diff --git a/build/.built_by b/build/.built_by
new file mode 100755
index 0000000..06e74ac
--- /dev/null
+++ b/build/.built_by
@@ -0,0 +1 @@
+colcon
diff --git a/build/COLCON_IGNORE b/build/COLCON_IGNORE
new file mode 100755
index 0000000..e69de29
diff --git a/build/aruco_detector/aruco_detector.egg-info/PKG-INFO b/build/aruco_detector/aruco_detector.egg-info/PKG-INFO
new file mode 100755
index 0000000..c5945db
--- /dev/null
+++ b/build/aruco_detector/aruco_detector.egg-info/PKG-INFO
@@ -0,0 +1,10 @@
+Metadata-Version: 1.2
+Name: aruco-detector
+Version: 0.0.0
+Summary: Node to detect ArUco-codes
+Home-page: UNKNOWN
+Maintainer: ros2
+Maintainer-email: bruecknerja86834@th-nuernberg.de
+License: TODO: License declaration
+Description: UNKNOWN
+Platform: UNKNOWN
diff --git a/build/aruco_detector/aruco_detector.egg-info/SOURCES.txt b/build/aruco_detector/aruco_detector.egg-info/SOURCES.txt
new file mode 100755
index 0000000..a7357e1
--- /dev/null
+++ b/build/aruco_detector/aruco_detector.egg-info/SOURCES.txt
@@ -0,0 +1,18 @@
+package.xml
+setup.cfg
+setup.py
+../../build/aruco_detector/aruco_detector.egg-info/PKG-INFO
+../../build/aruco_detector/aruco_detector.egg-info/SOURCES.txt
+../../build/aruco_detector/aruco_detector.egg-info/dependency_links.txt
+../../build/aruco_detector/aruco_detector.egg-info/entry_points.txt
+../../build/aruco_detector/aruco_detector.egg-info/requires.txt
+../../build/aruco_detector/aruco_detector.egg-info/top_level.txt
+../../build/aruco_detector/aruco_detector.egg-info/zip-safe
+aruco_detector/__init__.py
+aruco_detector/aruco_detector_node.py
+aruco_detector/transformations.py
+aruco_detector/yaml_handling.py
+resource/aruco_detector
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
\ No newline at end of file
diff --git a/build/aruco_detector/aruco_detector.egg-info/dependency_links.txt b/build/aruco_detector/aruco_detector.egg-info/dependency_links.txt
new file mode 100755
index 0000000..8b13789
--- /dev/null
+++ b/build/aruco_detector/aruco_detector.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/build/aruco_detector/aruco_detector.egg-info/entry_points.txt b/build/aruco_detector/aruco_detector.egg-info/entry_points.txt
new file mode 100755
index 0000000..a56537c
--- /dev/null
+++ b/build/aruco_detector/aruco_detector.egg-info/entry_points.txt
@@ -0,0 +1,3 @@
+[console_scripts]
+aruco_detector_node = aruco_detector.aruco_detector_node:main
+
diff --git a/build/aruco_detector/aruco_detector.egg-info/requires.txt b/build/aruco_detector/aruco_detector.egg-info/requires.txt
new file mode 100755
index 0000000..49fe098
--- /dev/null
+++ b/build/aruco_detector/aruco_detector.egg-info/requires.txt
@@ -0,0 +1 @@
+setuptools
diff --git a/build/aruco_detector/aruco_detector.egg-info/top_level.txt b/build/aruco_detector/aruco_detector.egg-info/top_level.txt
new file mode 100755
index 0000000..7916de5
--- /dev/null
+++ b/build/aruco_detector/aruco_detector.egg-info/top_level.txt
@@ -0,0 +1 @@
+aruco_detector
diff --git a/build/aruco_detector/aruco_detector.egg-info/zip-safe b/build/aruco_detector/aruco_detector.egg-info/zip-safe
new file mode 100755
index 0000000..8b13789
--- /dev/null
+++ b/build/aruco_detector/aruco_detector.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/build/aruco_detector/build/lib/aruco_detector/__init__.py b/build/aruco_detector/build/lib/aruco_detector/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/build/aruco_detector/build/lib/aruco_detector/aruco_detector_node.py b/build/aruco_detector/build/lib/aruco_detector/aruco_detector_node.py
new file mode 100755
index 0000000..0d4f24d
--- /dev/null
+++ b/build/aruco_detector/build/lib/aruco_detector/aruco_detector_node.py
@@ -0,0 +1,146 @@
+from numpy.lib.function_base import _angle_dispatcher
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import qos_profile_sensor_data
+from cv_bridge import CvBridge
+
+import numpy as np
+import cv2
+
+from transforms3d.quaternions import mat2quat
+from transforms3d.euler import mat2euler
+
+from aruco_detector import yaml_handling
+
+from sensor_msgs.msg import CompressedImage, Image
+from geometry_msgs.msg import Pose
+from aruco_interfaces.msg import ArucoMarkerPose
+
+
+class ArucoDetectorNode(rclpy.node.Node):
+ def __init__(self):
+ super().__init__('aruco_detector_node')
+
+ # Declare parameters
+ self.declare_parameter("marker_size", .1)
+ self.declare_parameter("aruco_dictionary_id", "DICT_6X6_100")
+ self.declare_parameter("input_image_topic", "/image_raw/compressed")
+ self.declare_parameter("url_yaml_file", "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml") # url to yaml file (calibration file)
+
+ # Read parameters
+ self.marker_size = self.get_parameter("marker_size").get_parameter_value().double_value
+ dictionary_id_name = self.get_parameter("aruco_dictionary_id").get_parameter_value().string_value
+ input_image_topic = self.get_parameter("input_image_topic").get_parameter_value().string_value
+ url_yaml_file = self.get_parameter("url_yaml_file").get_parameter_value().string_value
+
+ # check dictionary_id_name
+ try:
+ dictionary_id = cv2.aruco.__getattribute__(dictionary_id_name)
+ if type(dictionary_id) != type(cv2.aruco.DICT_5X5_100):
+ raise AttributeError
+ except AttributeError:
+ self.get_logger().error("bad aruco_dictionary_id: {}".format(dictionary_id_name))
+ options = "\n".join([s for s in dir(cv2.aruco) if s.startswith("DICT")])
+ self.get_logger().error("valid options: {}".format(options))
+
+ # Set up subscriber
+ self.create_subscription(CompressedImage, input_image_topic, self.image_callback, qos_profile_sensor_data) # subsribes the images from the camera
+
+ # Set up publishers
+ self.publisher_marker_poses = self.create_publisher(ArucoMarkerPose, '/aruco/aruco_poses', 10) # publishes the current poses
+ self.publisher_output_images = self.create_publisher(CompressedImage, '/aruco/aruco_output_images/compressed', 10) # publishes the images with the detected aruco-tags
+
+ # Load the camera parameters from yaml-file
+ camera_info_msg = yaml_handling.yaml_to_CameraInfo("/home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml")#url_yaml_file)
+ if camera_info_msg is None:
+ self.get_logger().warn("No camera info has been received!")
+ return
+
+ self.intrinsic_mat = np.reshape(np.array(camera_info_msg.k), (3, 3))
+ self.distortion = np.array(camera_info_msg.d)
+
+ self.aruco_dictionary = cv2.aruco.Dictionary_get(dictionary_id)
+ self.aruco_parameters = cv2.aruco.DetectorParameters_create()
+ self.bridge = CvBridge()
+
+ def image_callback(self, img_msg):
+
+
+ cv_image = self.bridge.compressed_imgmsg_to_cv2(img_msg,desired_encoding='passthrough')
+
+ corners, marker_ids, rejected = cv2.aruco.detectMarkers(cv_image,
+ self.aruco_dictionary,
+ parameters=self.aruco_parameters)
+
+ #check if marker is detected, then estimate pose an publish
+ if marker_ids is not None:
+ rvecs, tvecs, _objPoints = cv2.aruco.estimatePoseSingleMarkers(corners,
+ self.marker_size,
+ self.intrinsic_mat,
+ self.distortion)
+
+ #self.get_logger().error("rvecs: {}".format(rvecs))
+ pose_array = ArucoMarkerPose()
+ for i, marker_id in enumerate(marker_ids):
+ pose = Pose()
+ pose.position.x = tvecs[i][0][0]
+ pose.position.y = tvecs[i][0][1]
+ pose.position.z = tvecs[i][0][2]
+
+ rot_matrix = np.eye(4)
+ rot_matrix[0:3, 0:3] = cv2.Rodrigues(np.array(rvecs[i][0]))[0]
+
+
+ import math
+ angle = math.acos(rot_matrix[0][0])*(180/math.pi)
+
+ angle_psi, angle_theta, angle_phi = mat2euler(rot_matrix)
+
+
+ #quat = mat2quat(rot_matrix[0:3, 0:3])
+
+
+ self.get_logger().error("angle_theta: \n{}\n\n".format(angle_theta*(180/math.pi)))
+ self.get_logger().error("angle_phi: \n{}\n\n".format(angle_phi*(180/math.pi)))
+ self.get_logger().error("angle_psi: \n{}\n\n".format(angle_psi*(180/math.pi)))
+
+
+
+ # parameter einfügen für unterscheidung zwischen 2D und 3D
+ # einfache if abfrage
+
+ pose.orientation.x = 0.0 #quat[0]
+ pose.orientation.y = 0.0 #quat[1]
+ pose.orientation.z = math.sin((angle_phi) / 2) #quat[2]
+ pose.orientation.w = math.cos((angle_phi) / 2) #quat[3]
+
+ pose_array.poses.append(pose)
+ pose_array.marker_ids.append(marker_id[0])
+
+ self.publisher_marker_poses.publish(pose_array)
+
+ output_img = cv2.aruco.drawAxis(cv_image,
+ self.intrinsic_mat,
+ self.distortion,
+ rvecs,
+ tvecs,
+ 0.5
+ )
+
+ output_img = cv2.aruco.drawDetectedMarkers(cv_image, corners, marker_ids)
+ output_img_compressed = self.bridge.cv2_to_compressed_imgmsg(output_img, dst_format='jpg')
+ self.publisher_output_images.publish(output_img_compressed)
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ minimal_publisher = ArucoDetectorNode()
+ rclpy.spin(minimal_publisher)
+ minimal_publisher.destroy_node()
+ rclpy.shutdown()
+
+
+if __name__ == '__main__':
+ main()
+
+
diff --git a/build/aruco_detector/build/lib/aruco_detector/transformations.py b/build/aruco_detector/build/lib/aruco_detector/transformations.py
new file mode 100755
index 0000000..b7a0f1a
--- /dev/null
+++ b/build/aruco_detector/build/lib/aruco_detector/transformations.py
@@ -0,0 +1,1706 @@
+# -*- coding: utf-8 -*-
+# transformations.py
+
+# Copyright (c) 2006, Christoph Gohlke
+# Copyright (c) 2006-2009, The Regents of the University of California
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+# * Neither the name of the copyright holders nor the names of any
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""Homogeneous Transformation Matrices and Quaternions.
+
+A library for calculating 4x4 matrices for translating, rotating, reflecting,
+scaling, shearing, projecting, orthogonalizing, and superimposing arrays of
+3D homogeneous coordinates as well as for converting between rotation matrices,
+Euler angles, and quaternions. Also includes an Arcball control object and
+functions to decompose transformation matrices.
+
+:Authors:
+ `Christoph Gohlke `__,
+ Laboratory for Fluorescence Dynamics, University of California, Irvine
+
+:Version: 20090418
+
+Requirements
+------------
+
+* `Python 2.6 `__
+* `Numpy 1.3 `__
+* `transformations.c 20090418 `__
+ (optional implementation of some functions in C)
+
+Notes
+-----
+
+Matrices (M) can be inverted using numpy.linalg.inv(M), concatenated using
+numpy.dot(M0, M1), or used to transform homogeneous coordinates (v) using
+numpy.dot(M, v) for shape (4, \*) "point of arrays", respectively
+numpy.dot(v, M.T) for shape (\*, 4) "array of points".
+
+Calculations are carried out with numpy.float64 precision.
+
+This Python implementation is not optimized for speed.
+
+Vector, point, quaternion, and matrix function arguments are expected to be
+"array like", i.e. tuple, list, or numpy arrays.
+
+Return types are numpy arrays unless specified otherwise.
+
+Angles are in radians unless specified otherwise.
+
+Quaternions ix+jy+kz+w are represented as [x, y, z, w].
+
+Use the transpose of transformation matrices for OpenGL glMultMatrixd().
+
+A triple of Euler angles can be applied/interpreted in 24 ways, which can
+be specified using a 4 character string or encoded 4-tuple:
+
+ *Axes 4-string*: e.g. 'sxyz' or 'ryxy'
+
+ - first character : rotations are applied to 's'tatic or 'r'otating frame
+ - remaining characters : successive rotation axis 'x', 'y', or 'z'
+
+ *Axes 4-tuple*: e.g. (0, 0, 0, 0) or (1, 1, 1, 1)
+
+ - inner axis: code of axis ('x':0, 'y':1, 'z':2) of rightmost matrix.
+ - parity : even (0) if inner axis 'x' is followed by 'y', 'y' is followed
+ by 'z', or 'z' is followed by 'x'. Otherwise odd (1).
+ - repetition : first and last axis are same (1) or different (0).
+ - frame : rotations are applied to static (0) or rotating (1) frame.
+
+References
+----------
+
+(1) Matrices and transformations. Ronald Goldman.
+ In "Graphics Gems I", pp 472-475. Morgan Kaufmann, 1990.
+(2) More matrices and transformations: shear and pseudo-perspective.
+ Ronald Goldman. In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991.
+(3) Decomposing a matrix into simple transformations. Spencer Thomas.
+ In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991.
+(4) Recovering the data from the transformation matrix. Ronald Goldman.
+ In "Graphics Gems II", pp 324-331. Morgan Kaufmann, 1991.
+(5) Euler angle conversion. Ken Shoemake.
+ In "Graphics Gems IV", pp 222-229. Morgan Kaufmann, 1994.
+(6) Arcball rotation control. Ken Shoemake.
+ In "Graphics Gems IV", pp 175-192. Morgan Kaufmann, 1994.
+(7) Representing attitude: Euler angles, unit quaternions, and rotation
+ vectors. James Diebel. 2006.
+(8) A discussion of the solution for the best rotation to relate two sets
+ of vectors. W Kabsch. Acta Cryst. 1978. A34, 827-828.
+(9) Closed-form solution of absolute orientation using unit quaternions.
+ BKP Horn. J Opt Soc Am A. 1987. 4(4), 629-642.
+(10) Quaternions. Ken Shoemake.
+ http://www.sfu.ca/~jwa3/cmpt461/files/quatut.pdf
+(11) From quaternion to matrix and back. JMP van Waveren. 2005.
+ http://www.intel.com/cd/ids/developer/asmo-na/eng/293748.htm
+(12) Uniform random rotations. Ken Shoemake.
+ In "Graphics Gems III", pp 124-132. Morgan Kaufmann, 1992.
