def check_roundtrip_ros_tf(cam_opts):
cam1 = _build_test_camera(**cam_opts)
translation, rotation = cam1.get_ROS_tf()
i = cam1.get_intrinsics_as_bunch()
cam2 = CameraModel.load_camera_from_ROS_tf( translation=translation,
rotation=rotation,
intrinsics = i,
name = cam1.name)
assert cam1==cam2
def new_data(self):
with self._lock:
if (self.translation is None or
self.rotation is None or
self.intrinsics is None):
return
newcam = CameraModel.load_camera_from_ROS_tf( translation=self.translation,
rotation=self.rotation,
intrinsics=self.intrinsics,
name=self.get_frame_id(),
)
self.cam = newcam
self.draw()
def new_data(self):
with self._lock:
if (self.translation is None or self.rotation is None
or self.intrinsics is None):
return
newcam = CameraModel.load_camera_from_ROS_tf(
translation=self.translation,
rotation=self.rotation,
intrinsics=self.intrinsics,
name=self.get_frame_id(),
)
self.cam = newcam
self.draw()
