Fix a couple of typos

data/yarpmanager/tests/xml/modules/fakeFrameGrabber.xml

@@ -27,7 +27,7 @@
         <param default="10.0" required="no" desc="Radial distortion coefficient of the lens(fake)">k3</param>
         <param default="11.0" required="no" desc="Tangential distortion of the lens(fake)">t1</param>
         <param default="12.0" required="no" desc="Tangential distortion of the lens(fake)">t2</param>
-        <param default="1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0" required="no" desc="Matrix that describes the lens' distortion(fake)">retificationMatrix</param>
+        <param default="1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0" required="no" desc="Matrix that describes the lens' distortion(fake)">rectificationMatrix</param>
         <param default="FishEye" required="no" desc="Reference to group of parameters describing the distortion model of the camera">distortionModel</param>
     </arguments>
 

data/yarpmanager/tests/xml/modules/test_grabber.xml

@@ -17,7 +17,7 @@
         <param default="5.0" required="no" desc="">focalLengthY</param>
         <param default="6.0" required="no" desc="">principalPointX</param>
         <param default="7.0" required="no" desc="">principalPointY</param>
-        <param default="1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0" required="no" desc="">retificationMatrix</param>
+        <param default="1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0" required="no" desc="">rectificationMatrix</param>
         <param default="FishEye" required="no" desc="">distortionModel</param>
         <param default="8.0" required="no" desc="">k1</param>
         <param default="9.0" required="no" desc="">k2</param>

doc/device_invocation/fakeFrameGrabber_basic.dox

@@ -43,7 +43,7 @@ So this is just an example
 <tr><td>focalLengthY</td><td>Vertical component of the focal length of the fakeFrameGrabber</td><td>5.0</td></tr>
 <tr><td>principalPointX</td><td>X coordinate of the principal point of the fakeFrameGrabber</td><td>6.0</td></tr>
 <tr><td>principalPointY</td><td>Y coordinate of the principal point of the fakeFrameGrabber</td><td>7.0</td></tr>
-<tr><td>retificationMatrix</td><td>Matrix that describes the lens' distortion(fake)</td><td>1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0</td></tr>
+<tr><td>rectificationMatrix</td><td>Matrix that describes the lens' distortion(fake)</td><td>1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0</td></tr>
 <tr><td>distortionModel</td><td>Reference to group of parameters describing the distortion model of the camera</td><td>FishEye</td></tr>
 <tr><td>k1</td><td>Radial distortion coefficient of the lens(fake)</td><td>8.0</td></tr>
 <tr><td>k2</td><td>Radial distortion coefficient of the lens(fake)</td><td>9.0</td></tr>

doc/device_invocation/group_basic.dox

@@ -69,7 +69,7 @@ So this is just an example
 <tr><td>mycam.focalLengthY</td><td>Vertical component of the focal length of the fakeFrameGrabber</td><td>5.0</td></tr>
 <tr><td>mycam.principalPointX</td><td>X coordinate of the principal point of the fakeFrameGrabber</td><td>6.0</td></tr>
 <tr><td>mycam.principalPointY</td><td>Y coordinate of the principal point of the fakeFrameGrabber</td><td>7.0</td></tr>
-<tr><td>mycam.retificationMatrix</td><td>Matrix that describes the lens' distortion(fake)</td><td>1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0</td></tr>
+<tr><td>mycam.rectificationMatrix</td><td>Matrix that describes the lens' distortion(fake)</td><td>1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0</td></tr>
 <tr><td>mycam.distortionModel</td><td>Reference to group of parameters describing the distortion model of the camera</td><td>FishEye</td></tr>
 <tr><td>mycam.k1</td><td>Radial distortion coefficient of the lens(fake)</td><td>8.0</td></tr>
 <tr><td>mycam.k2</td><td>Radial distortion coefficient of the lens(fake)</td><td>9.0</td></tr>

doc/release/master/fix_rectificationMatrix_param.md

@@ -0,0 +1,22 @@
+fix_rectificationMatrix_param {#master}
+-----------------------------
+
+## Libraries
+
+### `sig`
+
+#### `IntrinsicParams`
+
+* Deprecate `YARP_PLUM_BOB` in favour of `YARP_PLUMB_BOB`
+
+
+
+### `dev`
+
+#### `IDepthVisualParams`
+
+* The `retificationMatrix` parameter was renamed `rectificationMatrix`
+
+#### `IRgbVisualParams`
+
+* The `retificationMatrix` parameter was renamed `rectificationMatrix`

src/devices/RGBDRosConversionUtils/RGBDRosConversionUtils.cpp

@@ -175,7 +175,7 @@ bool commonImageProcessor::getIntrinsicParam(yarp::os::Property& intrinsic) cons
     // distortion model
     if (m_lastCameraInfo.distortion_model=="plumb_bob")
     {
-        params.distortionModel.type = YarpDistortion::YARP_PLUM_BOB;
+        params.distortionModel.type = YarpDistortion::YARP_PLUMB_BOB;
         params.distortionModel.k1 = m_lastCameraInfo.D[0];
         params.distortionModel.k2 = m_lastCameraInfo.D[1];
         params.distortionModel.t1 = m_lastCameraInfo.D[2];

