def load_camera_info_3(robot):
# Load camera information
filename = (os.environ['DUCKIEFLEET_ROOT'] +
"/calibrations/camera_intrinsic/" + robot + ".yaml")
if not os.path.isfile(filename):
dtu.logger.warn(
"no intrinsic calibration parameters for {}, trying default".
format(robot))
filename = (os.environ['DUCKIEFLEET_ROOT'] +
"/calibrations/camera_intrinsic/default.yaml")
if not os.path.isfile(filename):
dtu.logger.error("can't find default either, something's wrong")
calib_data = dtu.yaml_load_file(filename)
cam_info = CameraInfo()
cam_info.width = calib_data['image_width']
cam_info.height = calib_data['image_height']
cam_info.K = calib_data['camera_matrix']['data']
cam_info.D = calib_data['distortion_coefficients']['data']
cam_info.R = calib_data['rectification_matrix']['data']
cam_info.P = calib_data['projection_matrix']['data']
cam_info.distortion_model = calib_data['distortion_model']
dtu.logger.info(
"Loaded camera calibration parameters for {} from {}".format(
robot, os.path.basename(filename)))
return cam_info
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 get_homography_for_robot(robot_name):
dtu.check_isinstance(robot_name, str)
# Get the config file for the homography of the robot
filename = get_homography_info_config_file(robot_name, strict=False)
data = dtu.yaml_load_file(filename)
# Extract the homography from the YAML file
homography = homography_from_yaml(data)
return homography
def get_homography_for_robot(robot_name):
dtu.check_isinstance(robot_name, str)
# find the file
fn = get_homography_info_config_file(robot_name)
# load the YAML
data = dtu.yaml_load_file(fn, True) # True means "plain"
# convert the YAML
homography = homography_from_yaml(data)
return homography
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 get_easy_logs_db_cloud():
cloud_file = require_resource('cloud.yaml')
# cloud_file = os.path.join(get_ros_package_path('easy_logs'), 'cloud.yaml')
# if not os.path.exists(cloud_file):
# url = "https://www.dropbox.com/s/vdl1ej8fihggide/duckietown-cloud.yaml?dl=1"
# download_url_to_file(url, cloud_file)
logger.info('Loading cloud DB %s' % friendly_path(cloud_file))
logs = yaml_load_file(cloud_file)
logs = OrderedDict(logs)
logger.info('Loaded cloud DB with %d entries.' % len(logs))
return EasyLogsDB(logs)
def get_logs_cloud():
cloud_file = dtu.require_resource('cloud2.yaml')
with dtu.timeit_wall("loading DB"):
dtu.logger.info('Loading cloud DB %s' % dtu.friendly_path(cloud_file))
with dtu.timeit_wall('YAML load file'):
data = dtu.yaml_load_file(cloud_file, plain_yaml=True)
# with dtu.timeit_wall('plain'):
# data = open(cloud_file).read()
# import yaml
# yaml.load(data)
dtu.logger.debug('Conversion')
logs = logs_from_yaml(data)
logs = OrderedDict(logs)
dtu.logger.info('Loaded cloud DB with %d entries.' % len(logs))
return logs
def load_board_info(filename=None):
'''Load calibration checkerboard info'''
if filename is None:
root = dtu.get_ros_package_path('duckietown')
filename = root + '/config/baseline/ground_projection/ground_projection/default.yaml'
if not os.path.isfile(filename):
msg = 'No such file: %s' % filename
raise dtu.DTException(msg)
target_data = dtu.yaml_load_file(filename)
target_info = {
'width': target_data['board_w'],
'height': target_data['board_h'],
'square_size': target_data['square_size'],
'x_offset': target_data['x_offset'],
'y_offset': target_data['y_offset'],
'offset': np.array([target_data['x_offset'],
-target_data['y_offset']]),
'size': (target_data['board_w'], target_data['board_h']),
}
dtu.logger.info("Loaded checkerboard parameters")
return target_info
}
body {
font-size: 8pt;
}
td {
overflow-wrap: break-word;
min-width: 4em;
max-width: 4em;
padding-bottom: 3px;
}
td {
border-bottom: solid 1px black;
}
"""
style = Tag(name='style')
style.append(css)
body.append(style)
body.append(table)
return body
if __name__ == '__main__':
filename = sys.argv[1]
mongo_data = yaml_load_file(filename)
html = create_summary(mongo_data)
write_data_to_file(html, 'output.html')
