Update camera configuration files for devel branch

[Nicogene]

Hi @robotology/all-robotology-developers.

Please, take note of this important announcement only for robots on devel branch.

In the devel branch of yarp a new network wrapper for handling camera devices has been added, which is called grabberDual (class yarp::dev::ServerGrabber), with the aim to replace, one day, the old grabber(class yarp::dev::ServerFrameGrabber) that will be deprecated.
The main feature introduced by grabberDual is the possibility to handle two subdevices (cameras), and to publish the images on two different ports or stitched side-by-side on the same port.
For taking advantage of this new feature, you have to launch. yarpdev --from ServerGrabberDual.ini, where ServerGrabberDual.ini could be:

device grabberDual
capabilities COLOR
period 30
split true
twoCameras true
left_config  left_config.ini
right_config right_config.ini

Where left_config.ini and right_config.ini are the ini files containing the parameters of the left and right camera, e.g. using usbCamera:

device usbCamera 
d /dev/video0

and for dragonfly the format doesn't change, here is an example:

device dragonfly2
width 320
height 240
video_type 1
white_balance 0.506 0.494 
gain 0.312
shutter 0.913
brightness 0
DR2
stamp
sharpness 0.5
hue 0.48
gamma 0.4
saturation 0.271
framerate 30
guid 00b09d0100b96855 

This network wrapper can handle also a single device like the grabber, through the old device subdevice formula. For further information, I refer to the specific documentation.

In robotology/robots-configuration#30 we updated the configuration files for using the dragonfly cameras through the new grabberDual.
Here a brief guide how to configure your robot for taking advantage of these changes.

Configure your robot for using grabberDual

This guide presumes that icub-main and yarp are in devel up to date, and icub-contrib-common correctly installed(see #143 for more detailed information).

1. First of all update robots-configurations (ini files) on pc104:

$ ssh pc104
$ cd $ROBOT_CODE/robots-configurations
$ git checkout devel
$ git pull origin devel
$ cd build && cmake ..
$ make install

make install will copy the folder containing the conf files of your robot ( defined through the env variable YARP_ROBOT_NAME) in ROBOT_CODE\icub-contrib-common\build\share\yarp\robots. Then:

$ rm -rf .local/share/yarp/robots/$YARP_ROBOT_NAME/camera
$ yarp-config robot --import $YARP_ROBOT_NAME/camera

this command will copy $ROBOT_CODE/icub-contrib-common/build/install/share/ICUBcontrib/robots/$YARP_ROBOT_NAME/camera to ~/.local/share/yarp/robots/$YARP_ROBOT_NAME/camera .
2. Then update on your user pc the xml files for launching the new network wrapper through yarpmanager

$ cd $ROBOT_CODE/icub-main
$ git checkout devel
$ git pull origin devel
$ cp $ICUB_ROOT/app/default/scripts/cameras_calib.xml.template ~/.local/share/yarp/applications/cameras_calib.xml
$ cp $ICUB_ROOT/app/default/scripts/cameras_calib_bayer_320_240.xml.template ~/.local/share/yarp/applications/cameras_calib_bayer_320_240.xml
$ cp $ICUB_ROOT/app/default/scripts/cameras_calib_bayer_640_480.xml.template ~/.local/share/yarp/applications/cameras_calib_bayer_640_480.xml

After doing that you will have to change the node names in function of your setup in these xml files.

Please contact me or @barbalberto for any doubt or issue about this procedure or the new network wrapper.