Merge branch 'validator' into dockerfile

Chandanpanda · May 3, 2022 · 76908bd · 76908bd
2 parents c04c6e9 + fc62fc7
commit 76908bd
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/aslam_offline_calibration/kalibr/python/kalibr_camera_validator b/aslam_offline_calibration/kalibr/python/kalibr_camera_validator
@@ -100,7 +100,7 @@ class CameraChainValidator(object):
             edge["A"][cidx_dest] = self.prepareStereoRectificationMaps(cidx_src, cidx_dest)
 
         #register the callback for the synchronized images
-        sync_sub = message_filters.TimeSynchronizer([val.image_sub for val in self.monovalidators],1)
+        sync_sub = message_filters.ApproximateTimeSynchronizer([val.image_sub for val in self.monovalidators], 10, 0.02)
         sync_sub.registerCallback(self.synchronizedCallback)
 
         #initialize message throttler
@@ -120,7 +120,7 @@ class CameraChainValidator(object):
 
             #convert image to numpy
             try:
-                if (msg.encoding == "rgb8"):
+                if (msg.encoding == "rgb8" or msg.encoding == "bgra8"):
                   cv_image = np.squeeze(np.array(self.bridge.imgmsg_to_cv2(msg, "mono8")))
                 else:
                   cv_image = self.bridge.imgmsg_to_cv2(msg)
@@ -192,7 +192,7 @@ class CameraChainValidator(object):
     def generatePairView(self, camAnr, camBnr):
         #prepare the window
         windowName = "Rectified view (cam{0} and cam{1})".format(camAnr, camBnr)
-        cv2.namedWindow(windowName, 1)
+        cv2.namedWindow(windowName, cv2.WINDOW_AUTOSIZE)
 
         #get the mono validators for each cam
         camA = self.monovalidators[camAnr]
@@ -378,7 +378,6 @@ class MonoCameraValidator(object):
 
         self.topic = camConfig.getRosTopic()
         self.windowName = "Camera: {0}".format(self.topic)
-        cv2.namedWindow(self.windowName, 1)
 
         #register the cam topic to the message synchronizer
         self.image_sub = message_filters.Subscriber(self.topic, Image)
@@ -400,6 +399,7 @@ class MonoCameraValidator(object):
 
 
     def generateMonoview(self, np_image, observation, obs_valid):
+        cv2.namedWindow(self.windowName, cv2.WINDOW_AUTOSIZE)
         np_image = cv2.cvtColor(np_image, cv2.COLOR_GRAY2BGR)
 
         if obs_valid:

diff --git a/aslam_offline_calibration/kalibr/python/kalibr_visualize_distortion b/aslam_offline_calibration/kalibr/python/kalibr_visualize_distortion
@@ -97,8 +97,8 @@ def distort(image, distortion_model, distortion_coeffs, focal_lengths,
             distortion_coeffs)
         distorted = denormalize(distorted_normalized, focal_lengths, 
             principal_point)
-        if (int(distorted[0]) < 0 or int(distorted[0]) > image.shape[0] or
-            int(distorted[1]) < 0 or int(distorted[1]) > image.shape[1]):
+        if (int(distorted[0]) < 0 or int(distorted[0]) >= image.shape[0] or
+            int(distorted[1]) < 0 or int(distorted[1]) >= image.shape[1]):
           continue
         distorted_image[int(distorted[0]), int(distorted[1])] = image[i,j]
     return distorted_image