+
+
+Examples
+--------
+
+>>> alpha, beta, gamma = 0.123, -1.234, 2.345
+>>> origin, xaxis, yaxis, zaxis = (0, 0, 0), (1, 0, 0), (0, 1, 0), (0, 0, 1)
+>>> I = identity_matrix()
+>>> Rx = rotation_matrix(alpha, xaxis)
+>>> Ry = rotation_matrix(beta, yaxis)
+>>> Rz = rotation_matrix(gamma, zaxis)
+>>> R = concatenate_matrices(Rx, Ry, Rz)
+>>> euler = euler_from_matrix(R, 'rxyz')
+>>> numpy.allclose([alpha, beta, gamma], euler)
+True
+>>> Re = euler_matrix(alpha, beta, gamma, 'rxyz')
+>>> is_same_transform(R, Re)
+True
+>>> al, be, ga = euler_from_matrix(Re, 'rxyz')
+>>> is_same_transform(Re, euler_matrix(al, be, ga, 'rxyz'))
+True
+>>> qx = quaternion_about_axis(alpha, xaxis)
+>>> qy = quaternion_about_axis(beta, yaxis)
+>>> qz = quaternion_about_axis(gamma, zaxis)
+>>> q = quaternion_multiply(qx, qy)
+>>> q = quaternion_multiply(q, qz)
+>>> Rq = quaternion_matrix(q)
+>>> is_same_transform(R, Rq)
+True
+>>> S = scale_matrix(1.23, origin)
+>>> T = translation_matrix((1, 2, 3))
+>>> Z = shear_matrix(beta, xaxis, origin, zaxis)
+>>> R = random_rotation_matrix(numpy.random.rand(3))
+>>> M = concatenate_matrices(T, R, Z, S)
+>>> scale, shear, angles, trans, persp = decompose_matrix(M)
+>>> numpy.allclose(scale, 1.23)
+True
+>>> numpy.allclose(trans, (1, 2, 3))
+True
+>>> numpy.allclose(shear, (0, math.tan(beta), 0))
+True
+>>> is_same_transform(R, euler_matrix(axes='sxyz', *angles))
+True
+>>> M1 = compose_matrix(scale, shear, angles, trans, persp)
+>>> is_same_transform(M, M1)
+True
+
+"""
+
+from __future__ import division
+
+import warnings
+import math
+
+import numpy
+
+# Documentation in HTML format can be generated with Epydoc
+__docformat__ = "restructuredtext en"
+
+
+def identity_matrix():
+ """Return 4x4 identity/unit matrix.
+
+ >>> I = identity_matrix()
+ >>> numpy.allclose(I, numpy.dot(I, I))
+ True
+ >>> numpy.sum(I), numpy.trace(I)
+ (4.0, 4.0)
+ >>> numpy.allclose(I, numpy.identity(4, dtype=numpy.float64))
+ True
+
+ """
+ return numpy.identity(4, dtype=numpy.float64)
+
+
+def translation_matrix(direction):
+ """Return matrix to translate by direction vector.
+
+ >>> v = numpy.random.random(3) - 0.5
+ >>> numpy.allclose(v, translation_matrix(v)[:3, 3])
+ True
+
+ """
+ M = numpy.identity(4)
+ M[:3, 3] = direction[:3]
+ return M
+
+
+def translation_from_matrix(matrix):
+ """Return translation vector from translation matrix.
+
+ >>> v0 = numpy.random.random(3) - 0.5
+ >>> v1 = translation_from_matrix(translation_matrix(v0))
+ >>> numpy.allclose(v0, v1)
+ True
+
+ """
+ return numpy.array(matrix, copy=False)[:3, 3].copy()
+
+
+def reflection_matrix(point, normal):
+ """Return matrix to mirror at plane defined by point and normal vector.
+
+ >>> v0 = numpy.random.random(4) - 0.5
+ >>> v0[3] = 1.0
+ >>> v1 = numpy.random.random(3) - 0.5
+ >>> R = reflection_matrix(v0, v1)
+ >>> numpy.allclose(2., numpy.trace(R))
+ True
+ >>> numpy.allclose(v0, numpy.dot(R, v0))
+ True
+ >>> v2 = v0.copy()
+ >>> v2[:3] += v1
+ >>> v3 = v0.copy()
+ >>> v2[:3] -= v1
+ >>> numpy.allclose(v2, numpy.dot(R, v3))
+ True
+
+ """
+ normal = unit_vector(normal[:3])
+ M = numpy.identity(4)
+ M[:3, :3] -= 2.0 * numpy.outer(normal, normal)
+ M[:3, 3] = (2.0 * numpy.dot(point[:3], normal)) * normal
+ return M
+
+
+def reflection_from_matrix(matrix):
+ """Return mirror plane point and normal vector from reflection matrix.
+
+ >>> v0 = numpy.random.random(3) - 0.5
+ >>> v1 = numpy.random.random(3) - 0.5
+ >>> M0 = reflection_matrix(v0, v1)
+ >>> point, normal = reflection_from_matrix(M0)
+ >>> M1 = reflection_matrix(point, normal)
+ >>> is_same_transform(M0, M1)
+ True
+
+ """
+ M = numpy.array(matrix, dtype=numpy.float64, copy=False)
+ # normal: unit eigenvector corresponding to eigenvalue -1
+ l, V = numpy.linalg.eig(M[:3, :3])
+ i = numpy.where(abs(numpy.real(l) + 1.0) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no unit eigenvector corresponding to eigenvalue -1")
+ normal = numpy.real(V[:, i[0]]).squeeze()
+ # point: any unit eigenvector corresponding to eigenvalue 1
+ l, V = numpy.linalg.eig(M)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no unit eigenvector corresponding to eigenvalue 1")
+ point = numpy.real(V[:, i[-1]]).squeeze()
+ point /= point[3]
+ return point, normal
+
+
+def rotation_matrix(angle, direction, point=None):
+ """Return matrix to rotate about axis defined by point and direction.
+
+ >>> angle = (random.random() - 0.5) * (2*math.pi)
+ >>> direc = numpy.random.random(3) - 0.5
+ >>> point = numpy.random.random(3) - 0.5
+ >>> R0 = rotation_matrix(angle, direc, point)
+ >>> R1 = rotation_matrix(angle-2*math.pi, direc, point)
+ >>> is_same_transform(R0, R1)
+ True
+ >>> R0 = rotation_matrix(angle, direc, point)
+ >>> R1 = rotation_matrix(-angle, -direc, point)
+ >>> is_same_transform(R0, R1)
+ True
+ >>> I = numpy.identity(4, numpy.float64)
+ >>> numpy.allclose(I, rotation_matrix(math.pi*2, direc))
+ True
+ >>> numpy.allclose(2., numpy.trace(rotation_matrix(math.pi/2,
+ ... direc, point)))
+ True
+
+ """
+ sina = math.sin(angle)
+ cosa = math.cos(angle)
+ direction = unit_vector(direction[:3])
+ # rotation matrix around unit vector
+ R = numpy.array(((cosa, 0.0, 0.0),
+ (0.0, cosa, 0.0),
+ (0.0, 0.0, cosa)), dtype=numpy.float64)
+ R += numpy.outer(direction, direction) * (1.0 - cosa)
+ direction *= sina
+ R += numpy.array(((0.0, -direction[2], direction[1]),
+ (direction[2], 0.0, -direction[0]),
+ (-direction[1], direction[0], 0.0)),
+ dtype=numpy.float64)
+ M = numpy.identity(4)
+ M[:3, :3] = R
+ if point is not None:
+ # rotation not around origin
+ point = numpy.array(point[:3], dtype=numpy.float64, copy=False)
+ M[:3, 3] = point - numpy.dot(R, point)
+ return M
+
+
+def rotation_from_matrix(matrix):
+ """Return rotation angle and axis from rotation matrix.
+
+ >>> angle = (random.random() - 0.5) * (2*math.pi)
+ >>> direc = numpy.random.random(3) - 0.5
+ >>> point = numpy.random.random(3) - 0.5
+ >>> R0 = rotation_matrix(angle, direc, point)
+ >>> angle, direc, point = rotation_from_matrix(R0)
+ >>> R1 = rotation_matrix(angle, direc, point)
+ >>> is_same_transform(R0, R1)
+ True
+
+ """
+ R = numpy.array(matrix, dtype=numpy.float64, copy=False)
+ R33 = R[:3, :3]
+ # direction: unit eigenvector of R33 corresponding to eigenvalue of 1
+ l, W = numpy.linalg.eig(R33.T)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no unit eigenvector corresponding to eigenvalue 1")
+ direction = numpy.real(W[:, i[-1]]).squeeze()
+ # point: unit eigenvector of R33 corresponding to eigenvalue of 1
+ l, Q = numpy.linalg.eig(R)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no unit eigenvector corresponding to eigenvalue 1")
+ point = numpy.real(Q[:, i[-1]]).squeeze()
+ point /= point[3]
+ # rotation angle depending on direction
+ cosa = (numpy.trace(R33) - 1.0) / 2.0
+ if abs(direction[2]) > 1e-8:
+ sina = (R[1, 0] + (cosa-1.0)*direction[0]*direction[1]) / direction[2]
+ elif abs(direction[1]) > 1e-8:
+ sina = (R[0, 2] + (cosa-1.0)*direction[0]*direction[2]) / direction[1]
+ else:
+ sina = (R[2, 1] + (cosa-1.0)*direction[1]*direction[2]) / direction[0]
+ angle = math.atan2(sina, cosa)
+ return angle, direction, point
+
+
+def scale_matrix(factor, origin=None, direction=None):
+ """Return matrix to scale by factor around origin in direction.
+
+ Use factor -1 for point symmetry.
+
+ >>> v = (numpy.random.rand(4, 5) - 0.5) * 20.0
+ >>> v[3] = 1.0
+ >>> S = scale_matrix(-1.234)
+ >>> numpy.allclose(numpy.dot(S, v)[:3], -1.234*v[:3])
+ True
+ >>> factor = random.random() * 10 - 5
+ >>> origin = numpy.random.random(3) - 0.5
+ >>> direct = numpy.random.random(3) - 0.5
+ >>> S = scale_matrix(factor, origin)
+ >>> S = scale_matrix(factor, origin, direct)
+
+ """
+ if direction is None:
+ # uniform scaling
+ M = numpy.array(((factor, 0.0, 0.0, 0.0),
+ (0.0, factor, 0.0, 0.0),
+ (0.0, 0.0, factor, 0.0),
+ (0.0, 0.0, 0.0, 1.0)), dtype=numpy.float64)
+ if origin is not None:
+ M[:3, 3] = origin[:3]
+ M[:3, 3] *= 1.0 - factor
+ else:
+ # nonuniform scaling
+ direction = unit_vector(direction[:3])
+ factor = 1.0 - factor
+ M = numpy.identity(4)
+ M[:3, :3] -= factor * numpy.outer(direction, direction)
+ if origin is not None:
+ M[:3, 3] = (factor * numpy.dot(origin[:3], direction)) * direction
+ return M
+
+
+def scale_from_matrix(matrix):
+ """Return scaling factor, origin and direction from scaling matrix.
+
+ >>> factor = random.random() * 10 - 5
+ >>> origin = numpy.random.random(3) - 0.5
+ >>> direct = numpy.random.random(3) - 0.5
+ >>> S0 = scale_matrix(factor, origin)
+ >>> factor, origin, direction = scale_from_matrix(S0)
+ >>> S1 = scale_matrix(factor, origin, direction)
+ >>> is_same_transform(S0, S1)
+ True
+ >>> S0 = scale_matrix(factor, origin, direct)
+ >>> factor, origin, direction = scale_from_matrix(S0)
+ >>> S1 = scale_matrix(factor, origin, direction)
+ >>> is_same_transform(S0, S1)
+ True
+
+ """
+ M = numpy.array(matrix, dtype=numpy.float64, copy=False)
+ M33 = M[:3, :3]
+ factor = numpy.trace(M33) - 2.0
+ try:
+ # direction: unit eigenvector corresponding to eigenvalue factor
+ l, V = numpy.linalg.eig(M33)
+ i = numpy.where(abs(numpy.real(l) - factor) < 1e-8)[0][0]
+ direction = numpy.real(V[:, i]).squeeze()
+ direction /= vector_norm(direction)
+ except IndexError:
+ # uniform scaling
+ factor = (factor + 2.0) / 3.0
+ direction = None
+ # origin: any eigenvector corresponding to eigenvalue 1
+ l, V = numpy.linalg.eig(M)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no eigenvector corresponding to eigenvalue 1")
+ origin = numpy.real(V[:, i[-1]]).squeeze()
+ origin /= origin[3]
+ return factor, origin, direction
+
+
+def projection_matrix(point, normal, direction=None,
+ perspective=None, pseudo=False):
+ """Return matrix to project onto plane defined by point and normal.
+
+ Using either perspective point, projection direction, or none of both.
+
+ If pseudo is True, perspective projections will preserve relative depth
+ such that Perspective = dot(Orthogonal, PseudoPerspective).
+
+ >>> P = projection_matrix((0, 0, 0), (1, 0, 0))
+ >>> numpy.allclose(P[1:, 1:], numpy.identity(4)[1:, 1:])
+ True
+ >>> point = numpy.random.random(3) - 0.5
+ >>> normal = numpy.random.random(3) - 0.5
+ >>> direct = numpy.random.random(3) - 0.5
+ >>> persp = numpy.random.random(3) - 0.5
+ >>> P0 = projection_matrix(point, normal)
+ >>> P1 = projection_matrix(point, normal, direction=direct)
+ >>> P2 = projection_matrix(point, normal, perspective=persp)
+ >>> P3 = projection_matrix(point, normal, perspective=persp, pseudo=True)
+ >>> is_same_transform(P2, numpy.dot(P0, P3))
+ True
+ >>> P = projection_matrix((3, 0, 0), (1, 1, 0), (1, 0, 0))
+ >>> v0 = (numpy.random.rand(4, 5) - 0.5) * 20.0
+ >>> v0[3] = 1.0
+ >>> v1 = numpy.dot(P, v0)
+ >>> numpy.allclose(v1[1], v0[1])
+ True
+ >>> numpy.allclose(v1[0], 3.0-v1[1])
+ True
+
+ """
+ M = numpy.identity(4)
+ point = numpy.array(point[:3], dtype=numpy.float64, copy=False)
+ normal = unit_vector(normal[:3])
+ if perspective is not None:
+ # perspective projection
+ perspective = numpy.array(perspective[:3], dtype=numpy.float64,
+ copy=False)
+ M[0, 0] = M[1, 1] = M[2, 2] = numpy.dot(perspective-point, normal)
+ M[:3, :3] -= numpy.outer(perspective, normal)
+ if pseudo:
+ # preserve relative depth
+ M[:3, :3] -= numpy.outer(normal, normal)
+ M[:3, 3] = numpy.dot(point, normal) * (perspective+normal)
+ else:
+ M[:3, 3] = numpy.dot(point, normal) * perspective
+ M[3, :3] = -normal
+ M[3, 3] = numpy.dot(perspective, normal)
+ elif direction is not None:
+ # parallel projection
+ direction = numpy.array(direction[:3], dtype=numpy.float64, copy=False)
+ scale = numpy.dot(direction, normal)
+ M[:3, :3] -= numpy.outer(direction, normal) / scale
+ M[:3, 3] = direction * (numpy.dot(point, normal) / scale)
+ else:
+ # orthogonal projection
+ M[:3, :3] -= numpy.outer(normal, normal)
+ M[:3, 3] = numpy.dot(point, normal) * normal
+ return M
+
+
+def projection_from_matrix(matrix, pseudo=False):
+ """Return projection plane and perspective point from projection matrix.
+
+ Return values are same as arguments for projection_matrix function:
+ point, normal, direction, perspective, and pseudo.
