def get_camera_info_for_robot(robot_name):
"""
Returns a CameraInfo object for the given robot.
This is in a good format to pass to PinholeCameraModel:
self.pcm = PinholeCameraModel()
self.pcm.fromCameraInfo(self.ci)
The fields are simply lists (not array or matrix).
Raises:
NoCameraInfoAvailable if no info available
InvalidCameraInfo if the info exists but is invalid
"""
if robot_name == dtu.DuckietownConstants.ROBOT_NAME_FOR_TESTS:
calib_data = dtu.yaml_load(default_camera_info)
else:
# find the file
fn = get_camera_info_config_file(robot_name)
# load the YAML
calib_data = dtu.yaml_load_file(fn, plain_yaml=True)
# convert the YAML
try:
camera_info = camera_info_from_yaml(calib_data)
except InvalidCameraInfo as e:
msg = 'Invalid data in file %s' % fn
dtu.raise_wrapped(InvalidCameraInfo, e, msg)
#check_camera_info_sane_for_DB17(camera_info)
return camera_info
def parse_reg_test():
x = dtu.yaml_load(s)
if isinstance(x['description'], unicode):
msg = 'I do not expect Unicode'
msg += '\n' + x.__repr__()
raise ValueError(msg)
_ = dtu.instantiate(x['constructor'], x['parameters'])
def parse_reg_fail():
x = dtu.yaml_load(s_fail)
print x.__repr__()
try:
_ = dtu.instantiate(x['constructor'], x['parameters'])
except RTParseError:
pass
else:
raise Exception('Expected failure')
def get_homography_for_robot(robot_name):
dtu.check_isinstance(robot_name, str)
# find the file
if robot_name == dtu.DuckietownConstants.ROBOT_NAME_FOR_TESTS:
data = dtu.yaml_load(homography_default)
else:
fn = get_homography_info_config_file(robot_name)
# load the YAML
data = dtu.yaml_load_file(fn)
# convert the YAML
homography = homography_from_yaml(data)
#check_homography_sane_for_DB17(homography)
return homography
def load_configuration(realpath, contents):
# TODO: load "version" string
try:
try:
data = dtu.yaml_load(contents)
except Exception as e:
msg = 'Could not parse YAML file properly:'
dtu.raise_wrapped(dtu.DTConfigException, e, msg, compact=True)
if not isinstance(data, dict):
msg = 'Expected a dict, got %s.' % type(data).__name__
raise dtu.DTConfigException(msg)
try:
parameters = data.pop('parameters')
subscriptions = data.pop('subscriptions')
publishers = data.pop('publishers')
contracts = data.pop('contracts')
description = data.pop('description')
except KeyError as e:
key = e.args[0]
msg = 'Invalid configuration: missing field %r.' % (key)
raise dtu.DTConfigException(msg)
if not isinstance(description, (str, NoneType)):
msg = 'Description should be a string, not %s.' % type(
description).__name__
raise dtu.DTConfigException(msg)
if data:
msg = 'Spurious fields found: %s' % sorted(data)
raise dtu.DTConfigException(msg)
parameters = load_configuration_parameters(parameters)
subscriptions = load_configuration_subscriptions(subscriptions)
contracts = load_configuration_contracts(contracts)
publishers = load_configuration_publishers(publishers)
return EasyNodeConfig(filename=realpath,
parameters=parameters,
contracts=contracts,
subscriptions=subscriptions,
publishers=publishers,
package_name=None,
description=description,
node_type_name=None)
except dtu.DTConfigException as e:
msg = 'Invalid configuration at %s: ' % realpath
dtu.raise_wrapped(dtu.DTConfigException, e, msg, compact=True)
