SE-2715

disparity/README.md

@@ -15,25 +15,25 @@ The Python script shows how to programmatically
 
 ## Setup
 
-Change the following demo parameters to your desired settings in the ```demo.py``` file.
-
-| ***Parameter*** | ***Description*** |
-|-----------------|------------------------------------------------------------------------------------------------|
-| ```mac``` | (optional) The MAC address of the camera. Assumes the first available camera if not specified. |
-| ```offsety1``` | (optional) The Y offset of the right image. Default 440. | 
-| ```image``` | (optional) Decide whether to stream the left image with disparity. |
-| ```cost_path```  | (optional) Sets disparity cost path |
-| ```crosscheck```  | (optional) Sets crosscheck value |
-| ```subpixel``` | (optional) Set sub-pixel value |
-| ```blockwidth```  | (optional) block size width |
-| ```blockheight```  | (optional) block size height |
-| ```mindisparity```  | (optional) minimum disparity |
-| ```numdisparity```  | (optional) number of disparity |
-| ```vsearch``` | (optional) Set vertical search |
-| ```threshold```  | (optional) set threshold |
-| ```uniqueness```  | (optional) set uniqueness ratio |
-| ```penalty1``` | (optional) set penalty1 |
-| ```penalty2``` | (optional) set penalty2 |
+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. |
+| ```--offsety1```  | (optional) The Y offset of the right image. Default 440. | 
+| ```--image```  | (optional) Decide whether to stream the left image with disparity. |
+| ```--cost_path``` | (optional) Sets disparity cost path |
+| ```--crosscheck``` | (optional) Sets crosscheck value |
+| ```--subpixel``` | (optional) Set sub-pixel value |
+| ```--blockwidth``` | (optional) block size width |
+| ```--blockheight``` | (optional) block size height |
+| ```--mindisparity``` | (optional) minimum disparity |
+| ```--numdisparity``` | (optional) number of disparity |
+| ```--vsearch```  | (optional) Set vertical search |
+| ```--threshold``` | (optional) set threshold |
+| ```--uniqueness``` | (optional) set uniqueness ratio |
+| ```--penalty1``` | (optional) set penalty1 |
+| ```--penalty2``` | (optional) set penalty2 |
 ## Usage
 
 ```bash

disparity/demo.py

@@ -92,6 +92,18 @@ def check_stereo(device: eb.PvDeviceGEV, image: bool):
  multipart = device_params.Get('GevSCCFGMultiPartEnabled')
  multipart.SetValue(image)
 
+
+def enable_undistort_rectify(device: eb.PvDeviceGEV):
+ """
+ Enables undistortion and rectification
+ :param device: The device
+ """
+ if not is_stereo(device):
+ raise RuntimeError('Sparse3D supported only on Bottlenose stereo.')
+
+ # Get device parameters
+ device_params = device.GetParameters()
+
  # Turn on rectification
  rectify = device_params.Get("Rectification")
  rectify.SetValue(True)
@@ -316,6 +328,8 @@ def acquire_data(device, stream, invalid):
  if bn_device is not None:
  check_stereo(device=bn_device, image=args.image)
  set_y1_offset(device=bn_device, value=args.offsety1)
+
+ enable_undistort_rectify(device=bn_device)
  enable_disparity(device=bn_device)
  configure_disparity(device=bn_device, params=args)
 

keypoints/README.md

@@ -1,27 +1,32 @@
 # Simple Keypoint Sample
 
-This is a modified version of the streaming demo that shows how to transmit the key points from Bottlenose.
+This demo shows how to stream keypoints from a Bottlenose camera.
 
-Please use ```eBusPlayer``` first to configure the image quality, gain, and exposure settings.
+This example assumes that any other settings related to image quality such as `exposure`, `gain`, and `CCM` is properly set. Please use `Stereo Viewer` or `eBusPlayer` to configure the image quality to your like.
 
 The Python script shows how to programmatically enable chunk data transmission for 
-[Fast9](https://en.wikipedia.org/wiki/Features_from_accelerated_segment_test) key points.
+[FAST](https://en.wikipedia.org/wiki/Features_from_accelerated_segment_test) and GFTT key points.
 
 ## Setup
 
-Change the following demo parameters to your desired settings in the ```demo.py``` file.
+Change the following demo parameters to your desired settings.
 
-| ***Parameter*** | ***Description*** |
-|-------------------------------|-------------------------------------------------|
-| ```max_fast_features``` | Maximum number of keypoints to transmit. |
-| ```fast_threshold``` | Threshold for the Fast9 algorithm. |
-| ```use_non_max_suppression``` | Whether to use non-maximum suppression. |
+| ***Parameter*** | ***Description*** |
+|----------------------|------------------------------------------------------------------------------------------------|
+| ```--mac``` | (optional) The MAC address of the camera. Assumes the first available camera if not specified. |
+| `--corner_type` | (optional) One of the feature point detector [FAST, GFTT]. Default=FAST |
+| `--gftt_detector` | (optional) Underlying detector for GFTT. One of [Harris, MinEigenValue]. Default=Harris |
+| ```--max_features``` | (optional) Maximum number of keypoints to transmit. Default = 1000 |
+| `--quality_level` | (optional) Quality level for GFTT. Default = 500 |
+| `--min_distance` | (optional) Minimum distance between detected points with GFTT. Default = 15 |
+| `--paramk` | (optional) Free parameter `k` for GFTT. Default = 0 |
+| ```--threshold``` | (optional) Threshold for the FAST algorithm. Default=20 |
+| ```--nms``` | (optional) Set to use non-maximum suppression with FAST. Default=false |
 
 ## Usage
 
 ```bash
-python demo.py ?MAC
-# MAC - (optional) mac address of Bottlenose to connect to or first one
+python demo.py <parameters>
 ```
 
 ----