+
+ >>> point = numpy.random.random(3) - 0.5
+ >>> normal = numpy.random.random(3) - 0.5
+ >>> direct = numpy.random.random(3) - 0.5
+ >>> persp = numpy.random.random(3) - 0.5
+ >>> P0 = projection_matrix(point, normal)
+ >>> result = projection_from_matrix(P0)
+ >>> P1 = projection_matrix(*result)
+ >>> is_same_transform(P0, P1)
+ True
+ >>> P0 = projection_matrix(point, normal, direct)
+ >>> result = projection_from_matrix(P0)
+ >>> P1 = projection_matrix(*result)
+ >>> is_same_transform(P0, P1)
+ True
+ >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=False)
+ >>> result = projection_from_matrix(P0, pseudo=False)
+ >>> P1 = projection_matrix(*result)
+ >>> is_same_transform(P0, P1)
+ True
+ >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=True)
+ >>> result = projection_from_matrix(P0, pseudo=True)
+ >>> P1 = projection_matrix(*result)
+ >>> is_same_transform(P0, P1)
+ True
+
+ """
+ M = numpy.array(matrix, dtype=numpy.float64, copy=False)
+ M33 = M[:3, :3]
+ l, V = numpy.linalg.eig(M)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]
+ if not pseudo and len(i):
+ # point: any eigenvector corresponding to eigenvalue 1
+ point = numpy.real(V[:, i[-1]]).squeeze()
+ point /= point[3]
+ # direction: unit eigenvector corresponding to eigenvalue 0
+ l, V = numpy.linalg.eig(M33)
+ i = numpy.where(abs(numpy.real(l)) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no eigenvector corresponding to eigenvalue 0")
+ direction = numpy.real(V[:, i[0]]).squeeze()
+ direction /= vector_norm(direction)
+ # normal: unit eigenvector of M33.T corresponding to eigenvalue 0
+ l, V = numpy.linalg.eig(M33.T)
+ i = numpy.where(abs(numpy.real(l)) < 1e-8)[0]
+ if len(i):
+ # parallel projection
+ normal = numpy.real(V[:, i[0]]).squeeze()
+ normal /= vector_norm(normal)
+ return point, normal, direction, None, False
+ else:
+ # orthogonal projection, where normal equals direction vector
+ return point, direction, None, None, False
+ else:
+ # perspective projection
+ i = numpy.where(abs(numpy.real(l)) > 1e-8)[0]
+ if not len(i):
+ raise ValueError(
+ "no eigenvector not corresponding to eigenvalue 0")
+ point = numpy.real(V[:, i[-1]]).squeeze()
+ point /= point[3]
+ normal = - M[3, :3]
+ perspective = M[:3, 3] / numpy.dot(point[:3], normal)
+ if pseudo:
+ perspective -= normal
+ return point, normal, None, perspective, pseudo
+
+
+def clip_matrix(left, right, bottom, top, near, far, perspective=False):
+ """Return matrix to obtain normalized device coordinates from frustrum.
+
+ The frustrum bounds are axis-aligned along x (left, right),
+ y (bottom, top) and z (near, far).
+
+ Normalized device coordinates are in range [-1, 1] if coordinates are
+ inside the frustrum.
+
+ If perspective is True the frustrum is a truncated pyramid with the
+ perspective point at origin and direction along z axis, otherwise an
+ orthographic canonical view volume (a box).
+
+ Homogeneous coordinates transformed by the perspective clip matrix
+ need to be dehomogenized (devided by w coordinate).
+
+ >>> frustrum = numpy.random.rand(6)
+ >>> frustrum[1] += frustrum[0]
+ >>> frustrum[3] += frustrum[2]
+ >>> frustrum[5] += frustrum[4]
+ >>> M = clip_matrix(*frustrum, perspective=False)
+ >>> numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0])
+ array([-1., -1., -1., 1.])
+ >>> numpy.dot(M, [frustrum[1], frustrum[3], frustrum[5], 1.0])
+ array([ 1., 1., 1., 1.])
+ >>> M = clip_matrix(*frustrum, perspective=True)
+ >>> v = numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0])
+ >>> v / v[3]
+ array([-1., -1., -1., 1.])
+ >>> v = numpy.dot(M, [frustrum[1], frustrum[3], frustrum[4], 1.0])
+ >>> v / v[3]
+ array([ 1., 1., -1., 1.])
+
+ """
+ if left >= right or bottom >= top or near >= far:
+ raise ValueError("invalid frustrum")
+ if perspective:
+ if near <= _EPS:
+ raise ValueError("invalid frustrum: near <= 0")
+ t = 2.0 * near
+ M = ((-t/(right-left), 0.0, (right+left)/(right-left), 0.0),
+ (0.0, -t/(top-bottom), (top+bottom)/(top-bottom), 0.0),
+ (0.0, 0.0, -(far+near)/(far-near), t*far/(far-near)),
+ (0.0, 0.0, -1.0, 0.0))
+ else:
+ M = ((2.0/(right-left), 0.0, 0.0, (right+left)/(left-right)),
+ (0.0, 2.0/(top-bottom), 0.0, (top+bottom)/(bottom-top)),
+ (0.0, 0.0, 2.0/(far-near), (far+near)/(near-far)),
+ (0.0, 0.0, 0.0, 1.0))
+ return numpy.array(M, dtype=numpy.float64)
+
+
+def shear_matrix(angle, direction, point, normal):
+ """Return matrix to shear by angle along direction vector on shear plane.
+
+ The shear plane is defined by a point and normal vector. The direction
+ vector must be orthogonal to the plane's normal vector.
+
+ A point P is transformed by the shear matrix into P" such that
+ the vector P-P" is parallel to the direction vector and its extent is
+ given by the angle of P-P'-P", where P' is the orthogonal projection
+ of P onto the shear plane.
+
+ >>> angle = (random.random() - 0.5) * 4*math.pi
+ >>> direct = numpy.random.random(3) - 0.5
+ >>> point = numpy.random.random(3) - 0.5
+ >>> normal = numpy.cross(direct, numpy.random.random(3))
+ >>> S = shear_matrix(angle, direct, point, normal)
+ >>> numpy.allclose(1.0, numpy.linalg.det(S))
+ True
+
+ """
+ normal = unit_vector(normal[:3])
+ direction = unit_vector(direction[:3])
+ if abs(numpy.dot(normal, direction)) > 1e-6:
+ raise ValueError("direction and normal vectors are not orthogonal")
+ angle = math.tan(angle)
+ M = numpy.identity(4)
+ M[:3, :3] += angle * numpy.outer(direction, normal)
+ M[:3, 3] = -angle * numpy.dot(point[:3], normal) * direction
+ return M
+
+
+def shear_from_matrix(matrix):
+ """Return shear angle, direction and plane from shear matrix.
+
+ >>> angle = (random.random() - 0.5) * 4*math.pi
+ >>> direct = numpy.random.random(3) - 0.5
+ >>> point = numpy.random.random(3) - 0.5
+ >>> normal = numpy.cross(direct, numpy.random.random(3))
+ >>> S0 = shear_matrix(angle, direct, point, normal)
+ >>> angle, direct, point, normal = shear_from_matrix(S0)
+ >>> S1 = shear_matrix(angle, direct, point, normal)
+ >>> is_same_transform(S0, S1)
+ True
+
+ """
+ M = numpy.array(matrix, dtype=numpy.float64, copy=False)
+ M33 = M[:3, :3]
+ # normal: cross independent eigenvectors corresponding to the eigenvalue 1
+ l, V = numpy.linalg.eig(M33)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-4)[0]
+ if len(i) < 2:
+ raise ValueError("No two linear independent eigenvectors found %s" % l)
+ V = numpy.real(V[:, i]).squeeze().T
+ lenorm = -1.0
+ for i0, i1 in ((0, 1), (0, 2), (1, 2)):
+ n = numpy.cross(V[i0], V[i1])
+ l = vector_norm(n)
+ if l > lenorm:
+ lenorm = l
+ normal = n
+ normal /= lenorm
+ # direction and angle
+ direction = numpy.dot(M33 - numpy.identity(3), normal)
+ angle = vector_norm(direction)
+ direction /= angle
+ angle = math.atan(angle)
+ # point: eigenvector corresponding to eigenvalue 1
+ l, V = numpy.linalg.eig(M)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no eigenvector corresponding to eigenvalue 1")
+ point = numpy.real(V[:, i[-1]]).squeeze()
+ point /= point[3]
+ return angle, direction, point, normal
+
+
+def decompose_matrix(matrix):
+ """Return sequence of transformations from transformation matrix.
+
+ matrix : array_like
+ Non-degenerative homogeneous transformation matrix
+
+ Return tuple of:
+ scale : vector of 3 scaling factors
+ shear : list of shear factors for x-y, x-z, y-z axes
+ angles : list of Euler angles about static x, y, z axes
+ translate : translation vector along x, y, z axes
+ perspective : perspective partition of matrix
+
+ Raise ValueError if matrix is of wrong type or degenerative.
+
+ >>> T0 = translation_matrix((1, 2, 3))
+ >>> scale, shear, angles, trans, persp = decompose_matrix(T0)
+ >>> T1 = translation_matrix(trans)
+ >>> numpy.allclose(T0, T1)
+ True
+ >>> S = scale_matrix(0.123)
+ >>> scale, shear, angles, trans, persp = decompose_matrix(S)
+ >>> scale[0]
+ 0.123
+ >>> R0 = euler_matrix(1, 2, 3)
+ >>> scale, shear, angles, trans, persp = decompose_matrix(R0)
+ >>> R1 = euler_matrix(*angles)
+ >>> numpy.allclose(R0, R1)
+ True
+
+ """
+ M = numpy.array(matrix, dtype=numpy.float64, copy=True).T
+ if abs(M[3, 3]) < _EPS:
+ raise ValueError("M[3, 3] is zero")
+ M /= M[3, 3]
+ P = M.copy()
+ P[:, 3] = 0, 0, 0, 1
+ if not numpy.linalg.det(P):
+ raise ValueError("Matrix is singular")
+
+ scale = numpy.zeros((3, ), dtype=numpy.float64)
+ shear = [0, 0, 0]
+ angles = [0, 0, 0]
+
+ if any(abs(M[:3, 3]) > _EPS):
+ perspective = numpy.dot(M[:, 3], numpy.linalg.inv(P.T))
+ M[:, 3] = 0, 0, 0, 1
+ else:
+ perspective = numpy.array((0, 0, 0, 1), dtype=numpy.float64)
+
+ translate = M[3, :3].copy()
+ M[3, :3] = 0
+
+ row = M[:3, :3].copy()
+ scale[0] = vector_norm(row[0])
+ row[0] /= scale[0]
+ shear[0] = numpy.dot(row[0], row[1])
+ row[1] -= row[0] * shear[0]
+ scale[1] = vector_norm(row[1])
+ row[1] /= scale[1]
+ shear[0] /= scale[1]
+ shear[1] = numpy.dot(row[0], row[2])
+ row[2] -= row[0] * shear[1]
+ shear[2] = numpy.dot(row[1], row[2])
+ row[2] -= row[1] * shear[2]
+ scale[2] = vector_norm(row[2])
+ row[2] /= scale[2]
+ shear[1:] /= scale[2]
+
+ if numpy.dot(row[0], numpy.cross(row[1], row[2])) < 0:
+ scale *= -1
+ row *= -1
+
+ angles[1] = math.asin(-row[0, 2])
+ if math.cos(angles[1]):
+ angles[0] = math.atan2(row[1, 2], row[2, 2])
+ angles[2] = math.atan2(row[0, 1], row[0, 0])
+ else:
+ #angles[0] = math.atan2(row[1, 0], row[1, 1])
+ angles[0] = math.atan2(-row[2, 1], row[1, 1])
+ angles[2] = 0.0
+
+ return scale, shear, angles, translate, perspective
+
+
+def compose_matrix(scale=None, shear=None, angles=None, translate=None,
+ perspective=None):
+ """Return transformation matrix from sequence of transformations.
+
+ This is the inverse of the decompose_matrix function.
+
+ Sequence of transformations:
+ scale : vector of 3 scaling factors
+ shear : list of shear factors for x-y, x-z, y-z axes
+ angles : list of Euler angles about static x, y, z axes
+ translate : translation vector along x, y, z axes
+ perspective : perspective partition of matrix
+
+ >>> scale = numpy.random.random(3) - 0.5
+ >>> shear = numpy.random.random(3) - 0.5
+ >>> angles = (numpy.random.random(3) - 0.5) * (2*math.pi)
+ >>> trans = numpy.random.random(3) - 0.5
+ >>> persp = numpy.random.random(4) - 0.5
+ >>> M0 = compose_matrix(scale, shear, angles, trans, persp)
+ >>> result = decompose_matrix(M0)
+ >>> M1 = compose_matrix(*result)
+ >>> is_same_transform(M0, M1)
+ True
+
+ """
+ M = numpy.identity(4)
+ if perspective is not None:
+ P = numpy.identity(4)
+ P[3, :] = perspective[:4]
+ M = numpy.dot(M, P)
+ if translate is not None:
+ T = numpy.identity(4)
+ T[:3, 3] = translate[:3]
+ M = numpy.dot(M, T)
+ if angles is not None:
+ R = euler_matrix(angles[0], angles[1], angles[2], 'sxyz')
+ M = numpy.dot(M, R)
+ if shear is not None:
+ Z = numpy.identity(4)
+ Z[1, 2] = shear[2]
+ Z[0, 2] = shear[1]
+ Z[0, 1] = shear[0]
+ M = numpy.dot(M, Z)
+ if scale is not None:
+ S = numpy.identity(4)
+ S[0, 0] = scale[0]
+ S[1, 1] = scale[1]
+ S[2, 2] = scale[2]
+ M = numpy.dot(M, S)
+ M /= M[3, 3]
+ return M
+
+
+def orthogonalization_matrix(lengths, angles):
+ """Return orthogonalization matrix for crystallographic cell coordinates.
+
+ Angles are expected in degrees.
+
+ The de-orthogonalization matrix is the inverse.
+
+ >>> O = orthogonalization_matrix((10., 10., 10.), (90., 90., 90.))
+ >>> numpy.allclose(O[:3, :3], numpy.identity(3, float) * 10)
+ True
+ >>> O = orthogonalization_matrix([9.8, 12.0, 15.5], [87.2, 80.7, 69.7])
+ >>> numpy.allclose(numpy.sum(O), 43.063229)
+ True
+
+ """
+ a, b, c = lengths
+ angles = numpy.radians(angles)
+ sina, sinb, _ = numpy.sin(angles)
+ cosa, cosb, cosg = numpy.cos(angles)
+ co = (cosa * cosb - cosg) / (sina * sinb)
+ return numpy.array((
+ (a*sinb*math.sqrt(1.0-co*co), 0.0, 0.0, 0.0),
+ (-a*sinb*co, b*sina, 0.0, 0.0),
+ (a*cosb, b*cosa, c, 0.0),
+ (0.0, 0.0, 0.0, 1.0)),
+ dtype=numpy.float64)
+
+
+def superimposition_matrix(v0, v1, scaling=False, usesvd=True):
+ """Return matrix to transform given vector set into second vector set.
+
+ v0 and v1 are shape (3, \*) or (4, \*) arrays of at least 3 vectors.
+
+ If usesvd is True, the weighted sum of squared deviations (RMSD) is
+ minimized according to the algorithm by W. Kabsch [8]. Otherwise the
+ quaternion based algorithm by B. Horn [9] is used (slower when using
+ this Python implementation).
+
+ The returned matrix performs rotation, translation and uniform scaling
+ (if specified).