src/devices/fakeFrameGrabber/FakeFrameGrabber.cpp

@@ -208,7 +208,7 @@ bool FakeFrameGrabber::open(yarp::os::Searchable& config) {
 
     Value* retM;
     retM=Value::makeList("1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0");
-    intrinsic.put("retificationMatrix",config.check("retificationMatrix",*retM,"Matrix that describes the lens' distortion(fake)"));
+    intrinsic.put("rectificationMatrix",config.check("rectificationMatrix",*retM,"Matrix that describes the lens' distortion(fake)"));
     delete retM;
 
     intrinsic.put("distortionModel",config.check("distortionModel",Value("FishEye"),"Reference to group of parameters describing the distortion model of the camera").asString());

src/devices/usbCamera/linux/V4L_camera.cpp

@@ -510,7 +510,7 @@ bool V4L_camera::fromConfig(yarp::os::Searchable& config)
     configFy = config.check("verticalFov");
     configPPx = config.check("principalPointX");
     configPPy = config.check("principalPointY");
-    configRet = config.check("retificationMatrix");
+    configRet = config.check("rectificationMatrix");
     configDistM = config.check("distortionModel");
     Bottle bt;
     bt = config.findGroup("cameraDistortionModelGroup");
@@ -545,7 +545,7 @@ bool V4L_camera::fromConfig(yarp::os::Searchable& config)
     param.intrinsic.put("focalLengthY", config.check("focalLengthY", Value(0.0), "Vertical component of the focal lenght").asFloat64());
     param.intrinsic.put("principalPointX", config.check("principalPointX", Value(0.0), "X coordinate of the principal point").asFloat64());
     param.intrinsic.put("principalPointY", config.check("principalPointY", Value(0.0), "Y coordinate of the principal point").asFloat64());
-    param.intrinsic.put("retificationMatrix", config.check("retificationMatrix", *retM, "Matrix that describes the lens' distortion"));
+    param.intrinsic.put("rectificationMatrix", config.check("rectificationMatrix", *retM, "Matrix that describes the lens' distortion"));
     param.intrinsic.put("distortionModel", config.check("distortionModel", Value(""), "Reference to group of parameters describing the distortion model of the camera").asString());
     if (bt.isNull()) {
         param.intrinsic.put("name", "");

src/libYARP_dev/src/yarp/dev/IVisualParams.h

@@ -143,7 +143,7 @@ class YARP_dev_API yarp::dev::IRgbVisualParams
      * |  focalLengthY                |      -              | double              | pixel          |   -           |   Yes                            |  Vertical component of the focal length as a multiple of pixel height                  |                                                                       |
      * |  principalPointX             |      -              | double              | pixel          |   -           |   Yes                            |  X coordinate of the principal point                                                   |                                                                       |
      * |  principalPointY             |      -              | double              | pixel          |   -           |   Yes                            |  Y coordinate of the principal point                                                   |                                                                       |
-     * |  retificationMatrix          |      -              | 4x4 double matrix   | -              |   -           |   Yes                            |  Matrix that describes the lens' distortion                                            |                                                                       |
+     * |  rectificationMatrix         |      -              | 4x4 double matrix   | -              |   -           |   Yes                            |  Matrix that describes the lens' distortion                                            |                                                                       |
      * |  distortionModel             |      -              | string              | -              |   -           |   Yes                            |  Reference to group of parameters describing the distortion model of the camera, example 'cameraDistortionModelGroup'       | This is another group's name to be searched for in the config file    |
      * |  cameraDistortionModelGroup  |                     |                     |                |               |                                  |                                                                                        |                                                                       |
      * |                              |   name              | string              | -              |   -           |   Yes                            |  Name of the distortion model, see notes                                               | right now only 'plumb_bob' is supported                               |
@@ -238,7 +238,7 @@ class YARP_dev_API yarp::dev::IDepthVisualParams
      * |  focalLengthY                |      -              | double              | pixel          |   -           |   Yes                            |  Vertical component of the focal length as a multiple of pixel height                  |                                                                       |
      * |  principalPointX             |      -              | double              | pixel          |   -           |   Yes                            |  X coordinate of the principal point                                                   |                                                                       |
      * |  principalPointY             |      -              | double              | pixel          |   -           |   Yes                            |  Y coordinate of the principal point                                                   |                                                                       |
-     * |  retificationMatrix          |      -              | 4x4 double matrix   | -              |   -           |   Yes                            |  Matrix that describes the lens' distortion                                            |                                                                       |
+     * |  rectificationMatrix         |      -              | 4x4 double matrix   | -              |   -           |   Yes                            |  Matrix that describes the lens' distortion                                            |                                                                       |
      * |  distortionModel             |      -              | string              | -              |   -           |   Yes                            |  Reference to group of parameters describing the distortion model of the camera, example 'cameraDistortionModelGroup'       | This is another group's name to be searched for in the config file    |
      * |  cameraDistortionModelGroup  |                     |                     |                |               |                                  |                                                                                        |                                                                       |
      * |                              |   name              | string              | -              |   -           |   Yes                            |  Name of the distortion model, see notes                                               | right now only 'plumb_bob' is supported                               |

src/libYARP_sig/src/yarp/sig/IntrinsicParams.cpp

@@ -29,7 +29,7 @@ void IntrinsicParams::toProperty(yarp::os::Property& intrinsic) const
     intrinsic.put("principalPointY", principalPointY);
     intrinsic.put("stamp", yarp::os::Time::now());
 
