changes for python 2.x to compile, and 16.04 kinetic and 18.04 melodi…

…c dockers
Chandanpanda · Apr 19, 2022 · bb638ff · bb638ff
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commit bb638ff
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diff --git a/.github/workflows/docker_build.yaml b/.github/workflows/docker_build.yaml
@@ -4,6 +4,36 @@ name: Docker
 on: [push, pull_request] # on all pushes and PRs
 
 jobs:
+  build_1604:
+    name: "ROS1 Ubuntu 16.04"
+    runs-on: ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v2
+      - name: Create Workspace
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
+          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/
+      - name: Build Docker
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          docker build -t kalibr -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_16_04 .
+  build_1804:
+    name: "ROS1 Ubuntu 18.04"
+    runs-on: ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v2
+      - name: Create Workspace
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
+          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/
+      - name: Build Docker
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          docker build -t kalibr -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_18_04 .
   build_2004:
     name: "ROS1 Ubuntu 20.04"
     runs-on: ubuntu-latest

diff --git a/Dockerfile_ros1_16_04 b/Dockerfile_ros1_16_04
@@ -0,0 +1,56 @@
+FROM osrf/ros:kinetic-desktop-full
+
+
+# Dependencies we use, catkin tools is very good build system
+# https://github.com/ethz-asl/kalibr/wiki/installation
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive \
+	apt-get install -y \
+	git wget autoconf automake \
+	python2.7-dev python-pip python-scipy python-matplotlib \
+	ipython python-wxgtk3.0 python-tk python-igraph \
+	libeigen3-dev libboost-all-dev libsuitesparse-dev \
+	doxygen \
+	libopencv-dev \
+	libpoco-dev libtbb-dev libblas-dev liblapack-dev libv4l-dev \
+	python-catkin-tools
+
+
+# Create the workspace and build kalibr in it
+ENV WORKSPACE /catkin_ws
+
+RUN mkdir -p $WORKSPACE/src && \
+	cd $WORKSPACE && \
+	catkin init && \
+	catkin config --extend /opt/ros/kinetic && \
+	catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+ADD . $WORKSPACE/src/kalibr
+# RUN cd $WORKSPACE/src &&\
+# 	git clone https://github.com/ori-drs/kalibr.git
+
+RUN	cd $WORKSPACE &&\
+	catkin build -j$(nproc)
+
+
+# When a user runs a command we will run this code before theirs
+# This will allow for using the manual focal length if it fails to init
+# https://github.com/ethz-asl/kalibr/pull/346
+ENTRYPOINT export KALIBR_MANUAL_FOCAL_LENGTH_INIT=1 && \
+	# /bin/bash -c "source \"$WORKSPACE/devel/setup.bash\"" && \ 
+	cd $WORKSPACE && \
+	/bin/bash
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Dockerfile_ros1_18_04 b/Dockerfile_ros1_18_04
@@ -0,0 +1,50 @@
+FROM osrf/ros:melodic-desktop-full
+
+
+# Dependencies we use, catkin tools is very good build system
+# https://github.com/ethz-asl/kalibr/wiki/installation
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive \
+	apt-get install -y \
+	git wget autoconf automake nano \
+	python3-dev python-pip python-scipy python-matplotlib \
+	ipython python-wxgtk4.0 python-tk python-igraph \
+	libeigen3-dev libboost-all-dev libsuitesparse-dev \
+	doxygen \
+	libopencv-dev \
+	libpoco-dev libtbb-dev libblas-dev liblapack-dev libv4l-dev \
+	python-catkin-tools
+
+
+# Create the workspace and build kalibr in it
+ENV WORKSPACE /catkin_ws
+
+RUN mkdir -p $WORKSPACE/src && \
+	cd $WORKSPACE && \
+	catkin init && \
+	catkin config --extend /opt/ros/melodic && \
+	catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+ADD . $WORKSPACE/src/kalibr
+# RUN cd $WORKSPACE/src &&\
+# 	git clone https://github.com/ori-drs/kalibr.git
+
+RUN	cd $WORKSPACE &&\
+	catkin build -j$(nproc)
+
+
+# When a user runs a command we will run this code before theirs
+# This will allow for using the manual focal length if it fails to init
+# https://github.com/ethz-asl/kalibr/pull/346
+ENTRYPOINT export KALIBR_MANUAL_FOCAL_LENGTH_INIT=1 && \
+	# /bin/bash -c "source \"$WORKSPACE/devel/setup.bash\"" && \ 
+	cd $WORKSPACE && \
+	/bin/bash
+
+
+
+
+
+
+
+
+
diff --git a/Dockerfile_ros1_20_04 b/Dockerfile_ros1_20_04
@@ -5,16 +5,14 @@ FROM osrf/ros:noetic-desktop-full
 # https://github.com/ethz-asl/kalibr/wiki/installation
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive \
 	apt-get install -y \
-	git wget autoconf automake \
+	git wget autoconf automake nano \
 	python3-dev python3-pip python3-scipy python3-matplotlib \
-	ipython3 python3-wxgtk4.0 python3-tk \
+	ipython3 python3-wxgtk4.0 python3-tk python3-igraph \
 	libeigen3-dev libboost-all-dev libsuitesparse-dev \
 	doxygen \
 	libopencv-dev \
 	libpoco-dev libtbb-dev libblas-dev liblapack-dev libv4l-dev \
 	python3-catkin-tools python3-osrf-pycommon
-RUN python3 -m pip install --upgrade pip; \
-	python3 -m pip install python-igraph --upgrade
 
