Error on Camera Connect.

[markmorris]

        printf(JSON);
	QJsonObject trackerObj = QJsonDocument::fromJson(JSON).object();

	name = trackerObj["name"].toString();
	exposure = trackerObj["exposure"].toInt();
	iso = trackerObj["iso"].toInt();

	QJsonArray jsonIntrinMat = trackerObj["intrinsic"].toObject()["camera"].toArray();
	QJsonArray jsonIntrinDist = trackerObj["intrinsic"].toObject()["distortion"].toArray();
	QJsonArray jsonExtrinProj = trackerObj["extrinsic"].toObject()["pose"].toArray();

	distCoefs = cv::Mat::zeros(5, 1, CV_64F);
	distCoefs.at<double>(0) = jsonIntrinDist[0].toDouble();
	distCoefs.at<double>(1) = jsonIntrinDist[1].toDouble();
	distCoefs.at<double>(2) = jsonIntrinDist[2].toDouble();
	distCoefs.at<double>(3) = jsonIntrinDist[3].toDouble();
	distCoefs.at<double>(4) = jsonIntrinDist[4].toDouble();

	camMat = cv::Mat::eye(3, 3, CV_64F);
	camMat.at<double>(0, 0) = jsonIntrinMat[0].toDouble();
	camMat.at<double>(1, 0) = jsonIntrinMat[1].toDouble();
	camMat.at<double>(2, 0) = jsonIntrinMat[2].toDouble();
	camMat.at<double>(0, 1) = jsonIntrinMat[3].toDouble();
	camMat.at<double>(1, 1) = jsonIntrinMat[4].toDouble();
	camMat.at<double>(2, 1) = jsonIntrinMat[5].toDouble();
	camMat.at<double>(0, 2) = jsonIntrinMat[6].toDouble();
	camMat.at<double>(1, 2) = jsonIntrinMat[7].toDouble();
	camMat.at<double>(2, 2) = jsonIntrinMat[8].toDouble();

Culprit.

distCoefs.at<double>(0) = jsonIntrinDist[0].toDouble();

[markmorris]

So I noticed this was pulling the JSON Data from the camera. However, if there is no data present it will error. To fix this I added some blank values to the config.json on the camera software (mocap.py).

config = {
    'name': 'Camera',
    'mask': tempMask,
    'fps': 60,
    'exposure': 20000,
    'iso': 800,
    'intrinsic': {
        'camera': [0, 0, 0, 0, 0, 0, 0, 0, 0],
        'distortion': [0, 0, 0, 0, 0]
    },
    'extrinsic': {
        'pose': [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
    }
}

This will solve the errors here. I now have a live feed on the camera.

[Rob2048]

Nice find. I'm going to leave these issues open, just so that they are known problems with the system until fixed properly.