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()