+
+ >>> v0 = numpy.random.rand(3, 10)
+ >>> M = superimposition_matrix(v0, v0)
+ >>> numpy.allclose(M, numpy.identity(4))
+ True
+ >>> R = random_rotation_matrix(numpy.random.random(3))
+ >>> v0 = ((1,0,0), (0,1,0), (0,0,1), (1,1,1))
+ >>> v1 = numpy.dot(R, v0)
+ >>> M = superimposition_matrix(v0, v1)
+ >>> numpy.allclose(v1, numpy.dot(M, v0))
+ True
+ >>> v0 = (numpy.random.rand(4, 100) - 0.5) * 20.0
+ >>> v0[3] = 1.0
+ >>> v1 = numpy.dot(R, v0)
+ >>> M = superimposition_matrix(v0, v1)
+ >>> numpy.allclose(v1, numpy.dot(M, v0))
+ True
+ >>> S = scale_matrix(random.random())
+ >>> T = translation_matrix(numpy.random.random(3)-0.5)
+ >>> M = concatenate_matrices(T, R, S)
+ >>> v1 = numpy.dot(M, v0)
+ >>> v0[:3] += numpy.random.normal(0.0, 1e-9, 300).reshape(3, -1)
+ >>> M = superimposition_matrix(v0, v1, scaling=True)
+ >>> numpy.allclose(v1, numpy.dot(M, v0))
+ True
+ >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False)
+ >>> numpy.allclose(v1, numpy.dot(M, v0))
+ True
+ >>> v = numpy.empty((4, 100, 3), dtype=numpy.float64)
+ >>> v[:, :, 0] = v0
+ >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False)
+ >>> numpy.allclose(v1, numpy.dot(M, v[:, :, 0]))
+ True
+
+ """
+ v0 = numpy.array(v0, dtype=numpy.float64, copy=False)[:3]
+ v1 = numpy.array(v1, dtype=numpy.float64, copy=False)[:3]
+
+ if v0.shape != v1.shape or v0.shape[1] < 3:
+ raise ValueError("Vector sets are of wrong shape or type.")
+
+ # move centroids to origin
+ t0 = numpy.mean(v0, axis=1)
+ t1 = numpy.mean(v1, axis=1)
+ v0 = v0 - t0.reshape(3, 1)
+ v1 = v1 - t1.reshape(3, 1)
+
+ if usesvd:
+ # Singular Value Decomposition of covariance matrix
+ u, s, vh = numpy.linalg.svd(numpy.dot(v1, v0.T))
+ # rotation matrix from SVD orthonormal bases
+ R = numpy.dot(u, vh)
+ if numpy.linalg.det(R) < 0.0:
+ # R does not constitute right handed system
+ R -= numpy.outer(u[:, 2], vh[2, :]*2.0)
+ s[-1] *= -1.0
+ # homogeneous transformation matrix
+ M = numpy.identity(4)
+ M[:3, :3] = R
+ else:
+ # compute symmetric matrix N
+ xx, yy, zz = numpy.sum(v0 * v1, axis=1)
+ xy, yz, zx = numpy.sum(v0 * numpy.roll(v1, -1, axis=0), axis=1)
+ xz, yx, zy = numpy.sum(v0 * numpy.roll(v1, -2, axis=0), axis=1)
+ N = ((xx+yy+zz, yz-zy, zx-xz, xy-yx),
+ (yz-zy, xx-yy-zz, xy+yx, zx+xz),
+ (zx-xz, xy+yx, -xx+yy-zz, yz+zy),
+ (xy-yx, zx+xz, yz+zy, -xx-yy+zz))
+ # quaternion: eigenvector corresponding to most positive eigenvalue
+ l, V = numpy.linalg.eig(N)
+ q = V[:, numpy.argmax(l)]
+ q /= vector_norm(q) # unit quaternion
+ q = numpy.roll(q, -1) # move w component to end
+ # homogeneous transformation matrix
+ M = quaternion_matrix(q)
+
+ # scale: ratio of rms deviations from centroid
+ if scaling:
+ v0 *= v0
+ v1 *= v1
+ M[:3, :3] *= math.sqrt(numpy.sum(v1) / numpy.sum(v0))
+
+ # translation
+ M[:3, 3] = t1
+ T = numpy.identity(4)
+ T[:3, 3] = -t0
+ M = numpy.dot(M, T)
+ return M
+
+
+def euler_matrix(ai, aj, ak, axes='sxyz'):
+ """Return homogeneous rotation matrix from Euler angles and axis sequence.
+
+ ai, aj, ak : Euler's roll, pitch and yaw angles
+ axes : One of 24 axis sequences as string or encoded tuple
+
+ >>> R = euler_matrix(1, 2, 3, 'syxz')
+ >>> numpy.allclose(numpy.sum(R[0]), -1.34786452)
+ True
+ >>> R = euler_matrix(1, 2, 3, (0, 1, 0, 1))
+ >>> numpy.allclose(numpy.sum(R[0]), -0.383436184)
+ True
+ >>> ai, aj, ak = (4.0*math.pi) * (numpy.random.random(3) - 0.5)
+ >>> for axes in _AXES2TUPLE.keys():
+ ... R = euler_matrix(ai, aj, ak, axes)
+ >>> for axes in _TUPLE2AXES.keys():
+ ... R = euler_matrix(ai, aj, ak, axes)
+
+ """
+ try:
+ firstaxis, parity, repetition, frame = _AXES2TUPLE[axes]
+ except (AttributeError, KeyError):
+ _ = _TUPLE2AXES[axes]
+ firstaxis, parity, repetition, frame = axes
+
+ i = firstaxis
+ j = _NEXT_AXIS[i+parity]
+ k = _NEXT_AXIS[i-parity+1]
+
+ if frame:
+ ai, ak = ak, ai
+ if parity:
+ ai, aj, ak = -ai, -aj, -ak
+
+ si, sj, sk = math.sin(ai), math.sin(aj), math.sin(ak)
+ ci, cj, ck = math.cos(ai), math.cos(aj), math.cos(ak)
+ cc, cs = ci*ck, ci*sk
+ sc, ss = si*ck, si*sk
+
+ M = numpy.identity(4)
+ if repetition:
+ M[i, i] = cj
+ M[i, j] = sj*si
+ M[i, k] = sj*ci
+ M[j, i] = sj*sk
+ M[j, j] = -cj*ss+cc
+ M[j, k] = -cj*cs-sc
+ M[k, i] = -sj*ck
+ M[k, j] = cj*sc+cs
+ M[k, k] = cj*cc-ss
+ else:
+ M[i, i] = cj*ck
+ M[i, j] = sj*sc-cs
+ M[i, k] = sj*cc+ss
+ M[j, i] = cj*sk
+ M[j, j] = sj*ss+cc
+ M[j, k] = sj*cs-sc
+ M[k, i] = -sj
+ M[k, j] = cj*si
+ M[k, k] = cj*ci
+ return M
+
+
+def euler_from_matrix(matrix, axes='sxyz'):
+ """Return Euler angles from rotation matrix for specified axis sequence.
+
+ axes : One of 24 axis sequences as string or encoded tuple
+
+ Note that many Euler angle triplets can describe one matrix.
+
+ >>> R0 = euler_matrix(1, 2, 3, 'syxz')
+ >>> al, be, ga = euler_from_matrix(R0, 'syxz')
+ >>> R1 = euler_matrix(al, be, ga, 'syxz')
+ >>> numpy.allclose(R0, R1)
+ True
+ >>> angles = (4.0*math.pi) * (numpy.random.random(3) - 0.5)
+ >>> for axes in _AXES2TUPLE.keys():
+ ... R0 = euler_matrix(axes=axes, *angles)
+ ... R1 = euler_matrix(axes=axes, *euler_from_matrix(R0, axes))
+ ... if not numpy.allclose(R0, R1): print axes, "failed"
+
+ """
+ try:
+ firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()]
+ except (AttributeError, KeyError):
+ _ = _TUPLE2AXES[axes]
+ firstaxis, parity, repetition, frame = axes
+
+ i = firstaxis
+ j = _NEXT_AXIS[i+parity]
+ k = _NEXT_AXIS[i-parity+1]
+
+ M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:3, :3]
+ if repetition:
+ sy = math.sqrt(M[i, j]*M[i, j] + M[i, k]*M[i, k])
+ if sy > _EPS:
+ ax = math.atan2(M[i, j], M[i, k])
+ ay = math.atan2(sy, M[i, i])
+ az = math.atan2(M[j, i], -M[k, i])
+ else:
+ ax = math.atan2(-M[j, k], M[j, j])
+ ay = math.atan2(sy, M[i, i])
+ az = 0.0
+ else:
+ cy = math.sqrt(M[i, i]*M[i, i] + M[j, i]*M[j, i])
+ if cy > _EPS:
+ ax = math.atan2(M[k, j], M[k, k])
+ ay = math.atan2(-M[k, i], cy)
+ az = math.atan2(M[j, i], M[i, i])
+ else:
+ ax = math.atan2(-M[j, k], M[j, j])
+ ay = math.atan2(-M[k, i], cy)
+ az = 0.0
+
+ if parity:
+ ax, ay, az = -ax, -ay, -az
+ if frame:
+ ax, az = az, ax
+ return ax, ay, az
+
+
+def euler_from_quaternion(quaternion, axes='sxyz'):
+ """Return Euler angles from quaternion for specified axis sequence.
+
+ >>> angles = euler_from_quaternion([0.06146124, 0, 0, 0.99810947])
+ >>> numpy.allclose(angles, [0.123, 0, 0])
+ True
+
+ """
+ return euler_from_matrix(quaternion_matrix(quaternion), axes)
+
+
+def quaternion_from_euler(ai, aj, ak, axes='sxyz'):
+ """Return quaternion from Euler angles and axis sequence.
+
+ ai, aj, ak : Euler's roll, pitch and yaw angles
+ axes : One of 24 axis sequences as string or encoded tuple
+
+ >>> q = quaternion_from_euler(1, 2, 3, 'ryxz')
+ >>> numpy.allclose(q, [0.310622, -0.718287, 0.444435, 0.435953])
+ True
+
+ """
+ try:
+ firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()]
+ except (AttributeError, KeyError):
+ _ = _TUPLE2AXES[axes]
+ firstaxis, parity, repetition, frame = axes
+
+ i = firstaxis
+ j = _NEXT_AXIS[i+parity]
+ k = _NEXT_AXIS[i-parity+1]
+
+ if frame:
+ ai, ak = ak, ai
+ if parity:
+ aj = -aj
+
+ ai /= 2.0
+ aj /= 2.0
+ ak /= 2.0
+ ci = math.cos(ai)
+ si = math.sin(ai)
+ cj = math.cos(aj)
+ sj = math.sin(aj)
+ ck = math.cos(ak)
+ sk = math.sin(ak)
+ cc = ci*ck
+ cs = ci*sk
+ sc = si*ck
+ ss = si*sk
+
+ quaternion = numpy.empty((4, ), dtype=numpy.float64)
+ if repetition:
+ quaternion[i] = cj*(cs + sc)
+ quaternion[j] = sj*(cc + ss)
+ quaternion[k] = sj*(cs - sc)
+ quaternion[3] = cj*(cc - ss)
+ else:
+ quaternion[i] = cj*sc - sj*cs
+ quaternion[j] = cj*ss + sj*cc
+ quaternion[k] = cj*cs - sj*sc
+ quaternion[3] = cj*cc + sj*ss
+ if parity:
+ quaternion[j] *= -1
+
+ return quaternion
+
+
+def quaternion_about_axis(angle, axis):
+ """Return quaternion for rotation about axis.
+
+ >>> q = quaternion_about_axis(0.123, (1, 0, 0))
+ >>> numpy.allclose(q, [0.06146124, 0, 0, 0.99810947])
+ True
+
+ """
+ quaternion = numpy.zeros((4, ), dtype=numpy.float64)
+ quaternion[:3] = axis[:3]
+ qlen = vector_norm(quaternion)
+ if qlen > _EPS:
+ quaternion *= math.sin(angle/2.0) / qlen
+ quaternion[3] = math.cos(angle/2.0)
+ return quaternion
+
+
+def quaternion_matrix(quaternion):
+ """Return homogeneous rotation matrix from quaternion.
+
+ >>> R = quaternion_matrix([0.06146124, 0, 0, 0.99810947])
+ >>> numpy.allclose(R, rotation_matrix(0.123, (1, 0, 0)))
+ True
+
+ """
+ q = numpy.array(quaternion[:4], dtype=numpy.float64, copy=True)
+ nq = numpy.dot(q, q)
+ if nq < _EPS:
+ return numpy.identity(4)
+ q *= math.sqrt(2.0 / nq)
+ q = numpy.outer(q, q)
+ return numpy.array((
+ (1.0-q[1, 1]-q[2, 2], q[0, 1]-q[2, 3], q[0, 2]+q[1, 3], 0.0),
+ (q[0, 1]+q[2, 3], 1.0-q[0, 0]-q[2, 2], q[1, 2]-q[0, 3], 0.0),
+ (q[0, 2]-q[1, 3], q[1, 2]+q[0, 3], 1.0-q[0, 0]-q[1, 1], 0.0),
+ (0.0, 0.0, 0.0, 1.0)
+ ), dtype=numpy.float64)
+
+
+def quaternion_from_matrix(matrix):
+ """Return quaternion from rotation matrix.
+
+ >>> R = rotation_matrix(0.123, (1, 2, 3))
+ >>> q = quaternion_from_matrix(R)
+ >>> numpy.allclose(q, [0.0164262, 0.0328524, 0.0492786, 0.9981095])
+ True
+
+ """
+ q = numpy.empty((4, ), dtype=numpy.float64)
+ M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:4, :4]
+ t = numpy.trace(M)
+ if t > M[3, 3]:
+ q[3] = t
+ q[2] = M[1, 0] - M[0, 1]
+ q[1] = M[0, 2] - M[2, 0]
+ q[0] = M[2, 1] - M[1, 2]
+ else:
+ i, j, k = 0, 1, 2
+ if M[1, 1] > M[0, 0]:
+ i, j, k = 1, 2, 0
+ if M[2, 2] > M[i, i]:
+ i, j, k = 2, 0, 1
+ t = M[i, i] - (M[j, j] + M[k, k]) + M[3, 3]
+ q[i] = t
+ q[j] = M[i, j] + M[j, i]
+ q[k] = M[k, i] + M[i, k]
+ q[3] = M[k, j] - M[j, k]
+ q *= 0.5 / math.sqrt(t * M[3, 3])
+ return q
+
+
+def quaternion_multiply(quaternion1, quaternion0):
+ """Return multiplication of two quaternions.
+
+ >>> q = quaternion_multiply([1, -2, 3, 4], [-5, 6, 7, 8])
+ >>> numpy.allclose(q, [-44, -14, 48, 28])
+ True
+
+ """
+ x0, y0, z0, w0 = quaternion0
+ x1, y1, z1, w1 = quaternion1
+ return numpy.array((
+ x1*w0 + y1*z0 - z1*y0 + w1*x0,
+ -x1*z0 + y1*w0 + z1*x0 + w1*y0,
+ x1*y0 - y1*x0 + z1*w0 + w1*z0,
+ -x1*x0 - y1*y0 - z1*z0 + w1*w0), dtype=numpy.float64)
+
+
+def quaternion_conjugate(quaternion):
+ """Return conjugate of quaternion.
+
+ >>> q0 = random_quaternion()
+ >>> q1 = quaternion_conjugate(q0)
+ >>> q1[3] == q0[3] and all(q1[:3] == -q0[:3])
+ True
+
+ """
+ return numpy.array((-quaternion[0], -quaternion[1],
+ -quaternion[2], quaternion[3]), dtype=numpy.float64)
+
+
+def quaternion_inverse(quaternion):
+ """Return inverse of quaternion.
