Fix/18.04 (ethz-asl#241)

* switch to PIL library for Image * deactivate threading for cv image displays * Update MulticamGraph.py Preserve some backward compatibility with older python versions. * fix opencv windows * add option to manually input forcal length * remove debug option * PR review @LBern * switch to double in the first place * Revert "Merge pull request ethz-asl#304 from ethz-asl/feature/input_focal_length_guess" This reverts commit 2999e18, reversing changes made to ee2b09d. Co-authored-by: Hannes Sommer <[email protected]>
ObitoLee · Feb 3, 2020 · cb6fb66 · cb6fb66
1 parent 8fbb27d
commit cb6fb66
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Showing 4 changed files with 12 additions and 8 deletions.
diff --git a/aslam_cv/aslam_cameras/src/GridDetector.cpp b/aslam_cv/aslam_cameras/src/GridDetector.cpp
@@ -32,8 +32,7 @@ GridDetector::GridDetector(boost::shared_ptr<CameraGeometryBase> geometry,
 void GridDetector::initializeDetector()
 {
   if (_options.plotCornerReprojection) {
-    cv::namedWindow("Corner reprojection");
-    cvStartWindowThread();
+    cv::namedWindow("Corner reprojection", cv::WINDOW_NORMAL);
   }
 }
 

diff --git a/aslam_cv/aslam_cameras_april/src/GridCalibrationTargetAprilgrid.cpp b/aslam_cv/aslam_cameras_april/src/GridCalibrationTargetAprilgrid.cpp
@@ -56,9 +56,8 @@ GridCalibrationTargetAprilgrid::GridCalibrationTargetAprilgrid() :
 void GridCalibrationTargetAprilgrid::initialize()
 {
   if (_options.showExtractionVideo) {
-    cv::namedWindow("Aprilgrid: Tag detection");
-    cv::namedWindow("Aprilgrid: Tag corners");
-    cvStartWindowThread();
+    cv::namedWindow("Aprilgrid: Tag detection", cv::WINDOW_NORMAL);
+    cv::namedWindow("Aprilgrid: Tag corners", cv::WINDOW_NORMAL);
   }
 
   //create the tag detector

diff --git a/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py b/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py
@@ -598,8 +598,11 @@ def printParameters(cself, dest=sys.stdout):
         corners, reprojs, rerrs = getReprojectionErrors(cself, cidx)        
         if len(rerrs)>0:
             me, se = getReprojectionErrorStatistics(rerrs)
-            print >> dest, "\t reprojection error: [%f, %f] +- [%f, %f]" % (me[0], me[1], se[0], se[1])
-        print >> dest
+            try:
+              print >> dest, "\t reprojection error: [%f, %f] +- [%f, %f]" % (me[0], me[1], se[0], se[1])
+            except:
+              print >> dest, "\t Failed printing the reprojection error."
+            print >> dest
 
     #print baselines
     for bidx, baseline in enumerate(cself.baselines):

diff --git a/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/MulticamGraph.py b/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/MulticamGraph.py
@@ -9,7 +9,10 @@
 import itertools
 import sys
 import pylab as pl
-import Image
+try:
+    from PIL import Image # Modern
+except ImportError:
+    import Image # Old import (backward compatibility)
 import time
 
 # make numpy print prettier