fixing bug where cam_name wasn't initialized

nasa · Nov 15, 2023 · 717fb29 · 717fb29
1 parent 58176a9
commit 717fb29
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Showing 5 changed files with 12 additions and 11 deletions.
diff --git a/analyst/tools/query_view_points.cc b/analyst/tools/query_view_points.cc
@@ -114,7 +114,7 @@ int main(int argc, char** argv) {
     new geometry_msgs::Transform(msg_conversions::eigen_transform_to_ros_transform(transform_body_to_cam)));
 
   camera::CameraParameters cam_params(&config, FLAGS_camera.c_str());
-  inspection::CameraView camera(cam_params, 2.0, 0.19, msg_pointer);
+  inspection::CameraView camera(FLAGS_camera.c_str(), cam_params, 2.0, 0.19, msg_pointer);
 
 
   // Extract the input list from the command-line argument

diff --git a/astrobee/behaviors/inspection/include/inspection/camera_projection.h b/astrobee/behaviors/inspection/include/inspection/camera_projection.h
@@ -69,7 +69,7 @@ class CameraView : public camera::CameraModel  {
   // f: far clip, maximum camera distance (m)
   // n: near clip, minimum camera distance (m)
   // cam_transform: transform from body->camera, useful for offline applications where tf is not available
-  CameraView(const camera::CameraParameters & params, const float f = 2.0, const float n = 0.19,
+  CameraView(const std::string, const camera::CameraParameters & params, const float f = 2.0, const float n = 0.19,
                       const geometry_msgs::Transform::ConstPtr cam_transform = NULL);
 
 

diff --git a/astrobee/behaviors/inspection/src/camera_projection.cc b/astrobee/behaviors/inspection/src/camera_projection.cc
@@ -34,10 +34,9 @@ namespace inspection {
   the camera frame and the other way around. It automatically reads the camera parameters
   from the config files based on the camera name, such that no setup is necessary.
 */
-CameraView::CameraView(const camera::CameraParameters & params, const float f, const float n,
+CameraView::CameraView(const std::string cam_name, const camera::CameraParameters& params, const float f, const float n,
                        const geometry_msgs::Transform::ConstPtr cam_transform)
-    : camera::CameraModel(params), f_(f), n_(n) {
-
+    : cam_name_(cam_name), camera::CameraModel(params), f_(f), n_(n) {
   // Get relative camera position
   if (cam_transform == NULL) {
     // Create a transform buffer to listen for transforms
@@ -147,7 +146,7 @@ bool CameraView::InsideTarget(std::vector<int> vert_x, std::vector<int> vert_y,
                                            double size_y) {
     // Create depth cam camera model
     static camera::CameraParameters depth_cam_params(&cfg_cam_, (depth_cam_name + "_cam").c_str());
-    CameraView depth_cam(depth_cam_params, f_, n_);
+    CameraView depth_cam(depth_cam_name, depth_cam_params, f_, n_);
 
     // Get most recent depth message
     std::string cam_prefix = TOPIC_HARDWARE_PICOFLEXX_PREFIX;

diff --git a/astrobee/behaviors/inspection/src/inspection.cc b/astrobee/behaviors/inspection/src/inspection.cc
@@ -436,8 +436,9 @@ bool Inspection::GenerateAnomalySurvey(geometry_msgs::PoseArray &points_anomaly)
     curr_camera_ = cam_name.c_str();
     if (cameras_.find(cam_name) == cameras_.end()) {
     static camera::CameraParameters cam_params(&cfg_cam_, cam_name.c_str());
-    cameras_.emplace(std::piecewise_construct, std::make_tuple(cam_name),
-                     std::make_tuple(cam_params, cfg_->Get<double>("max_distance"), cfg_->Get<double>("min_distance")));
+    cameras_.emplace(
+      std::piecewise_construct, std::make_tuple(cam_name),
+      std::make_tuple(cam_name, cam_params, cfg_->Get<double>("max_distance"), cfg_->Get<double>("min_distance")));
     }
 
 
@@ -523,8 +524,9 @@ bool Inspection::GeneratePanoramaSurvey(geometry_msgs::PoseArray &points_panoram
   curr_camera_ = cam_name.c_str();
   if (cameras_.find(cam_name) == cameras_.end()) {
     static camera::CameraParameters cam_params(&cfg_cam_, cam_name.c_str());
-    cameras_.emplace(std::piecewise_construct, std::make_tuple(cam_name),
-                     std::make_tuple(cam_params, cfg_->Get<double>("max_distance"), cfg_->Get<double>("min_distance")));
+    cameras_.emplace(
+      std::piecewise_construct, std::make_tuple(cam_name),
+      std::make_tuple(cam_name, cam_params, cfg_->Get<double>("max_distance"), cfg_->Get<double>("min_distance")));
   }
 
   geometry_msgs::PoseArray panorama_relative;

diff --git a/pano/pano_view/tools/find_point_coordinate.cc b/pano/pano_view/tools/find_point_coordinate.cc
@@ -215,7 +215,7 @@ int main(int argc, char** argv) {
     new geometry_msgs::Transform(msg_conversions::eigen_transform_to_ros_transform(transform_body_to_cam)));
 
   camera::CameraParameters cam_params(&config, camera_name.c_str());
-  inspection::CameraView camera(cam_params, 2.0, 0.19, msg_pointer);
+  inspection::CameraView camera(camera_name.c_str(), cam_params, 2.0, 0.19, msg_pointer);
   camera.SetTransform((msg_conversions::ros_pose_to_eigen_transform(ground_truth) * transform_body_to_cam).inverse());