+
+ >>> q0 = random_quaternion()
+ >>> q1 = quaternion_inverse(q0)
+ >>> numpy.allclose(quaternion_multiply(q0, q1), [0, 0, 0, 1])
+ True
+
+ """
+ return quaternion_conjugate(quaternion) / numpy.dot(quaternion, quaternion)
+
+
+def quaternion_slerp(quat0, quat1, fraction, spin=0, shortestpath=True):
+ """Return spherical linear interpolation between two quaternions.
+
+ >>> q0 = random_quaternion()
+ >>> q1 = random_quaternion()
+ >>> q = quaternion_slerp(q0, q1, 0.0)
+ >>> numpy.allclose(q, q0)
+ True
+ >>> q = quaternion_slerp(q0, q1, 1.0, 1)
+ >>> numpy.allclose(q, q1)
+ True
+ >>> q = quaternion_slerp(q0, q1, 0.5)
+ >>> angle = math.acos(numpy.dot(q0, q))
+ >>> numpy.allclose(2.0, math.acos(numpy.dot(q0, q1)) / angle) or \
+ numpy.allclose(2.0, math.acos(-numpy.dot(q0, q1)) / angle)
+ True
+
+ """
+ q0 = unit_vector(quat0[:4])
+ q1 = unit_vector(quat1[:4])
+ if fraction == 0.0:
+ return q0
+ elif fraction == 1.0:
+ return q1
+ d = numpy.dot(q0, q1)
+ if abs(abs(d) - 1.0) < _EPS:
+ return q0
+ if shortestpath and d < 0.0:
+ # invert rotation
+ d = -d
+ q1 *= -1.0
+ angle = math.acos(d) + spin * math.pi
+ if abs(angle) < _EPS:
+ return q0
+ isin = 1.0 / math.sin(angle)
+ q0 *= math.sin((1.0 - fraction) * angle) * isin
+ q1 *= math.sin(fraction * angle) * isin
+ q0 += q1
+ return q0
+
+
+def random_quaternion(rand=None):
+ """Return uniform random unit quaternion.
+
+ rand: array like or None
+ Three independent random variables that are uniformly distributed
+ between 0 and 1.
+
+ >>> q = random_quaternion()
+ >>> numpy.allclose(1.0, vector_norm(q))
+ True
+ >>> q = random_quaternion(numpy.random.random(3))
+ >>> q.shape
+ (4,)
+
+ """
+ if rand is None:
+ rand = numpy.random.rand(3)
+ else:
+ assert len(rand) == 3
+ r1 = numpy.sqrt(1.0 - rand[0])
+ r2 = numpy.sqrt(rand[0])
+ pi2 = math.pi * 2.0
+ t1 = pi2 * rand[1]
+ t2 = pi2 * rand[2]
+ return numpy.array((numpy.sin(t1)*r1,
+ numpy.cos(t1)*r1,
+ numpy.sin(t2)*r2,
+ numpy.cos(t2)*r2), dtype=numpy.float64)
+
+
+def random_rotation_matrix(rand=None):
+ """Return uniform random rotation matrix.
+
+ rnd: array like
+ Three independent random variables that are uniformly distributed
+ between 0 and 1 for each returned quaternion.
+
+ >>> R = random_rotation_matrix()
+ >>> numpy.allclose(numpy.dot(R.T, R), numpy.identity(4))
+ True
+
+ """
+ return quaternion_matrix(random_quaternion(rand))
+
+
+class Arcball(object):
+ """Virtual Trackball Control.
+
+ >>> ball = Arcball()
+ >>> ball = Arcball(initial=numpy.identity(4))
+ >>> ball.place([320, 320], 320)
+ >>> ball.down([500, 250])
+ >>> ball.drag([475, 275])
+ >>> R = ball.matrix()
+ >>> numpy.allclose(numpy.sum(R), 3.90583455)
+ True
+ >>> ball = Arcball(initial=[0, 0, 0, 1])
+ >>> ball.place([320, 320], 320)
+ >>> ball.setaxes([1,1,0], [-1, 1, 0])
+ >>> ball.setconstrain(True)
+ >>> ball.down([400, 200])
+ >>> ball.drag([200, 400])
+ >>> R = ball.matrix()
+ >>> numpy.allclose(numpy.sum(R), 0.2055924)
+ True
+ >>> ball.next()
+
+ """
+
+ def __init__(self, initial=None):
+ """Initialize virtual trackball control.
+
+ initial : quaternion or rotation matrix
+
+ """
+ self._axis = None
+ self._axes = None
+ self._radius = 1.0
+ self._center = [0.0, 0.0]
+ self._vdown = numpy.array([0, 0, 1], dtype=numpy.float64)
+ self._constrain = False
+
+ if initial is None:
+ self._qdown = numpy.array([0, 0, 0, 1], dtype=numpy.float64)
+ else:
+ initial = numpy.array(initial, dtype=numpy.float64)
+ if initial.shape == (4, 4):
+ self._qdown = quaternion_from_matrix(initial)
+ elif initial.shape == (4, ):
+ initial /= vector_norm(initial)
+ self._qdown = initial
+ else:
+ raise ValueError("initial not a quaternion or matrix.")
+
+ self._qnow = self._qpre = self._qdown
+
+ def place(self, center, radius):
+ """Place Arcball, e.g. when window size changes.
+
+ center : sequence[2]
+ Window coordinates of trackball center.
+ radius : float
+ Radius of trackball in window coordinates.
+
+ """
+ self._radius = float(radius)
+ self._center[0] = center[0]
+ self._center[1] = center[1]
+
+ def setaxes(self, *axes):
+ """Set axes to constrain rotations."""
+ if axes is None:
+ self._axes = None
+ else:
+ self._axes = [unit_vector(axis) for axis in axes]
+
+ def setconstrain(self, constrain):
+ """Set state of constrain to axis mode."""
+ self._constrain = constrain == True
+
+ def getconstrain(self):
+ """Return state of constrain to axis mode."""
+ return self._constrain
+
+ def down(self, point):
+ """Set initial cursor window coordinates and pick constrain-axis."""
+ self._vdown = arcball_map_to_sphere(point, self._center, self._radius)
+ self._qdown = self._qpre = self._qnow
+
+ if self._constrain and self._axes is not None:
+ self._axis = arcball_nearest_axis(self._vdown, self._axes)
+ self._vdown = arcball_constrain_to_axis(self._vdown, self._axis)
+ else:
+ self._axis = None
+
+ def drag(self, point):
+ """Update current cursor window coordinates."""
+ vnow = arcball_map_to_sphere(point, self._center, self._radius)
+
+ if self._axis is not None:
+ vnow = arcball_constrain_to_axis(vnow, self._axis)
+
+ self._qpre = self._qnow
+
+ t = numpy.cross(self._vdown, vnow)
+ if numpy.dot(t, t) < _EPS:
+ self._qnow = self._qdown
+ else:
+ q = [t[0], t[1], t[2], numpy.dot(self._vdown, vnow)]
+ self._qnow = quaternion_multiply(q, self._qdown)
+
+ def next(self, acceleration=0.0):
+ """Continue rotation in direction of last drag."""
+ q = quaternion_slerp(self._qpre, self._qnow, 2.0+acceleration, False)
+ self._qpre, self._qnow = self._qnow, q
+
+ def matrix(self):
+ """Return homogeneous rotation matrix."""
+ return quaternion_matrix(self._qnow)
+
+
+def arcball_map_to_sphere(point, center, radius):
+ """Return unit sphere coordinates from window coordinates."""
+ v = numpy.array(((point[0] - center[0]) / radius,
+ (center[1] - point[1]) / radius,
+ 0.0), dtype=numpy.float64)
+ n = v[0]*v[0] + v[1]*v[1]
+ if n > 1.0:
+ v /= math.sqrt(n) # position outside of sphere
+ else:
+ v[2] = math.sqrt(1.0 - n)
+ return v
+
+
+def arcball_constrain_to_axis(point, axis):
+ """Return sphere point perpendicular to axis."""
+ v = numpy.array(point, dtype=numpy.float64, copy=True)
+ a = numpy.array(axis, dtype=numpy.float64, copy=True)
+ v -= a * numpy.dot(a, v) # on plane
+ n = vector_norm(v)
+ if n > _EPS:
+ if v[2] < 0.0:
+ v *= -1.0
+ v /= n
+ return v
+ if a[2] == 1.0:
+ return numpy.array([1, 0, 0], dtype=numpy.float64)
+ return unit_vector([-a[1], a[0], 0])
+
+
+def arcball_nearest_axis(point, axes):
+ """Return axis, which arc is nearest to point."""
+ point = numpy.array(point, dtype=numpy.float64, copy=False)
+ nearest = None
+ mx = -1.0
+ for axis in axes:
+ t = numpy.dot(arcball_constrain_to_axis(point, axis), point)
+ if t > mx:
+ nearest = axis
+ mx = t
+ return nearest
+
+
+# epsilon for testing whether a number is close to zero
+_EPS = numpy.finfo(float).eps * 4.0
+
+# axis sequences for Euler angles
+_NEXT_AXIS = [1, 2, 0, 1]
+
+# map axes strings to/from tuples of inner axis, parity, repetition, frame
+_AXES2TUPLE = {
+ 'sxyz': (0, 0, 0, 0), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 1, 0, 0),
+ 'sxzx': (0, 1, 1, 0), 'syzx': (1, 0, 0, 0), 'syzy': (1, 0, 1, 0),
+ 'syxz': (1, 1, 0, 0), 'syxy': (1, 1, 1, 0), 'szxy': (2, 0, 0, 0),
+ 'szxz': (2, 0, 1, 0), 'szyx': (2, 1, 0, 0), 'szyz': (2, 1, 1, 0),
+ 'rzyx': (0, 0, 0, 1), 'rxyx': (0, 0, 1, 1), 'ryzx': (0, 1, 0, 1),
+ 'rxzx': (0, 1, 1, 1), 'rxzy': (1, 0, 0, 1), 'ryzy': (1, 0, 1, 1),
+ 'rzxy': (1, 1, 0, 1), 'ryxy': (1, 1, 1, 1), 'ryxz': (2, 0, 0, 1),
+ 'rzxz': (2, 0, 1, 1), 'rxyz': (2, 1, 0, 1), 'rzyz': (2, 1, 1, 1)}
+
+_TUPLE2AXES = dict((v, k) for k, v in _AXES2TUPLE.items())
+
+# helper functions
+
+
+def vector_norm(data, axis=None, out=None):
+ """Return length, i.e. eucledian norm, of ndarray along axis.
+
+ >>> v = numpy.random.random(3)
+ >>> n = vector_norm(v)
+ >>> numpy.allclose(n, numpy.linalg.norm(v))
+ True
+ >>> v = numpy.random.rand(6, 5, 3)
+ >>> n = vector_norm(v, axis=-1)
+ >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=2)))
+ True
+ >>> n = vector_norm(v, axis=1)
+ >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1)))
+ True
+ >>> v = numpy.random.rand(5, 4, 3)
+ >>> n = numpy.empty((5, 3), dtype=numpy.float64)
+ >>> vector_norm(v, axis=1, out=n)
+ >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1)))
+ True
+ >>> vector_norm([])
+ 0.0
+ >>> vector_norm([1.0])
+ 1.0
+
+ """
+ data = numpy.array(data, dtype=numpy.float64, copy=True)
+ if out is None:
+ if data.ndim == 1:
+ return math.sqrt(numpy.dot(data, data))
+ data *= data
+ out = numpy.atleast_1d(numpy.sum(data, axis=axis))
+ numpy.sqrt(out, out)
+ return out
+ else:
+ data *= data
+ numpy.sum(data, axis=axis, out=out)
+ numpy.sqrt(out, out)
+
+
+def unit_vector(data, axis=None, out=None):
+ """Return ndarray normalized by length, i.e. eucledian norm, along axis.
+
+ >>> v0 = numpy.random.random(3)
+ >>> v1 = unit_vector(v0)
+ >>> numpy.allclose(v1, v0 / numpy.linalg.norm(v0))
+ True
+ >>> v0 = numpy.random.rand(5, 4, 3)
+ >>> v1 = unit_vector(v0, axis=-1)
+ >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=2)), 2)
+ >>> numpy.allclose(v1, v2)
+ True
+ >>> v1 = unit_vector(v0, axis=1)
+ >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=1)), 1)
+ >>> numpy.allclose(v1, v2)
+ True
+ >>> v1 = numpy.empty((5, 4, 3), dtype=numpy.float64)
+ >>> unit_vector(v0, axis=1, out=v1)
+ >>> numpy.allclose(v1, v2)
+ True
+ >>> list(unit_vector([]))
+ []
+ >>> list(unit_vector([1.0]))
+ [1.0]
+
+ """
+ if out is None:
+ data = numpy.array(data, dtype=numpy.float64, copy=True)
+ if data.ndim == 1:
+ data /= math.sqrt(numpy.dot(data, data))
+ return data
+ else:
+ if out is not data:
+ out[:] = numpy.array(data, copy=False)
+ data = out
+ length = numpy.atleast_1d(numpy.sum(data*data, axis))
+ numpy.sqrt(length, length)
+ if axis is not None:
+ length = numpy.expand_dims(length, axis)
+ data /= length
+ if out is None:
+ return data
+
+
+def random_vector(size):
+ """Return array of random doubles in the half-open interval [0.0, 1.0).
+
+ >>> v = random_vector(10000)
+ >>> numpy.all(v >= 0.0) and numpy.all(v < 1.0)
+ True
+ >>> v0 = random_vector(10)
+ >>> v1 = random_vector(10)
+ >>> numpy.any(v0 == v1)
+ False
+
+ """
+ return numpy.random.random(size)
+
+
+def inverse_matrix(matrix):
+ """Return inverse of square transformation matrix.
+
+ >>> M0 = random_rotation_matrix()
+ >>> M1 = inverse_matrix(M0.T)
+ >>> numpy.allclose(M1, numpy.linalg.inv(M0.T))
+ True
+ >>> for size in range(1, 7):
+ ... M0 = numpy.random.rand(size, size)
+ ... M1 = inverse_matrix(M0)
+ ... if not numpy.allclose(M1, numpy.linalg.inv(M0)): print size
+
+ """
+ return numpy.linalg.inv(matrix)
+
+
+def concatenate_matrices(*matrices):
+ """Return concatenation of series of transformation matrices.
+
+ >>> M = numpy.random.rand(16).reshape((4, 4)) - 0.5
+ >>> numpy.allclose(M, concatenate_matrices(M))
+ True
+ >>> numpy.allclose(numpy.dot(M, M.T), concatenate_matrices(M, M.T))
+ True
+
+ """
+ M = numpy.identity(4)
+ for i in matrices:
+ M = numpy.dot(M, i)
+ return M
+
+
+def is_same_transform(matrix0, matrix1):
+ """Return True if two matrices perform same transformation.
+
+ >>> is_same_transform(numpy.identity(4), numpy.identity(4))
+ True
+ >>> is_same_transform(numpy.identity(4), random_rotation_matrix())
+ False
+
+ """
+ matrix0 = numpy.array(matrix0, dtype=numpy.float64, copy=True)
+ matrix0 /= matrix0[3, 3]
+ matrix1 = numpy.array(matrix1, dtype=numpy.float64, copy=True)
+ matrix1 /= matrix1[3, 3]
+ return numpy.allclose(matrix0, matrix1)
+
+
+def _import_module(module_name, warn=True, prefix='_py_', ignore='_'):
+ """Try import all public attributes from module into global namespace.
