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Notice that undistortion of images is done on robot's side on Ned2 since v5.8.3-b62 #16

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Notice that undistortion of images is done on robot's side on Ned2 since v5.8.3-b62 #16

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2 changes: 1 addition & 1 deletion docs/vision/code_snippets/display_stream_with_workspace.py
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Expand Up @@ -16,7 +16,7 @@
img_compressed = robot.get_img_compressed()
# Uncompressing image
img_raw = vision.uncompress_image(img_compressed)
# Undistorting
# Undistorting (on Ned2, needed only for versions < v5.8.3-b62)
img_undistort = vision.undistort_image(img_raw, mtx, dist)
# Trying to find markers
workspace_found, res_img_markers = vision.debug_markers(img_undistort)
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2 changes: 1 addition & 1 deletion docs/vision/code_snippets/undistort_and_display.py
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Expand Up @@ -17,7 +17,7 @@
img_compressed = robot.get_img_compressed()
# Uncompressing image
img_raw = uncompress_image(img_compressed)
# Undistorting
# Undistorting (on Ned2, needed only for versions < v5.8.3-b62)
img_undistort = undistort_image(img_raw, mtx, dist)

# - Display
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2 changes: 1 addition & 1 deletion docs/vision/code_snippets/vision_pick.py
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Expand Up @@ -53,7 +53,7 @@ def process(niryo_robot):
else: # Home made image processing
img_compressed = niryo_robot.get_img_compressed()
img = vision.uncompress_image(img_compressed)
img = vision.undistort_image(img, mtx, dist)
img = vision.undistort_image(img, mtx, dist) # on Ned2, needed only for versions < v5.8.3-b62
# extracting working area
im_work = vision.extract_img_workspace(img, workspace_ratio=1.0)
if im_work is None:
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4 changes: 4 additions & 0 deletions docs/vision/image_processing_overview.rst
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Expand Up @@ -47,6 +47,10 @@ To undistort the raw image, we use :meth:`~pyniryo.vision.image_functions.undist
which needs to be called with the parameters given by Ned through
:meth:`~pyniryo.api.tcp_client.NiryoRobot.get_camera_intrinsics`.

.. note::
On Ned2 since v5.8.3-b62, undistortion is done on robot's side before being sent.
This step is then not needed anymore if your robot's version is >= v5.8.3-b62

Once, we have both raw & undistorted images, we can concatenate them in order
to display them in once with :meth:`~pyniryo.vision.image_functions.concat_imgs`.
Finally, we display the image :meth:`~pyniryo.vision.image_functions.show_img`.
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2 changes: 1 addition & 1 deletion examples/simple_scripts/video_stream.py
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Expand Up @@ -26,7 +26,7 @@ def video_stream(niyro_robot: NiryoRobot):
img_compressed = niyro_robot.get_img_compressed()
# Uncompressed image
img_raw = vision.uncompress_image(img_compressed)
# Undistorted
# Undistorted (on Ned2, needed only for versions < v5.8.3-b62)
img_undistorted = vision.undistort_image(img_raw, mtx, dist)
# Trying to find markers
workspace_found, res_img_markers = vision.debug_markers(img_undistorted)
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2 changes: 1 addition & 1 deletion examples/vision_demonstrators/1_simple_reference_conditioning.py
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Expand Up @@ -66,7 +66,7 @@ def process(niryo_robot: NiryoRobot):
else: # Home made image processing
img_compressed = niryo_robot.get_img_compressed()
img = vision.uncompress_image(img_compressed)
img = vision.undistort_image(img, mtx, dist)
img = vision.undistort_image(img, mtx, dist) # on Ned2, needed only for versions < v5.8.3-b62
# extracting working area
im_work = vision.extract_img_workspace(img, workspace_ratio=1.0)
if im_work is None:
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2 changes: 2 additions & 0 deletions pyniryo/vision/image_functions.py
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Expand Up @@ -429,6 +429,8 @@ def undistort_image(img, mtx, dist):
"""
Use camera intrinsics to undistort raw image

NOTE: On Ned2 since v5.8.3-b62, undistortion is done on robot's side before being sent.

:param img: Raw Image
:type img: numpy.array
:param mtx: Camera Intrinsics matrix
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