iCub Basic Image Processing question

[vtikha]

From @accateo on February 25, 2017 10:37

Hi,
I'm trying to follow the "Basic Image Processing" tutorial of iCub:

http://wiki.icub.org/brain/icub_basic_image_processing.html

I have connected the image source, but I don't understand where I should see these messages:

We got an image of size 320x240
We got an image of size 320x240
We got an image of size 320x240
...
in what terminal?
Second question: why in the iCub_Sim terminal I have always this warning?

[WARNING]the simulation is too slow to run in real-time, you should increase the timestep in ode_params.ini (current value: xx, suggested value: xx)

I have also changed the timestep value in ode_params.ini file, but the warning remains and change its value.

Thanks

Copied from original issue: robotology/mesh-support#410

[vtikha]

Hi @accateo, first of all, please use the Q&A for any questions you have and not the icub-support which is a repository used to signal failures/repairs or ask for hardware/software questions regarding the physical iCub robots and their respective setups. I will close this and reopen it in the proper repo.

[vtikha]

@accateo please tend to ask one question per issue, this just makes things simpler to track. In any case:

1. tutorial basically generates two different programs. One called findLocation and one lookAtLocation. The first one, findLocation basically generates the prints you are looking for:
   If you have copied the code from the online tutorial, then these prints happen in the terminal where you run the findLocation module.
   If on the other hand you are using the icub-tutorial repository, just uncomment this line from the findLocation.cpp and recompile. This will now display the printouts at every frame.
   The second one, lookAtLocation program basically moves the head towards the bluish object located on the table.

2. The warning you see in the iCub_Sim is just telling you that your system is not able to make it run in real time.
   This is not tragic at your stage, but I am guessing that you are using all the parts of the iCub_Sim. Try removing some parts in the iCub_parts_activation.ini file.
   Depending on the installation you followed, locate this file and set the parts that you do not need to off eg: left_hand off and right_hand off etc ...
   In order to easily locate this file run the following command in a terminal: yarp resource --context simConfig --from iCub_parts_activation.ini
   This will provide the full path to the file that is loaded by the simulator at runtime, therefore just edit that one. Since you are editing the file, make sure that objects are set to on to load the table and blue ball that are needed for the tutorial.
   Please find some further documentation on the simulator here

[accateo]

Thanks for the second question.
For the first question instead, what do you mean with "these prints happen in the terminal where you run the findLocation module.". I have different terminal: yarp server, icub sim, icub view.
I connect the image using the command:

yarp connect /icubSim/cam/left /tutorial/image/in
Should I open other terminals?

[vtikha]

@accateo where do you run the executable findLocation? What is icub view? I am assuming you mean yarpview. How does the /tutorial/image/in even get created? is that the port name you are giving to the yarpview? Then you are seeing images from the simulator's camera on the yarpview correct?

[vtikha]

@accateo what to run in terminals (I am assuming you are following the tutorial and compiled code)

- yarpserver
- iCub_SIM
- findLocation 
- yarp connect /icubSim/cam/left /tutorial/image/in

/tutorial/image/in is the port opened by the findLocation module from the tutorial

[accateo]

Sorry, but "findLocation" terminal how can I open it?
I have already generated yarpy executable file...

[pattacini]

Hi @accateo

What @vtikha pointed out is simply that those printout messages are showing up in the terminal from which you run the findLocation executable.

Can you launch the tutorial again to verify that?

[vtikha]

Hi @accateo ok now I get it, so, you created a findLocation.cpp file, copied the example code from the tutorial and did

yarp cmake

Then you compiled and this generated a yarpy executable. What you did not do is rename the file as mentioned by replacing the project name yarpy in following line of the CMakeLists.txt with findLocation or whatever you would like to.

set(KEYWORD "yarpy")

So, no worries, now just run the yarpy executable (or whatever you chose if you changed the project name as mentioned above) in a terminal instead of findLocation as previously mentioned:

- yarpserver
- iCub_SIM
- yarpy 
- yarp connect /icubSim/cam/left /tutorial/image/in

You should now be ok

[accateo]

The problem is that I have exactly done the things that you have described, but these messages don't appear. Anyway is not important, the rest of the simulation works.
Thank you

[vtikha]

@accateo can you post the code here please? I am referring to the code that is used to generate the yarpy executable. If you followed the tutorial it should be called find_location.cpp

[accateo]

#include <stdio.h>
#include <yarp/os/all.h>
#include <yarp/sig/all.h>

using namespace yarp::os;
using namespace yarp::sig;

int main() {
    Network yarp; // set up yarp
    BufferedPort<ImageOf<PixelRgb> > imagePort;  // make a port for reading images
    imagePort.open("/tutorial/image/in");  // give the port a name
    while (1) { 
        ImageOf<PixelRgb> *image = imagePort.read();  // read an image
        if (image!=NULL) { // check we actually got something
            printf("We got an image of size %dx%d\n", image->width(), image->height());
        }
    }
    return 0;
}

[vtikha]

@accateo you are probably not running the code or not connecting as everything is in order.
If there is an image coming in it will print the message. Could you perform a small test?
After running the yarpserver and the iCub_SIM, could you launch the following commands in a terminal?

yarpview --name /viewLeft 

and in another one do

yarp connect /icubSim/cam/left /view/Left

Can you confirm that you see an image displayed in the yarpviewer?

[accateo]

@vtikha yes, I have already done that two commands and I saw the image from the icub's left eye...

[vtikha]

@accateo then it is impossible that you do not see the printouts unless the connections you are doing and executable that you are launching are not correct.
I am referring to the excerpt of the above snippet:

ImageOf<PixelRgb> *image = imagePort.read();  // read an image
if (image!=NULL) { // check we actually got something
    printf("We got an image of size %dx%d\n", image->width(), image->height());
}

[accateo]

I know that is really strange, i don't know. But I repeat, it is not important.
Thanks for the patience

[pattacini]

Ok then, I think we can close this issue.