+
+ Existing attributes with name clashes are renamed with prefix.
+ Attributes starting with underscore are ignored by default.
+
+ Return True on successful import.
+
+ """
+ try:
+ module = __import__(module_name)
+ except ImportError:
+ if warn:
+ warnings.warn("Failed to import module " + module_name)
+ else:
+ for attr in dir(module):
+ if ignore and attr.startswith(ignore):
+ continue
+ if prefix:
+ if attr in globals():
+ globals()[prefix + attr] = globals()[attr]
+ elif warn:
+ warnings.warn("No Python implementation of " + attr)
+ globals()[attr] = getattr(module, attr)
+ return True
diff --git a/build/aruco_detector/build/lib/aruco_detector/yaml_handling.py b/build/aruco_detector/build/lib/aruco_detector/yaml_handling.py
new file mode 100755
index 0000000..48d039f
--- /dev/null
+++ b/build/aruco_detector/build/lib/aruco_detector/yaml_handling.py
@@ -0,0 +1,47 @@
+import yaml
+from sensor_msgs.msg import CameraInfo
+
+
+def yaml_to_CameraInfo(yaml_fname):
+ # Load data from file
+ with open(yaml_fname, "r") as file_handle:
+ calib_data = yaml.load(file_handle)
+
+ # try to load the parameters
+ camera_info_msg = CameraInfo()
+ try:
+ camera_info_msg.width = calib_data["image_width"]
+ except:
+ pass
+
+ try:
+ camera_info_msg.height = calib_data["image_height"]
+ except:
+ pass
+
+ try:
+ camera_info_msg.k = calib_data["camera_matrix"]["data"]
+ except:
+ pass
+
+ try:
+ camera_info_msg.d = calib_data["distortion_coefficients"]["data"]
+ except:
+ pass
+
+ try:
+ camera_info_msg.r = calib_data["rectification_matrix"]["data"]
+ except:
+ pass
+
+ try:
+ camera_info_msg.p = calib_data["projection_matrix"]["data"]
+ except:
+ pass
+
+ try:
+ camera_info_msg.distortion_model = calib_data["distortion_model"]
+ except:
+ pass
+
+ return camera_info_msg
\ No newline at end of file
diff --git a/build/aruco_detector/colcon_build.rc b/build/aruco_detector/colcon_build.rc
new file mode 100755
index 0000000..573541a
--- /dev/null
+++ b/build/aruco_detector/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/build/aruco_detector/colcon_command_prefix_setup_py.sh b/build/aruco_detector/colcon_command_prefix_setup_py.sh
new file mode 100755
index 0000000..f9867d5
--- /dev/null
+++ b/build/aruco_detector/colcon_command_prefix_setup_py.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/build/aruco_detector/colcon_command_prefix_setup_py.sh.env b/build/aruco_detector/colcon_command_prefix_setup_py.sh.env
new file mode 100755
index 0000000..f9dc38b
--- /dev/null
+++ b/build/aruco_detector/colcon_command_prefix_setup_py.sh.env
@@ -0,0 +1,70 @@
+AMENT_PREFIX_PATH=/home/ros2/dev2_ws/install/v4l2_camera:/home/ros2/dev2_ws/install/turtle_follower_py:/home/ros2/dev2_ws/install/camera_calibration:/home/ros2/dev2_ws/install/aruco_interfaces:/home/ros2/dev2_ws/install/aruco_detector:/opt/ros/foxy
+CMAKE_PREFIX_PATH=/home/ros2/dev2_ws/install/v4l2_camera:/home/ros2/dev2_ws/install/aruco_interfaces
+COLCON=1
+COLCON_PREFIX_PATH=/home/ros2/dev2_ws/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
+DESKTOP_SESSION=ubuntu
+DISPLAY=:0
+GDMSESSION=ubuntu
+GJS_DEBUG_OUTPUT=stderr
+GJS_DEBUG_TOPICS=JS ERROR;JS LOG
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SHELL_SESSION_MODE=ubuntu
+GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/ed9a88cb_996e_4783_90fb_206aa627c957
+GNOME_TERMINAL_SERVICE=:1.166
+GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1
+GTK_MODULES=gail:atk-bridge
+HOME=/home/ros2
+IM_CONFIG_PHASE=1
+INVOCATION_ID=331653316740409188736b6261a239d2
+JOURNAL_STREAM=8:183562
+LANG=en_US.UTF-8
+LC_ADDRESS=de_DE.UTF-8
+LC_ALL=en_US.UTF-8
+LC_IDENTIFICATION=de_DE.UTF-8
+LC_MEASUREMENT=de_DE.UTF-8
+LC_MONETARY=de_DE.UTF-8
+LC_NAME=de_DE.UTF-8
+LC_NUMERIC=de_DE.UTF-8
+LC_PAPER=de_DE.UTF-8
+LC_TELEPHONE=de_DE.UTF-8
+LC_TIME=de_DE.UTF-8
+LD_LIBRARY_PATH=/home/ros2/dev2_ws/install/v4l2_camera/lib:/home/ros2/dev2_ws/install/aruco_interfaces/lib:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=ros2
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
+MANAGERPID=7832
+OLDPWD=/home/ros2/dev2_ws/launch
+PAPERSIZE=a4
+PATH=/opt/ros/foxy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
+PWD=/home/ros2/dev2_ws/build/aruco_detector
+PYTHONPATH=/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/aruco_interfaces/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages:/opt/ros/foxy/lib/python3.8/site-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+ROS_DISTRO=foxy
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/ubuntu:@/tmp/.ICE-unix/8042,unix/ubuntu:/tmp/.ICE-unix/8042
+SHELL=/bin/bash
+SHLVL=1
+SSH_AGENT_PID=8007
+SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
+TERM=xterm-256color
+USER=ros2
+USERNAME=ros2
+VTE_VERSION=6003
+WINDOWPATH=2
+XAUTHORITY=/run/user/1000/gdm/Xauthority
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=ubuntu:GNOME
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1000
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=x11
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon
diff --git a/build/aruco_detector/install.log b/build/aruco_detector/install.log
new file mode 100755
index 0000000..952f17e
--- /dev/null
+++ b/build/aruco_detector/install.log
@@ -0,0 +1,18 @@
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/transformations.py
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/yaml_handling.py
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/aruco_detector_node.py
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/__init__.py
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/__pycache__/transformations.cpython-38.pyc
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/__pycache__/yaml_handling.cpython-38.pyc
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/__pycache__/aruco_detector_node.cpython-38.pyc
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/__pycache__/__init__.cpython-38.pyc
+/home/ros2/dev2_ws/install/aruco_detector/share/ament_index/resource_index/packages/aruco_detector
+/home/ros2/dev2_ws/install/aruco_detector/share/aruco_detector/package.xml
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/requires.txt
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/top_level.txt
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/dependency_links.txt
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/PKG-INFO
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/entry_points.txt
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/zip-safe
+/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/SOURCES.txt
+/home/ros2/dev2_ws/install/aruco_detector/lib/aruco_detector/aruco_detector_node
diff --git a/build/aruco_interfaces/CMakeCache.txt b/build/aruco_interfaces/CMakeCache.txt
new file mode 100755
index 0000000..bbda934
--- /dev/null
+++ b/build/aruco_interfaces/CMakeCache.txt
@@ -0,0 +1,743 @@
+# This is the CMakeCache file.
+# For build in directory: /home/ros2/dev2_ws/build/aruco_interfaces
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Generate environment files in the CMAKE_INSTALL_PREFIX
+AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF
+
+//Generate environment files in the package share folder
+AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON
+
+//Generate marker file containing the parent prefix path
+AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON
+
+//Replace the CMake install command with a custom implementation
+// using symlinks instead of copying resources
+AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF
+
+//Generate an uninstall target to revert the effects of the install
+// step
+AMENT_CMAKE_UNINSTALL_TARGET:BOOL=ON
+
+//The path where test results are generated
+AMENT_TEST_RESULTS_DIR:PATH=/home/ros2/dev2_ws/build/aruco_interfaces/test_results
+
+//Global flag to cause add_library() to create shared libraries
+// if on. If set to true, this will cause all libraries to be built
+// shared unless the library was explicitly added as a static library.
+BUILD_SHARED_LIBS:BOOL=ON
+
+//Build the testing tree.
+BUILD_TESTING:BOOL=ON
+
+//Path to a program.
+CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the CXX compiler during DEBUG builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the CXX compiler during MINSIZEREL builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the CXX compiler during RELEASE builds.
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the C compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the C compiler during DEBUG builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the C compiler during MINSIZEREL builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the C compiler during RELEASE builds.
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the C compiler during RELWITHDEBINFO builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Path to a program.
+CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
+
+//Flags used by the linker during all build types.
+CMAKE_EXE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during DEBUG builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during MINSIZEREL builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during RELEASE builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during RELWITHDEBINFO builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/home/ros2/dev2_ws/install/aruco_interfaces
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules during
+// all build types.
+CMAKE_MODULE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of modules during
+// DEBUG builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of modules during
+// MINSIZEREL builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of modules during
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+
+//Value Computed by CMake
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+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=aruco_interfaces
+
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+
+//Path to a program.
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+
+//Flags used by the linker during the creation of shared libraries
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+
+//Flags used by the linker during the creation of shared libraries
+// during DEBUG builds.
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+
+//Flags used by the linker during the creation of shared libraries
+// during MINSIZEREL builds.
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+
+//Flags used by the linker during the creation of shared libraries
+// during RELEASE builds.
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+
+//Flags used by the linker during the creation of shared libraries
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+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
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+// during all build types.
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+
+//Flags used by the linker during the creation of static libraries
+// during DEBUG builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during MINSIZEREL builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELEASE builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELWITHDEBINFO builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
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+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a library.
+FastCDR_LIBRARY_DEBUG:FILEPATH=FastCDR_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+FastCDR_LIBRARY_RELEASE:FILEPATH=/opt/ros/foxy/lib/libfastcdr.so
+
+//Path to a file.
+FastRTPS_INCLUDE_DIR:PATH=/opt/ros/foxy/include
+
+//Path to a library.
+FastRTPS_LIBRARY_DEBUG:FILEPATH=FastRTPS_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+FastRTPS_LIBRARY_RELEASE:FILEPATH=/opt/ros/foxy/lib/libfastrtps.so
+
+//Path to a library.
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+
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+
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+
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+
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+
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+PYTHON_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpython3.8.so
+
+//Path to a library.
+PYTHON_LIBRARY_DEBUG:FILEPATH=PYTHON_LIBRARY_DEBUG-NOTFOUND
+
+//Specify specific Python version to use ('major.minor' or 'major')
+PYTHON_VERSION:STRING=
+
+//Name of the computer/site where compile is being run
+SITE:STRING=ubuntu
+
+//The directory containing a CMake configuration file for TinyXML2.
+TinyXML2_DIR:PATH=TinyXML2_DIR-NOTFOUND
+
+//Path to a library.
+_lib:FILEPATH=/opt/ros/foxy/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_cpp.so
+
+//Path to a file.
+_numpy_h:FILEPATH=/usr/include/python3.8/numpy/numpyconfig.h
+
+//The directory containing a CMake configuration file for ament_cmake.
+ament_cmake_DIR:PATH=/opt/ros/foxy/share/ament_cmake/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_copyright.
+ament_cmake_copyright_DIR:PATH=/opt/ros/foxy/share/ament_cmake_copyright/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_core.
+ament_cmake_core_DIR:PATH=/opt/ros/foxy/share/ament_cmake_core/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_cppcheck.
+ament_cmake_cppcheck_DIR:PATH=/opt/ros/foxy/share/ament_cmake_cppcheck/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_cpplint.
+ament_cmake_cpplint_DIR:PATH=/opt/ros/foxy/share/ament_cmake_cpplint/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_definitions.
+ament_cmake_export_definitions_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_definitions/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_dependencies.
+ament_cmake_export_dependencies_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_dependencies/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_include_directories.
+ament_cmake_export_include_directories_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_include_directories/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_interfaces.
+ament_cmake_export_interfaces_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_interfaces/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_libraries.
+ament_cmake_export_libraries_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_libraries/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_link_flags.
+ament_cmake_export_link_flags_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_link_flags/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_targets.
+ament_cmake_export_targets_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_targets/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_flake8.
+ament_cmake_flake8_DIR:PATH=/opt/ros/foxy/share/ament_cmake_flake8/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_gmock.
+ament_cmake_gmock_DIR:PATH=/opt/ros/foxy/share/ament_cmake_gmock/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_gtest.
+ament_cmake_gtest_DIR:PATH=/opt/ros/foxy/share/ament_cmake_gtest/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_include_directories.
+ament_cmake_include_directories_DIR:PATH=/opt/ros/foxy/share/ament_cmake_include_directories/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_libraries.
+ament_cmake_libraries_DIR:PATH=/opt/ros/foxy/share/ament_cmake_libraries/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_lint_cmake.
+ament_cmake_lint_cmake_DIR:PATH=/opt/ros/foxy/share/ament_cmake_lint_cmake/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_pep257.
+ament_cmake_pep257_DIR:PATH=/opt/ros/foxy/share/ament_cmake_pep257/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_pytest.
+ament_cmake_pytest_DIR:PATH=/opt/ros/foxy/share/ament_cmake_pytest/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_python.
+ament_cmake_python_DIR:PATH=/opt/ros/foxy/share/ament_cmake_python/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_ros.
+ament_cmake_ros_DIR:PATH=/opt/ros/foxy/share/ament_cmake_ros/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_target_dependencies.
+ament_cmake_target_dependencies_DIR:PATH=/opt/ros/foxy/share/ament_cmake_target_dependencies/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_test.
+ament_cmake_test_DIR:PATH=/opt/ros/foxy/share/ament_cmake_test/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_uncrustify.
+ament_cmake_uncrustify_DIR:PATH=/opt/ros/foxy/share/ament_cmake_uncrustify/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_version.
+ament_cmake_version_DIR:PATH=/opt/ros/foxy/share/ament_cmake_version/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_xmllint.
+ament_cmake_xmllint_DIR:PATH=/opt/ros/foxy/share/ament_cmake_xmllint/cmake
+
+//Path to a program.
+ament_copyright_BIN:FILEPATH=/opt/ros/foxy/bin/ament_copyright
+
+//The directory containing a CMake configuration file for ament_lint_auto.
+ament_lint_auto_DIR:PATH=/opt/ros/foxy/share/ament_lint_auto/cmake
+
+//Path to a program.
+ament_lint_cmake_BIN:FILEPATH=/opt/ros/foxy/bin/ament_lint_cmake
+
+//The directory containing a CMake configuration file for ament_lint_common.
+ament_lint_common_DIR:PATH=/opt/ros/foxy/share/ament_lint_common/cmake
+
+//Path to a program.
