parameters uploaded the camera](https://docs.labforge.ca/docs/calibration). 
+   * Use the Bottlenose Utility or checkout the [calibration example](../calibration/README.md) to see how to upload your parameters.
+ * all the image quality related settings such as `exposure`, `gain`, and `CCM` are set. Please use `Stereo Viewer` or `eBusPlayer` to configure the image quality to your liking.
 
 The Python script shows how to programmatically 
 - set keypoint parameters, only [FAST](https://en.wikipedia.org/wiki/Features_from_accelerated_segment_test) is shown, but can be adapted for [GFTT](https://ieeexplore.ieee.org/document/323794). 
@@ -14,7 +15,7 @@ The Python script shows how to programmatically
 ## Output
 
 The script will display the feature points that are detected in the left image that also
-have valid 3d correspondences. Each valid frame will yield a `ply` and `png` file that can be viewed with a 3D 
+have valid 3d correspondences. Each valid frame will yield a `ply` and `png` files that can be viewed with a 3D 
 viewer such as [MeshLab](https://www.meshlab.net/). For example,
 
 ```
@@ -25,14 +26,17 @@ python demo.py --mac <mac> --offsety1 <offset_from_calibration>
 
 Set the following arguments to the ```demo.py``` file to change demo behavior.
 
-| ***Parameter***        | ***Description***                                                                              |
-|------------------------|------------------------------------------------------------------------------------------------|
-| ```--mac```            | (optional) The MAC address of the camera. Assumes the first available camera if not specified. |
-| ```--max_keypoints```  | (optional) Maximum number of keypoints to detect. Default 100.                                 |
-| ```--fast_threshold``` | (optional) Keypoint threshold for the Fast9 algorithm. Default 20.                             |
-| ```--match_xoffset```  | (optional) Matcher horizontal search range. Default 0.                                         |
-| ```--match_yoffset```  | (optional) Matcher vertical search range. Default 0.                                           |
-| ```--offsety1```       | (optional) The Y offset of the right image. Default 440.                                       | 
+| ***Parameter***        | ***Description***                                                                               |
+|------------------------|-------------------------------------------------------------------------------------------------|
+| ```--mac```            | (optional) The MAC address of the camera. Assumes the first available camera if not specified.  |
+| ```--max_keypoints```  | (optional) Maximum number of keypoints to detect. Default 1000.                                 |
+| ```--fast_threshold``` | (optional) Keypoint threshold for the Fast9 algorithm. Default 10.                              |
+| ```--match_xoffset```  | (optional) Matcher horizontal search range. Default 0 (use existing value)                      |
+| ```--match_yoffset```  | (optional) Matcher vertical search range. Default 0 (use existing value)                        |
+| ```--offsety1```       | (optional) The Y offset of the right image. Default 440.                                        |
+| ```--min_threshold```  | (optional) Minimum threshold to accept a matched keypoint. Default 40.                          |
+|```--ratio_threshold``` | (optional) Ratio threshold. Default 1023                                                        |
+
 ## Usage
 
 ```bash

sparse3d/demo.py

@@ -24,7 +24,6 @@
 import argparse
 import eBUS as eb
 import cv2
-import math
 import numpy as np
 
 
@@ -42,15 +41,15 @@ def parse_args():
     parser.add_argument("-m", "--mac", default=None, help="MAC address of the Bottlenose camera")
     parser.add_argument("-k", "--max_keypoints", type=int, default=1000, choices=range(1, 65535),
                         help="Maximum number of keypoints to detect")
-    parser.add_argument("-t", "--fast_threshold", type=int, default=20, choices=range(0, 255),
+    parser.add_argument("-t", "--fast_threshold", type=int, default=10, choices=range(0, 255),
                         help="Keypoint threshold for the Fast9 algorithm")
     parser.add_argument("-x", "--match_xoffset", type=int, default=0, choices=range(-4095, 4095),
                         help="Matcher horizontal search range.")
     parser.add_argument("-y", "--match_yoffset", type=int, default=0, choices=range(-4095, 4095),
                         help="Matcher vertical search range.")
     parser.add_argument("-y1", "--offsety1", type=int, default=440, choices=range(0, 880),
                         help="Matcher vertical search range.")
-    parser.add_argument("-n", "--min_threshold", type=int, default=500, help="Matcher vertical search range.")
+    parser.add_argument("-n", "--min_threshold", type=int, default=40, help="Matcher vertical search range.")
     parser.add_argument("-r", "--ratio_threshold", type=int, default=1023, help="Matcher vertical search range.")
     return parser.parse_args()