-    if (distortionModel.type != YarpDistortion::YARP_PLUM_BOB) {
+    if (distortionModel.type != YarpDistortion::YARP_PLUMB_BOB) {
         intrinsic.put("distortionModel", "none");
         return;
     }
@@ -59,7 +59,7 @@ void IntrinsicParams::fromProperty(const yarp::os::Property& intrinsic)
     if (intrinsic.find("distortionModel").asString() !=  "plumb_bob") {
         return;
     }
-    distortionModel.type = YarpDistortion::YARP_PLUM_BOB;
+    distortionModel.type = YarpDistortion::YARP_PLUMB_BOB;
     distortionModel.k1 = intrinsic.check("k1", yarp::os::Value(0.0)).asFloat64();
     distortionModel.k2 = intrinsic.check("k2", yarp::os::Value(0.0)).asFloat64();
     distortionModel.t1 = intrinsic.check("t1", yarp::os::Value(0.0)).asFloat64();

src/libYARP_sig/src/yarp/sig/IntrinsicParams.h

@@ -29,11 +29,15 @@ namespace sig {
  */
 enum class YarpDistortion : std::int32_t
 {
-    YARP_DISTORTION_NONE, /**< Rectilinear images. No distortion compensation required. */
-    YARP_PLUM_BOB,        /**< Plumb bob distortion model */
-    YARP_FISH_EYE,        /**< Fish eye distortion model */
-    YARP_UNSUPPORTED,     /**< Unsupported distortion model */
-    YARP_DISTORTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
+    YARP_DISTORTION_NONE,  /**< Rectilinear images. No distortion compensation required. */
+    YARP_PLUMB_BOB,        /**< Plumb bob distortion model */
+    YARP_FISH_EYE,         /**< Fish eye distortion model */
+    YARP_UNSUPPORTED,      /**< Unsupported distortion model */
+    YARP_DISTORTION_COUNT, /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
+
+#ifndef YARP_NO_DEPRECATED // Since YARP 3.5
+    YARP_PLUM_BOB YARP_DEPRECATED_MSG("Use YARP_PLUMB_BOB instead") = YARP_PLUMB_BOB, /**< Deprecated name for plumb bob distortion model */
+#endif
 };
 
 /**

tests/libYARP_dev/fakeFrameGrabberTest.cpp

@@ -143,8 +143,8 @@ TEST_CASE("dev::fakeFrameGrabberTest", "[yarp::dev]")
         CHECK(intrinsics.find("t2").asFloat64() == 12.0);  // checking t2
         CHECK(intrinsics.find("distortionModel").asString() == "FishEye"); // checking distorionModel
 
-        // checking the retificationMatrix
-        retM = intrinsics.find("retificationMatrix").asList();
+        // checking the rectificationMatrix
+        retM = intrinsics.find("rectificationMatrix").asList();
         double data[9]= {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
         Vector v(9,data);
         Vector v2;
@@ -263,8 +263,8 @@ TEST_CASE("dev::fakeFrameGrabberTest", "[yarp::dev]")
         CHECK(intrinsics.find("t2").asFloat64() == 12.0);  // checking t2
         CHECK(intrinsics.find("distortionModel").asString() == "FishEye"); // checking distorionModel
 
-        // checking the retificationMatrix
-        retM = intrinsics.find("retificationMatrix").asList();
+        // checking the rectificationMatrix
+        retM = intrinsics.find("rectificationMatrix").asList();
         double data[9]= {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
         Vector v(9,data);
         Vector v2;
@@ -295,8 +295,8 @@ TEST_CASE("dev::fakeFrameGrabberTest", "[yarp::dev]")
         CHECK(Network::exists("/grabber/left/rpc"));
         CHECK(Network::exists("/grabber/right/rpc"));
 
-        // checking the retificationMatrix
-        retM = bt.find("retificationMatrix").asList();
+        // checking the rectificationMatrix
+        retM = bt.find("rectificationMatrix").asList();
         Portable::copyPortable(*retM,v2);
         for(int i=0; i<3; i++) {
             for(int j=0; j<3; j++) {
@@ -347,8 +347,8 @@ TEST_CASE("dev::fakeFrameGrabberTest", "[yarp::dev]")
         CHECK(intrinsics.find("t2").asFloat64() == 12.0);  // checking t2
         CHECK(intrinsics.find("distortionModel").asString() == "FishEye"); // checking distorionModel
 
-        // checking the retificationMatrix
-        retM = intrinsics.find("retificationMatrix").asList();
+        // checking the rectificationMatrix
+        retM = intrinsics.find("rectificationMatrix").asList();
 
         Portable::copyPortable(*retM, v2);
         for(int i=0; i<3; i++) {