+ament_xmllint_BIN:FILEPATH=/opt/ros/foxy/bin/ament_xmllint
+
+//Value Computed by CMake
+aruco_interfaces_BINARY_DIR:STATIC=/home/ros2/dev2_ws/build/aruco_interfaces
+
+//Value Computed by CMake
+aruco_interfaces_SOURCE_DIR:STATIC=/home/ros2/dev2_ws/src/aruco_interfaces
+
+//Dependencies for the target
+aruco_interfaces__python_LIB_DEPENDS:STATIC=general;aruco_interfaces__rosidl_generator_c;general;/usr/lib/x86_64-linux-gnu/libpython3.8.so;general;aruco_interfaces__rosidl_typesupport_c;general;/opt/ros/foxy/share/geometry_msgs/cmake/../../../lib/libgeometry_msgs__python.so;general;/opt/ros/foxy/share/std_msgs/cmake/../../../lib/libstd_msgs__python.so;general;/opt/ros/foxy/share/builtin_interfaces/cmake/../../../lib/libbuiltin_interfaces__python.so;
+
+//Dependencies for the target
+aruco_interfaces__rosidl_generator_c_LIB_DEPENDS:STATIC=general;geometry_msgs::geometry_msgs__rosidl_generator_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;general;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;rosidl_runtime_c::rosidl_runtime_c;
+
+//Dependencies for the target
+aruco_interfaces__rosidl_typesupport_c_LIB_DEPENDS:STATIC=general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_c::rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_generator_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;general;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;
+
+//Dependencies for the target
+aruco_interfaces__rosidl_typesupport_c__pyext_LIB_DEPENDS:STATIC=general;aruco_interfaces__python;general;/usr/lib/x86_64-linux-gnu/libpython3.8.so;general;aruco_interfaces__rosidl_typesupport_c;general;aruco_interfaces__rosidl_typesupport_c;general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_c::rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_generator_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;general;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;rosidl_runtime_c::rosidl_runtime_c;general;/opt/ros/foxy/lib/librmw.so;general;rosidl_runtime_c::rosidl_runtime_c;general;/opt/ros/foxy/lib/librosidl_runtime_c.so;general;rcutils::rcutils;
+
+//Dependencies for the target
+aruco_interfaces__rosidl_typesupport_cpp_LIB_DEPENDS:STATIC=general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_cpp::rosidl_typesupport_cpp;general;geometry_msgs::geometry_msgs__rosidl_generator_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;general;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;
+
+//Dependencies for the target
+aruco_interfaces__rosidl_typesupport_fastrtps_c_LIB_DEPENDS:STATIC=general;rmw::rmw;general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp;general;rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c;general;rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp;general;rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c;general;geometry_msgs::geometry_msgs__rosidl_generator_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;general;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;general;/opt/ros/foxy/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_c.so;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;/opt/ros/foxy/lib/libstd_msgs__rosidl_typesupport_fastrtps_c.so;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;/opt/ros/foxy/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.so;general;aruco_interfaces__rosidl_generator_c;general;aruco_interfaces__rosidl_typesupport_fastrtps_cpp;
+
+//Dependencies for the target
+aruco_interfaces__rosidl_typesupport_fastrtps_c__pyext_LIB_DEPENDS:STATIC=general;aruco_interfaces__python;general;/usr/lib/x86_64-linux-gnu/libpython3.8.so;general;aruco_interfaces__rosidl_typesupport_fastrtps_c;general;aruco_interfaces__rosidl_typesupport_c;general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_c::rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_generator_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;general;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;rosidl_runtime_c::rosidl_runtime_c;general;/opt/ros/foxy/lib/librmw.so;general;rosidl_runtime_c::rosidl_runtime_c;general;/opt/ros/foxy/lib/librosidl_runtime_c.so;general;rcutils::rcutils;
+
+//Dependencies for the target
+aruco_interfaces__rosidl_typesupport_fastrtps_cpp_LIB_DEPENDS:STATIC=general;rmw::rmw;general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp;general;geometry_msgs::geometry_msgs__rosidl_generator_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;general;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;general;/opt/ros/foxy/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_cpp.so;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;/opt/ros/foxy/lib/libstd_msgs__rosidl_typesupport_fastrtps_cpp.so;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;/opt/ros/foxy/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp.so;general;aruco_interfaces__rosidl_generator_cpp;general;fastrtps;general;fastcdr;
+
+//Dependencies for the target
+aruco_interfaces__rosidl_typesupport_introspection_c_LIB_DEPENDS:STATIC=general;aruco_interfaces__rosidl_generator_c;general;rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c;general;geometry_msgs::geometry_msgs__rosidl_generator_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;general;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;
+
+//Dependencies for the target
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+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+ /* SDCC = VRP */
+# define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(SDCC % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+# define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+# define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+# define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+# if _M_ARM == 4
+# define ARCHITECTURE_ID "ARMV4I"
+# elif _M_ARM == 5
+# define ARCHITECTURE_ID "ARMV5I"
+# else
+# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+# endif
+
+# elif defined(_M_MIPS)
+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+# define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+# define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+# define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+# define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+# define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+# define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+# define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+# define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+# define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+#else
+# define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
+ '.', SIMULATE_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+ || (defined(__ibmxl__) || defined(__IBMC__))
+# define C_DIALECT "90"
+# else
+# define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+ "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+ require += info_cray[argc];
+#endif
+ require += info_language_dialect_default[argc];
+ (void)argv;
+ return require;
+}
+#endif
diff --git a/build/aruco_interfaces/CMakeFiles/3.16.3/CompilerIdC/a.out b/build/aruco_interfaces/CMakeFiles/3.16.3/CompilerIdC/a.out
new file mode 100755
index 0000000..46f1233
Binary files /dev/null and b/build/aruco_interfaces/CMakeFiles/3.16.3/CompilerIdC/a.out differ
diff --git a/build/aruco_interfaces/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/aruco_interfaces/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100755
index 0000000..69cfdba
--- /dev/null
+++ b/build/aruco_interfaces/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,660 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+ recognize the extension without flags. Borland does not know .cxx for
+ example. */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+ Version date components: YYYY=Year, MM=Month, DD=Day */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+ /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+# endif
+ /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+ /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+ /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+ /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+ /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+ /* __SUNPRO_CC = 0xVRRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# else
+ /* __SUNPRO_CC = 0xVRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+ /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+ /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+ /* __ARMCC_VERSION = VRRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#else
+ /* __ARMCC_VERSION = VRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
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+# Create imported target aruco_interfaces::aruco_interfaces__rosidl_generator_c
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+
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+ \"${CMAKE_CURRENT_LIST_FILE}\"
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+")
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+# This file does not depend on other imported targets which have
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+ list(APPEND _expectedTargets ${_expectedTarget})
+ if(NOT TARGET ${_expectedTarget})
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+ endif()
+ if(TARGET ${_expectedTarget})
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+ cmake_policy(POP)
+ return()
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+ message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
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+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
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+endif()
+
+# Create imported target aruco_interfaces::aruco_interfaces__rosidl_generator_cpp
+add_library(aruco_interfaces::aruco_interfaces__rosidl_generator_cpp INTERFACE IMPORTED)
+
+set_target_properties(aruco_interfaces::aruco_interfaces__rosidl_generator_cpp PROPERTIES
+ INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+ INTERFACE_LINK_LIBRARIES "geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;rosidl_runtime_cpp::rosidl_runtime_cpp"
+)
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+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/aruco_interfaces__rosidl_generator_cppExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+ include(${f})
+endforeach()
+
+# Cleanup temporary variables.
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+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+ foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+ if(NOT EXISTS "${file}" )
+ message(FATAL_ERROR "The imported target \"${target}\" references the file
+ \"${file}\"
+but this file does not exist. Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+ \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+ endif()
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+ unset(_IMPORT_CHECK_FILES_FOR_${target})
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+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
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@@ -0,0 +1,19 @@
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+set(CMAKE_IMPORT_FILE_VERSION 1)
+
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+set_property(TARGET aruco_interfaces::aruco_interfaces__rosidl_typesupport_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
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+ IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libaruco_interfaces__rosidl_typesupport_c.so"
+ IMPORTED_SONAME_NOCONFIG "libaruco_interfaces__rosidl_typesupport_c.so"
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diff --git a/build/aruco_interfaces/CMakeFiles/Export/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_cExport.cmake b/build/aruco_interfaces/CMakeFiles/Export/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_cExport.cmake
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@@ -0,0 +1,99 @@
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+ list(APPEND _targetsNotDefined ${_expectedTarget})
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+ if(TARGET ${_expectedTarget})
+ list(APPEND _targetsDefined ${_expectedTarget})
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+ unset(_targetsDefined)
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+ message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
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+unset(_targetsDefined)
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+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+ set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target aruco_interfaces::aruco_interfaces__rosidl_typesupport_c
+add_library(aruco_interfaces::aruco_interfaces__rosidl_typesupport_c SHARED IMPORTED)
+
+set_target_properties(aruco_interfaces::aruco_interfaces__rosidl_typesupport_c PROPERTIES
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+)
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+file(GLOB CONFIG_FILES "${_DIR}/aruco_interfaces__rosidl_typesupport_cExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+ include(${f})
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+# Cleanup temporary variables.
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+
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+ foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+ if(NOT EXISTS "${file}" )
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+ \"${file}\"
+but this file does not exist. Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+ \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
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diff --git a/build/aruco_interfaces/CMakeFiles/Export/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_cppExport-noconfig.cmake b/build/aruco_interfaces/CMakeFiles/Export/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_cppExport-noconfig.cmake
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+ IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libaruco_interfaces__rosidl_typesupport_cpp.so"
+ IMPORTED_SONAME_NOCONFIG "libaruco_interfaces__rosidl_typesupport_cpp.so"
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+
+# Commands beyond this point should not need to know the version.
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diff --git a/build/aruco_interfaces/CMakeFiles/Export/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_cppExport.cmake b/build/aruco_interfaces/CMakeFiles/Export/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_cppExport.cmake
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+ if(TARGET ${_expectedTarget})
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+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
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+
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+)
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+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/aruco_interfaces__rosidl_typesupport_cppExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+ include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+ foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+ if(NOT EXISTS "${file}" )
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+ \"${file}\"
+but this file does not exist. Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+ \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+ endif()
+ endforeach()
+ unset(_IMPORT_CHECK_FILES_FOR_${target})
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+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
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+ IMPORTED_SONAME_NOCONFIG "libaruco_interfaces__rosidl_typesupport_introspection_c.so"
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+# Commands beyond this point should not need to know the version.
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@@ -0,0 +1,114 @@
+# Generated by CMake
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+cmake_policy(VERSION 2.6)
+#----------------------------------------------------------------
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+#----------------------------------------------------------------
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+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
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+foreach(_expectedTarget aruco_interfaces::aruco_interfaces__rosidl_typesupport_introspection_c)
+ list(APPEND _expectedTargets ${_expectedTarget})
+ if(NOT TARGET ${_expectedTarget})
+ list(APPEND _targetsNotDefined ${_expectedTarget})
+ endif()
+ if(TARGET ${_expectedTarget})
+ list(APPEND _targetsDefined ${_expectedTarget})
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+ unset(_targetsDefined)
+ unset(_targetsNotDefined)
+ unset(_expectedTargets)
+ set(CMAKE_IMPORT_FILE_VERSION)
+ cmake_policy(POP)
+ return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+ message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+ set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target aruco_interfaces::aruco_interfaces__rosidl_typesupport_introspection_c
+add_library(aruco_interfaces::aruco_interfaces__rosidl_typesupport_introspection_c SHARED IMPORTED)
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+ INTERFACE_LINK_LIBRARIES "aruco_interfaces::aruco_interfaces__rosidl_generator_c;rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c"
+)
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+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/aruco_interfaces__rosidl_typesupport_introspection_cExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+ include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+ foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+ if(NOT EXISTS "${file}" )
+ message(FATAL_ERROR "The imported target \"${target}\" references the file
+ \"${file}\"
+but this file does not exist. Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+ \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+ endif()
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+
+# Make sure the targets which have been exported in some other
+# export set exist.
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+foreach(_target "aruco_interfaces::aruco_interfaces__rosidl_generator_c" )
+ if(NOT TARGET "${_target}" )
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+# Import target "aruco_interfaces::aruco_interfaces__rosidl_typesupport_introspection_cpp" for configuration ""
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+ IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libaruco_interfaces__rosidl_typesupport_introspection_cpp.so"
+ IMPORTED_SONAME_NOCONFIG "libaruco_interfaces__rosidl_typesupport_introspection_cpp.so"
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+# Commands beyond this point should not need to know the version.
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@@ -0,0 +1,98 @@
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+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
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+ list(APPEND _expectedTargets ${_expectedTarget})
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+ list(APPEND _targetsNotDefined ${_expectedTarget})
+ endif()
+ if(TARGET ${_expectedTarget})
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+ unset(_targetsDefined)
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+ cmake_policy(POP)
+ return()
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+ message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
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+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+ set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target aruco_interfaces::aruco_interfaces__rosidl_typesupport_introspection_cpp
+add_library(aruco_interfaces::aruco_interfaces__rosidl_typesupport_introspection_cpp SHARED IMPORTED)
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+# Dashboard start time
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+# Commands for the build/test/submit cycle
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+MakeCommand:
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+# CVS options
+# Default is "-d -P -A"
+CVSCommand:
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+# Subversion options
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+CoverageCommand:
+CoverageExtraFlags:
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+# Cluster commands
+SlurmBatchCommand:
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+# Testing options
+# TimeOut is the amount of time in seconds to wait for processes
+# to complete during testing. After TimeOut seconds, the
+# process will be summarily terminated.
+# Currently set to 25 minutes
+TimeOut:
+
+# During parallel testing CTest will not start a new test if doing
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+TestLoad:
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new file mode 100755
index 0000000..14956f3
--- /dev/null
+++ b/build/aruco_interfaces/CTestCustom.cmake
@@ -0,0 +1,2 @@
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+set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0)
diff --git a/build/aruco_interfaces/CTestTestfile.cmake b/build/aruco_interfaces/CTestTestfile.cmake
new file mode 100755
index 0000000..3ddbe89
--- /dev/null
+++ b/build/aruco_interfaces/CTestTestfile.cmake
@@ -0,0 +1,13 @@
+# CMake generated Testfile for
+# Source directory: /home/ros2/dev2_ws/src/aruco_interfaces
+# Build directory: /home/ros2/dev2_ws/build/aruco_interfaces
+#
+# This file includes the relevant testing commands required for
+# testing this directory and lists subdirectories to be tested as well.