 
 # Create the workspace and build kalibr in it

diff --git a/Schweizer-Messer/sm_python/python/sm/Progress.py b/Schweizer-Messer/sm_python/python/sm/Progress.py
@@ -1,3 +1,4 @@
+from __future__ import print_function #handle print in 2.x python
 import time
 import datetime
 import sys

diff --git a/aslam_offline_calibration/kalibr/python/kalibr_bagextractor b/aslam_offline_calibration/kalibr/python/kalibr_bagextractor
@@ -69,8 +69,8 @@ if parsed.image_topics is not None:
         iProgress.sample()
 
       print("\r      done.                                                          ")
-      print()
-print()
+      print("")
+print("")
 
 #extract imu data
 if parsed.imu_topics is not None:
@@ -93,4 +93,4 @@ if parsed.imu_topics is not None:
             spamwriter.writerow([timestamp_int, omega[0],omega[1],omega[2], alpha[0],alpha[1],alpha[2] ])
             iProgress.sample()
           print("\r      done.                                                          ")
-          print()
+          print("")
diff --git a/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras b/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras
@@ -274,13 +274,13 @@ def main():
 
                 #display process
                 if (verbose or (view_id % 25) == 0) and calibrator.estimator.getNumBatches()>0 and view_id>1:
-                    print()
+                    print("")
                     print("------------------------------------------------------------------")
-                    print()
+                    print("")
                     print("Processed {0} of {1} views with {2} views used".format(view_id+1, numViews, calibrator.estimator.getNumBatches()))
-                    print()
+                    print("")
                     kcc.printParameters(calibrator)
-                    print()
+                    print("")
                     print("------------------------------------------------------------------")
 
                 #calibration progress
@@ -305,13 +305,13 @@ def main():
                     if initOutlierRejection:
                         #check all views after the min. number of batches has been reached
                         batches_to_check=list(range(0, calibrator.estimator.getNumBatches()))
-                        print();print()
+                        print("");print("")
                         print("Filtering outliers in all batches...")
                         initOutlierRejection=False
                         progress_filter = sm.Progress2(len(batches_to_check)); progress_filter.sample()
                     elif runEndFiltering:
                         #check all batches again after all views have been processed
-                        print();print()
+                        print("");print("")
                         print("All views have been processed.\n\nStarting final outlier filtering...")
                         batches_to_check=list(range(0, calibrator.estimator.getNumBatches()))
                         progress_filter = sm.Progress2(len(batches_to_check)); progress_filter.sample()
@@ -385,15 +385,15 @@ def main():
                             progress_filter.sample()
 
             #final output
-            print()
-            print()
+            print("")
+            print("")
             print("..................................................................")
-            print()
+            print("")
             print("Calibration complete.")
-            print()
+            print("")
             if parsed.removeOutliers:
                 sm.logWarn("Removed {0} outlier corners.".format(len(removedOutlierCorners)) )             
-            print()
+            print("")
             print("Processed {0} images with {1} images used".format(numViews, calibrator.estimator.getNumBatches()))
             kcc.printParameters(calibrator)
 

diff --git a/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera b/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera
@@ -14,7 +14,7 @@ import os
 np.set_printoptions(suppress=True)
 
 def signal_exit(signal, frame):
-    print()
+    print("")
     sm.logWarn("Shutting down! (CTRL+C)")
     sys.exit(1)
 
@@ -183,7 +183,7 @@ def main():
         if imu is not imus[0]:
             imu.findOrientationPrior(imus[0])
 
-    print()
+    print("")
     print("Building the problem")
     iCal.buildProblem(splineOrder=6, 
                       poseKnotsPerSecond=100, 
@@ -199,28 +199,28 @@ def main():
                       timeOffsetPadding=parsed.timeoffset_padding,
                       verbose = parsed.verbose)
 
