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ros2 camera calibration, tests are strangely failing #376

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ros2 camera calibration, tests are strangely failing #376

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5b22dfe
Initial ROS2 commit.
mjcarroll Oct 18, 2018
843b932
Port depth image proc on ROS2 (#362)
yechun1 Nov 21, 2018
4585b0d
enable rclcpp_register_node_plugins (#368)
yechun1 Dec 5, 2018
975661c
port image_publisher on ROS2 (#366)
yechun1 Dec 7, 2018
4a1532a
Changelogs.
mjcarroll Dec 9, 2018
b244db2
2.0.0
mjcarroll Dec 9, 2018
2ad64b7
ros2 camera calibration, tests are strangely failing
klintan Dec 30, 2018
8614e7b
fixed py3 tar bytes issue
klintan Dec 31, 2018
0450ff3
updated servicecheck to conform to ros2 and an ugly remapping fix for…
klintan Jan 30, 2019
44f7c34
extended the ugly solution for the cameracheck node
klintan Feb 6, 2019
c214cdc
updated some things from anoter image_pipeline fork
klintan Feb 9, 2019
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5 changes: 5 additions & 0 deletions camera_calibration/CHANGELOG.rst
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Original file line number Diff line number Diff line change
@@ -1,3 +1,8 @@
Forthcoming
-----------
* Initial ROS2 commit.
* Contributors: Michael Carroll

1.12.23 (2018-05-10)
--------------------
* camera_checker: Ensure cols + rows are in correct order (`#319 <https://github.com/ros-perception/image_pipeline/issues/319>`_)
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0 ...ration/src/camera_calibration/__init__.py → camera_calibration/__init__.py
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Empty file added camera_calibration/camera_calibration/__init__.py
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34 changes: 18 additions & 16 deletions ...tion/src/camera_calibration/calibrator.py → ...ibration/camera_calibration/calibrator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ class CalibrationException(Exception):
pass

# TODO: Make pattern per-board?
class ChessboardInfo(object):
class ChessboardInfo():
def __init__(self, n_cols = 0, n_rows = 0, dim = 0.0):
self.n_cols = n_cols
self.n_rows = n_rows
Expand Down Expand Up @@ -214,7 +214,7 @@ def _get_circles(img, board, pattern):


# TODO self.size needs to come from CameraInfo, full resolution
class Calibrator(object):
class Calibrator():
"""
Base class for calibration system
"""
Expand Down Expand Up @@ -435,10 +435,11 @@ def lrmsg(self, d, k, r, p):
msg.distortion_model = "rational_polynomial"
else:
msg.distortion_model = "plumb_bob"
msg.D = numpy.ravel(d).copy().tolist()
msg.K = numpy.ravel(k).copy().tolist()
msg.R = numpy.ravel(r).copy().tolist()
msg.P = numpy.ravel(p).copy().tolist()

msg.d = numpy.ravel(d).copy().tolist()
msg.k = numpy.ravel(k).copy().tolist()
msg.r = numpy.ravel(r).copy().tolist()
msg.p = numpy.ravel(p).copy().tolist()
return msg

def lrreport(self, d, k, r, p):
Expand Down Expand Up @@ -522,11 +523,11 @@ def image_from_archive(archive, name):
Used for tarfile loading and unit test.
"""
member = archive.getmember(name)
imagefiledata = numpy.fromstring(archive.extractfile(member).read(), numpy.uint8)
imagefiledata = numpy.frombuffer(archive.extractfile(member).read(), numpy.uint8)
imagefiledata.resize((1, imagefiledata.size))
return cv2.imdecode(imagefiledata, cv2.IMREAD_COLOR)

class ImageDrawable(object):
class ImageDrawable():
"""
Passed to CalibrationNode after image handled. Allows plotting of images
with detected corner points
Expand Down Expand Up @@ -668,10 +669,10 @@ def from_message(self, msg, alpha = 0.0):
""" Initialize the camera calibration from a CameraInfo message """

self.size = (msg.width, msg.height)
self.intrinsics = numpy.array(msg.K, dtype=numpy.float64, copy=True).reshape((3, 3))
self.distortion = numpy.array(msg.D, dtype=numpy.float64, copy=True).reshape((len(msg.D), 1))
self.R = numpy.array(msg.R, dtype=numpy.float64, copy=True).reshape((3, 3))
self.P = numpy.array(msg.P, dtype=numpy.float64, copy=True).reshape((3, 4))
self.intrinsics = numpy.array(msg.k, dtype=numpy.float64, copy=True).reshape((3, 3))
self.distortion = numpy.array(msg.d, dtype=numpy.float64, copy=True).reshape((len(msg.d), 1))
self.R = numpy.array(msg.r, dtype=numpy.float64, copy=True).reshape((3, 3))
self.P = numpy.array(msg.p, dtype=numpy.float64, copy=True).reshape((3, 4))

self.set_alpha(0.0)

Expand Down Expand Up @@ -798,8 +799,8 @@ def do_tarfile_save(self, tf):
""" Write images and calibration solution to a tarfile object """

def taradd(name, buf):
if isinstance(buf, basestring):
s = StringIO(buf)
if isinstance(buf, str):
s = BytesIO(buf.encode('utf-8'))
else:
s = BytesIO(buf)
ti = tarfile.TarInfo(name)
Expand Down Expand Up @@ -1121,8 +1122,9 @@ def do_tarfile_save(self, tf):
[("right-%04d.png" % i, im) for i,(_, _, im) in enumerate(self.db)])

def taradd(name, buf):
if isinstance(buf, basestring):
s = StringIO(buf)
if isinstance(buf, str):
buf = bytes(buf, encoding="utf-8")
s = BytesIO(buf)
else:
s = BytesIO(buf)
ti = tarfile.TarInfo(name)
Expand Down
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