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Fix cam name var #105

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merged 5 commits into from
Nov 16, 2023
Merged

Fix cam name var #105

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67f9c50
making spawn changes and adding double handed cargo
marinagmoreira Jun 22, 2023
719b744
Merge branch 'develop' of github.com:nasa/isaac into develop
marinagmoreira Jun 27, 2023
58176a9
Merge branch 'develop' of github.com:nasa/isaac into develop
marinagmoreira Jul 19, 2023
717fb29
fixing bug where cam_name wasn't initialized
marinagmoreira Nov 15, 2023
589f98f
adding things from review and some bugfixes
marinagmoreira Nov 16, 2023
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2 changes: 1 addition & 1 deletion analyst/tools/query_view_points.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -114,7 +114,7 @@ int main(int argc, char** argv) {
new geometry_msgs::Transform(msg_conversions::eigen_transform_to_ros_transform(transform_body_to_cam)));

camera::CameraParameters cam_params(&config, FLAGS_camera.c_str());
inspection::CameraView camera(cam_params, 2.0, 0.19, msg_pointer);
inspection::CameraView camera(FLAGS_camera.c_str(), cam_params, 2.0, 0.19, msg_pointer);


// Extract the input list from the command-line argument
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2 changes: 1 addition & 1 deletion astrobee/behaviors/inspection/include/inspection/camera_projection.h
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Expand Up @@ -69,7 +69,7 @@ class CameraView : public camera::CameraModel {
// f: far clip, maximum camera distance (m)
// n: near clip, minimum camera distance (m)
// cam_transform: transform from body->camera, useful for offline applications where tf is not available
CameraView(const camera::CameraParameters & params, const float f = 2.0, const float n = 0.19,
CameraView(const std::string, const camera::CameraParameters & params, const float f = 2.0, const float n = 0.19,
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Suggested change
CameraView(const std::string, const camera::CameraParameters & params, const float f = 2.0, const float n = 0.19,
CameraView(const std::string& cam_name, const camera::CameraParameters & params, const float f = 2.0, const float n = 0.19,

(Usually better to pass std::string as ref to avoid unnecessary extra copy, also style consistency of including the argument name.)

const geometry_msgs::Transform::ConstPtr cam_transform = NULL);


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7 changes: 3 additions & 4 deletions astrobee/behaviors/inspection/src/camera_projection.cc
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Expand Up @@ -34,10 +34,9 @@ namespace inspection {
the camera frame and the other way around. It automatically reads the camera parameters
from the config files based on the camera name, such that no setup is necessary.
*/
CameraView::CameraView(const camera::CameraParameters & params, const float f, const float n,
CameraView::CameraView(const std::string cam_name, const camera::CameraParameters& params, const float f, const float n,
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Suggested change
CameraView::CameraView(const std::string cam_name, const camera::CameraParameters& params, const float f, const float n,
CameraView::CameraView(const std::string& cam_name, const camera::CameraParameters& params, const float f, const float n,

const geometry_msgs::Transform::ConstPtr cam_transform)
: camera::CameraModel(params), f_(f), n_(n) {

: cam_name_(cam_name), camera::CameraModel(params), f_(f), n_(n) {
// Get relative camera position
if (cam_transform == NULL) {
// Create a transform buffer to listen for transforms
Expand Down Expand Up @@ -147,7 +146,7 @@ bool CameraView::InsideTarget(std::vector<int> vert_x, std::vector<int> vert_y,
double size_y) {
// Create depth cam camera model
static camera::CameraParameters depth_cam_params(&cfg_cam_, (depth_cam_name + "_cam").c_str());
CameraView depth_cam(depth_cam_params, f_, n_);
CameraView depth_cam(depth_cam_name, depth_cam_params, f_, n_);

// Get most recent depth message
std::string cam_prefix = TOPIC_HARDWARE_PICOFLEXX_PREFIX;
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10 changes: 6 additions & 4 deletions astrobee/behaviors/inspection/src/inspection.cc
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Expand Up @@ -436,8 +436,9 @@ bool Inspection::GenerateAnomalySurvey(geometry_msgs::PoseArray &points_anomaly)
curr_camera_ = cam_name.c_str();
if (cameras_.find(cam_name) == cameras_.end()) {
static camera::CameraParameters cam_params(&cfg_cam_, cam_name.c_str());
cameras_.emplace(std::piecewise_construct, std::make_tuple(cam_name),
std::make_tuple(cam_params, cfg_->Get<double>("max_distance"), cfg_->Get<double>("min_distance")));
cameras_.emplace(
std::piecewise_construct, std::make_tuple(cam_name),
std::make_tuple(cam_name, cam_params, cfg_->Get<double>("max_distance"), cfg_->Get<double>("min_distance")));
}


Expand Down Expand Up @@ -523,8 +524,9 @@ bool Inspection::GeneratePanoramaSurvey(geometry_msgs::PoseArray &points_panoram
curr_camera_ = cam_name.c_str();
if (cameras_.find(cam_name) == cameras_.end()) {
static camera::CameraParameters cam_params(&cfg_cam_, cam_name.c_str());
cameras_.emplace(std::piecewise_construct, std::make_tuple(cam_name),
std::make_tuple(cam_params, cfg_->Get<double>("max_distance"), cfg_->Get<double>("min_distance")));
cameras_.emplace(
std::piecewise_construct, std::make_tuple(cam_name),
std::make_tuple(cam_name, cam_params, cfg_->Get<double>("max_distance"), cfg_->Get<double>("min_distance")));
}

geometry_msgs::PoseArray panorama_relative;
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2 changes: 1 addition & 1 deletion pano/pano_view/tools/find_point_coordinate.cc
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Expand Up @@ -215,7 +215,7 @@ int main(int argc, char** argv) {
new geometry_msgs::Transform(msg_conversions::eigen_transform_to_ros_transform(transform_body_to_cam)));

camera::CameraParameters cam_params(&config, camera_name.c_str());
inspection::CameraView camera(cam_params, 2.0, 0.19, msg_pointer);
inspection::CameraView camera(camera_name.c_str(), cam_params, 2.0, 0.19, msg_pointer);
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Suggested change
inspection::CameraView camera(camera_name.c_str(), cam_params, 2.0, 0.19, msg_pointer);
inspection::CameraView camera(camera_name, cam_params, 2.0, 0.19, msg_pointer);

(Converting to char * shouldn't be needed here unless I missed something.)

camera.SetTransform((msg_conversions::ros_pose_to_eigen_transform(ground_truth) * transform_body_to_cam).inverse());


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