-    print()
+    print("")
     print("Before Optimization")
     print("===================")
     util.printErrorStatistics(iCal)
 
-    print()
+    print("")
     print("Optimizing...")
     iCal.optimize(maxIterations=parsed.max_iter, recoverCov=parsed.recover_cov)
 
-    print()
+    print("")
     print("After Optimization (Results)")
     print("==================")
     util.printErrorStatistics(iCal)
     util.printResults(iCal, withCov=parsed.recover_cov)
 
-    print()
+    print("")
     bagtag = os.path.splitext(parsed.bagfile[0])[0]
     yamlFilename = bagtag + "-camchain-imucam.yaml"
     iCal.saveCamChainParametersYaml(yamlFilename)
     print("  Saving camera chain calibration to file: {0}".format(yamlFilename))
 
-    print()
+    print("")
     yamlFilename = bagtag + "-imu.yaml"
     iCal.saveImuSetParametersYaml(yamlFilename)
     print("  Saving imu calibration to file: {0}".format(yamlFilename))
@@ -233,14 +233,14 @@ def main():
     reportFile = bagtag + "-report-imucam.pdf"
     util.generateReport(iCal, filename=reportFile, showOnScreen=not parsed.dontShowReport)
     print("  Report written to {0}".format(reportFile))
-    print()
+    print("")
 
     if parsed.exportPoses:
         print("Exporting poses...")
         posesFile = bagtag + "-poses-imucam-imu0.csv"
         util.exportPoses(iCal, filename=posesFile)
         print("Poses written to {0}".format(posesFile))
-        print()
+        print("")
 
 if __name__ == "__main__":
     main()

diff --git a/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py b/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py
@@ -1,3 +1,4 @@
+from __future__ import print_function #handle print in 2.x python
 import sm
 from sm import PlotCollection
 from kalibr_common import ConfigReader as cr
@@ -616,14 +617,14 @@ def printParameters(cself, dest=sys.stdout):
 
 
 def printDebugEnd(cself):
-    print()
-    print()
+    print("")
+    print("")
 
     for cidx, cam in enumerate(cself.cameras):
         print("cam{0}".format(cidx))
         print("----------")
-        print()
-        print()
+        print("")
+        print("")
 
         corners, reprojs, rerrs = getReprojectionErrors(cself, cidx)        
         if len(rerrs)>0:
@@ -633,12 +634,12 @@ def printDebugEnd(cself):
             print(se[0])
             print(se[1])
 
-        print()
+        print("")
         p = cam.geometry.projection().getParameters().flatten()
         for temp in p:
             print(temp)
 
-        print()
+        print("")
         d = cam.geometry.projection().distortion().getParameters().flatten()
         for temp in d:
             print(temp)
@@ -652,8 +653,8 @@ def printDebugEnd(cself):
             for temp in T.q():
                 print(temp)
 
-    print()
-    print()
+    print("")
+    print("")
 
 def saveChainParametersYaml(cself, resultFile, graph):
     cameraModels = {acvb.DistortedPinhole: 'pinhole',

diff --git a/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/ObsDb.py b/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/ObsDb.py
@@ -1,3 +1,4 @@
+from __future__ import print_function #handle print in 2.x python
 import sm
 import aslam_backend as aopt
 
@@ -146,7 +147,7 @@ def printTable(self):
         print("timestamp \t", end=' ')        
         for cam_id in range(0, self.numCameras()):
             print("cam{0} \t".format(cam_id), end=' ')
-        print()
+        print("")
 
         #sort for time
         times_sorted = np.sort(list(self.targetViews.keys()))
@@ -160,5 +161,5 @@ def printTable(self):
                 except KeyError:
                     numCorners = "-"
                 print("\t", numCorners, end=' ')
-            print()
+            print("")
 
diff --git a/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py b/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py
@@ -1,3 +1,4 @@
+from __future__ import print_function #handle print in 2.x python
 import yaml
 import sys
 import numpy as np

diff --git a/aslam_offline_calibration/kalibr/python/kalibr_common/ImageDatasetReader.py b/aslam_offline_calibration/kalibr/python/kalibr_common/ImageDatasetReader.py
@@ -20,6 +20,11 @@ def __init__(self, dataset, indices=None):
   def __iter__(self):
     return self
 
+  def next(self):
+    # required for python 2.x compatibility
+    idx = next(self.iter)
+    return self.dataset.getImage(idx)
+
   def __next__(self):
     idx = next(self.iter)
     return self.dataset.getImage(idx)