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+set_tests_properties(copyright PROPERTIES LABELS "copyright;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/ros2/dev2_ws/src/aruco_interfaces" _BACKTRACE_TRIPLES "/opt/ros/foxy/share/ament_cmake_test/cmake/ament_add_test.cmake;118;add_test;/opt/ros/foxy/share/ament_cmake_copyright/cmake/ament_copyright.cmake;41;ament_add_test;/opt/ros/foxy/share/ament_cmake_copyright/cmake/ament_cmake_copyright_lint_hook.cmake;18;ament_copyright;/opt/ros/foxy/share/ament_cmake_copyright/cmake/ament_cmake_copyright_lint_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/home/ros2/dev2_ws/src/aruco_interfaces/CMakeLists.txt;45;ament_package;/home/ros2/dev2_ws/src/aruco_interfaces/CMakeLists.txt;0;")
+add_test(lint_cmake "/usr/bin/python3" "-u" "/opt/ros/foxy/share/ament_cmake_test/cmake/run_test.py" "/home/ros2/dev2_ws/build/aruco_interfaces/test_results/aruco_interfaces/lint_cmake.xunit.xml" "--package-name" "aruco_interfaces" "--output-file" "/home/ros2/dev2_ws/build/aruco_interfaces/ament_lint_cmake/lint_cmake.txt" "--command" "/opt/ros/foxy/bin/ament_lint_cmake" "--xunit-file" "/home/ros2/dev2_ws/build/aruco_interfaces/test_results/aruco_interfaces/lint_cmake.xunit.xml")
+set_tests_properties(lint_cmake PROPERTIES LABELS "lint_cmake;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/ros2/dev2_ws/src/aruco_interfaces" _BACKTRACE_TRIPLES "/opt/ros/foxy/share/ament_cmake_test/cmake/ament_add_test.cmake;118;add_test;/opt/ros/foxy/share/ament_cmake_lint_cmake/cmake/ament_lint_cmake.cmake;41;ament_add_test;/opt/ros/foxy/share/ament_cmake_lint_cmake/cmake/ament_cmake_lint_cmake_lint_hook.cmake;21;ament_lint_cmake;/opt/ros/foxy/share/ament_cmake_lint_cmake/cmake/ament_cmake_lint_cmake_lint_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/home/ros2/dev2_ws/src/aruco_interfaces/CMakeLists.txt;45;ament_package;/home/ros2/dev2_ws/src/aruco_interfaces/CMakeLists.txt;0;")
+add_test(xmllint "/usr/bin/python3" "-u" "/opt/ros/foxy/share/ament_cmake_test/cmake/run_test.py" "/home/ros2/dev2_ws/build/aruco_interfaces/test_results/aruco_interfaces/xmllint.xunit.xml" "--package-name" "aruco_interfaces" "--output-file" "/home/ros2/dev2_ws/build/aruco_interfaces/ament_xmllint/xmllint.txt" "--command" "/opt/ros/foxy/bin/ament_xmllint" "--xunit-file" "/home/ros2/dev2_ws/build/aruco_interfaces/test_results/aruco_interfaces/xmllint.xunit.xml")
+set_tests_properties(xmllint PROPERTIES LABELS "xmllint;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/ros2/dev2_ws/src/aruco_interfaces" _BACKTRACE_TRIPLES "/opt/ros/foxy/share/ament_cmake_test/cmake/ament_add_test.cmake;118;add_test;/opt/ros/foxy/share/ament_cmake_xmllint/cmake/ament_xmllint.cmake;50;ament_add_test;/opt/ros/foxy/share/ament_cmake_xmllint/cmake/ament_cmake_xmllint_lint_hook.cmake;18;ament_xmllint;/opt/ros/foxy/share/ament_cmake_xmllint/cmake/ament_cmake_xmllint_lint_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/home/ros2/dev2_ws/src/aruco_interfaces/CMakeLists.txt;45;ament_package;/home/ros2/dev2_ws/src/aruco_interfaces/CMakeLists.txt;0;")
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new file mode 100644
index 0000000..cbcd4b9
--- /dev/null
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+rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.s: rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.cpp.s
+
+.PHONY : rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.s
+
+# target to generate assembly for a file
+rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.cpp.s:
+ $(MAKE) -f CMakeFiles/aruco_interfaces__rosidl_typesupport_fastrtps_c.dir/build.make CMakeFiles/aruco_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.cpp.s
+.PHONY : rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.cpp.s
+
+rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.o: rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp.o
+
+.PHONY : rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.o
+
+# target to build an object file
+rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp.o:
+ $(MAKE) -f CMakeFiles/aruco_interfaces__rosidl_typesupport_fastrtps_cpp.dir/build.make CMakeFiles/aruco_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp.o
+.PHONY : rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp.o
+
+rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.i: rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp.i
+
+.PHONY : rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.i
+
+# target to preprocess a source file
+rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp.i:
+ $(MAKE) -f CMakeFiles/aruco_interfaces__rosidl_typesupport_fastrtps_cpp.dir/build.make CMakeFiles/aruco_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp.i
+.PHONY : rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp.i
+
+rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.s: rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp.s
+
+.PHONY : rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.s
+
+# target to generate assembly for a file
+rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp.s:
+ $(MAKE) -f CMakeFiles/aruco_interfaces__rosidl_typesupport_fastrtps_cpp.dir/build.make CMakeFiles/aruco_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp.s
+.PHONY : rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp.s
+
+rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.o: rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c.o
+
+.PHONY : rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.o
+
+# target to build an object file
+rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c.o:
+ $(MAKE) -f CMakeFiles/aruco_interfaces__rosidl_typesupport_introspection_c.dir/build.make CMakeFiles/aruco_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c.o
+.PHONY : rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c.o
+
+rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.i: rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c.i
+
+.PHONY : rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.i
+
+# target to preprocess a source file
+rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c.i:
+ $(MAKE) -f CMakeFiles/aruco_interfaces__rosidl_typesupport_introspection_c.dir/build.make CMakeFiles/aruco_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c.i
+.PHONY : rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c.i
+
+rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.s: rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c.s
+
+.PHONY : rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.s
+
+# target to generate assembly for a file
+rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c.s:
+ $(MAKE) -f CMakeFiles/aruco_interfaces__rosidl_typesupport_introspection_c.dir/build.make CMakeFiles/aruco_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c.s
+.PHONY : rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c.s
+
+rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.o: rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp.o
+
+.PHONY : rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.o
+
+# target to build an object file
+rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp.o:
+ $(MAKE) -f CMakeFiles/aruco_interfaces__rosidl_typesupport_introspection_cpp.dir/build.make CMakeFiles/aruco_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp.o
+.PHONY : rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp.o
+
+rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.i: rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp.i
+
+.PHONY : rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.i
+
+# target to preprocess a source file
+rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp.i:
+ $(MAKE) -f CMakeFiles/aruco_interfaces__rosidl_typesupport_introspection_cpp.dir/build.make CMakeFiles/aruco_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp.i
+.PHONY : rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp.i
+
+rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.s: rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp.s
+
+.PHONY : rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.s
+
+# target to generate assembly for a file
+rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp.s:
+ $(MAKE) -f CMakeFiles/aruco_interfaces__rosidl_typesupport_introspection_cpp.dir/build.make CMakeFiles/aruco_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp.s
+.PHONY : rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp.s
+
+# Help Target
+help:
+ @echo "The following are some of the valid targets for this Makefile:"
+ @echo "... all (the default if no target is provided)"
+ @echo "... clean"
+ @echo "... depend"
+ @echo "... install"
+ @echo "... list_install_components"
+ @echo "... rebuild_cache"
+ @echo "... edit_cache"
+ @echo "... aruco_interfaces__rosidl_typesupport_c__pyext"
+ @echo "... install/strip"
+ @echo "... aruco_interfaces__rosidl_typesupport_fastrtps_c__pyext"
+ @echo "... test"
+ @echo "... uninstall"
+ @echo "... aruco_interfaces__cpp"
+ @echo "... aruco_interfaces__rosidl_typesupport_cpp"
+ @echo "... aruco_interfaces__rosidl_generator_c"
+ @echo "... install/local"
+ @echo "... aruco_interfaces__rosidl_typesupport_fastrtps_c"
+ @echo "... aruco_interfaces__rosidl_typesupport_fastrtps_cpp"
+ @echo "... aruco_interfaces"
+ @echo "... aruco_interfaces__rosidl_typesupport_introspection_c"
+ @echo "... aruco_interfaces_uninstall"
+ @echo "... aruco_interfaces__rosidl_typesupport_c"
+ @echo "... aruco_interfaces__python"
+ @echo "... aruco_interfaces__rosidl_typesupport_introspection_c__pyext"
+ @echo "... aruco_interfaces__rosidl_typesupport_introspection_cpp"
+ @echo "... aruco_interfaces__py"
+ @echo "... rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__functions.o"
+ @echo "... rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__functions.i"
+ @echo "... rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__functions.s"
+ @echo "... rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_c.o"
+ @echo "... rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_c.i"
+ @echo "... rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_c.s"
+ @echo "... rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_fastrtps_c.o"
+ @echo "... rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_fastrtps_c.i"
+ @echo "... rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_fastrtps_c.s"
+ @echo "... rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_introspection_c.o"
+ @echo "... rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_introspection_c.i"
+ @echo "... rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_introspection_c.s"
+ @echo "... rosidl_generator_py/aruco_interfaces/msg/_aruco_marker_pose_s.o"
+ @echo "... rosidl_generator_py/aruco_interfaces/msg/_aruco_marker_pose_s.i"
+ @echo "... rosidl_generator_py/aruco_interfaces/msg/_aruco_marker_pose_s.s"
+ @echo "... rosidl_typesupport_c/aruco_interfaces/msg/aruco_marker_pose__type_support.o"
+ @echo "... rosidl_typesupport_c/aruco_interfaces/msg/aruco_marker_pose__type_support.i"
+ @echo "... rosidl_typesupport_c/aruco_interfaces/msg/aruco_marker_pose__type_support.s"
+ @echo "... rosidl_typesupport_cpp/aruco_interfaces/msg/aruco_marker_pose__type_support.o"
+ @echo "... rosidl_typesupport_cpp/aruco_interfaces/msg/aruco_marker_pose__type_support.i"
+ @echo "... rosidl_typesupport_cpp/aruco_interfaces/msg/aruco_marker_pose__type_support.s"
+ @echo "... rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.o"
+ @echo "... rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.i"
+ @echo "... rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.s"
+ @echo "... rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.o"
+ @echo "... rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.i"
+ @echo "... rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.s"
+ @echo "... rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.o"
+ @echo "... rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.i"
+ @echo "... rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.s"
+ @echo "... rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.o"
+ @echo "... rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.i"
+ @echo "... rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+ $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/build/aruco_interfaces/ament_cmake_core/aruco_interfacesConfig-version.cmake b/build/aruco_interfaces/ament_cmake_core/aruco_interfacesConfig-version.cmake
new file mode 100644
index 0000000..7beb732
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/aruco_interfacesConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_EXACT True)
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/build/aruco_interfaces/ament_cmake_core/aruco_interfacesConfig.cmake b/build/aruco_interfaces/ament_cmake_core/aruco_interfacesConfig.cmake
new file mode 100644
index 0000000..483fb56
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/aruco_interfacesConfig.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_aruco_interfaces_CONFIG_INCLUDED)
+ # ensure to keep the found flag the same
+ if(NOT DEFINED aruco_interfaces_FOUND)
+ # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+ set(aruco_interfaces_FOUND FALSE)
+ elseif(NOT aruco_interfaces_FOUND)
+ # use separate condition to avoid uninitialized variable warning
+ set(aruco_interfaces_FOUND FALSE)
+ endif()
+ return()
+endif()
+set(_aruco_interfaces_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT aruco_interfaces_FIND_QUIETLY)
+ message(STATUS "Found aruco_interfaces: 0.0.0 (${aruco_interfaces_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+ set(_msg "Package 'aruco_interfaces' is deprecated")
+ # append custom deprecation text if available
+ if(NOT "" STREQUAL "TRUE")
+ set(_msg "${_msg} ()")
+ endif()
+ # optionally quiet the deprecation message
+ if(NOT ${aruco_interfaces_DEPRECATED_QUIET})
+ message(DEPRECATION "${_msg}")
+ endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(aruco_interfaces_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "rosidl_cmake-extras.cmake;ament_cmake_export_dependencies-extras.cmake;ament_cmake_export_libraries-extras.cmake;ament_cmake_export_targets-extras.cmake;ament_cmake_export_include_directories-extras.cmake;rosidl_cmake_export_typesupport_libraries-extras.cmake;rosidl_cmake_export_typesupport_targets-extras.cmake")
+foreach(_extra ${_extras})
+ include("${aruco_interfaces_DIR}/${_extra}")
+endforeach()
diff --git a/build/aruco_interfaces/ament_cmake_core/package.cmake b/build/aruco_interfaces/ament_cmake_core/package.cmake
new file mode 100755
index 0000000..578c227
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/package.cmake
@@ -0,0 +1,14 @@
+set(_AMENT_PACKAGE_NAME "aruco_interfaces")
+set(aruco_interfaces_VERSION "0.0.0")
+set(aruco_interfaces_MAINTAINER "ros2 ")
+set(aruco_interfaces_BUILD_DEPENDS "rosidl_default_generators" "geometry_msgs" "std_msgs")
+set(aruco_interfaces_BUILDTOOL_DEPENDS "ament_cmake")
+set(aruco_interfaces_BUILD_EXPORT_DEPENDS "geometry_msgs" "std_msgs")
+set(aruco_interfaces_BUILDTOOL_EXPORT_DEPENDS )
+set(aruco_interfaces_EXEC_DEPENDS "rosidl_default_runtime" "geometry_msgs" "std_msgs")
+set(aruco_interfaces_TEST_DEPENDS "ament_lint_auto" "ament_lint_common")
+set(aruco_interfaces_GROUP_DEPENDS )
+set(aruco_interfaces_MEMBER_OF_GROUPS "rosidl_interface_packages")
+set(aruco_interfaces_DEPRECATED "")
+set(aruco_interfaces_EXPORT_TAGS)
+list(APPEND aruco_interfaces_EXPORT_TAGS "ament_cmake")
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/ArucoMarkerPose.msg.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/ArucoMarkerPose.msg.stamp
new file mode 100755
index 0000000..5c28e96
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/ArucoMarkerPose.msg.stamp
@@ -0,0 +1,2 @@
+int64[] marker_ids
+geometry_msgs/Pose[] poses
\ No newline at end of file
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp
new file mode 100755
index 0000000..320fbe2
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp
@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "geometry_msgs;std_msgs;geometry_msgs;std_msgs;builtin_interfaces;rosidl_runtime_c;rosidl_typesupport_interface;geometry_msgs;std_msgs;builtin_interfaces;geometry_msgs;std_msgs;builtin_interfaces")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to aruco_interfaces_DEFINITIONS, aruco_interfaces_INCLUDE_DIRS,
+# aruco_interfaces_LIBRARIES, and aruco_interfaces_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# aruco_interfaces_DEPENDENCIES as well as the recursive dependency names
+# in aruco_interfaces_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+ find_package(ament_cmake_core QUIET REQUIRED)
+ set(aruco_interfaces_DEPENDENCIES ${_exported_dependencies})
+ set(aruco_interfaces_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+ set(_libraries)
+ foreach(_dep ${_exported_dependencies})
+ if(NOT ${_dep}_FOUND)
+ find_package("${_dep}" QUIET REQUIRED)
+ endif()
+ # if a package provides modern CMake interface targets use them
+ # exclusively assuming the classic CMake variables only exist for
+ # backward compatibility
+ set(use_modern_cmake FALSE)
+ if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+ foreach(_target ${${_dep}_TARGETS})
+ # only use actual targets
+ # in case a package uses this variable for other content
+ if(TARGET "${_target}")
+ get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+ if(_include_dirs)
+ list_append_unique(aruco_interfaces_INCLUDE_DIRS "${_include_dirs}")
+ endif()
+
+ get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+ if(_imported_configurations)
+ string(TOUPPER "${_imported_configurations}" _imported_configurations)
+ if(DEBUG_CONFIGURATIONS)
+ string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+ else()
+ set(_debug_configurations_uppercase "DEBUG")
+ endif()
+ foreach(_imported_config ${_imported_configurations})
+ get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+ if(_imported_implib)
+ set(_imported_implib_config "optimized")
+ if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+ set(_imported_implib_config "debug")
+ endif()
+ list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+ else()
+ get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+ if(_imported_location)
+ list(APPEND _libraries "${_imported_location}")
+ endif()
+ endif()
+ endforeach()
+ endif()
+
+ get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+ if(_link_libraries)
+ list(APPEND _libraries "${_link_libraries}")
+ endif()
+ set(use_modern_cmake TRUE)
+ endif()
+ endforeach()
+ endif()
+ if(NOT use_modern_cmake)
+ if(${_dep}_DEFINITIONS)
+ list_append_unique(aruco_interfaces_DEFINITIONS "${${_dep}_DEFINITIONS}")
+ endif()
+ if(${_dep}_INCLUDE_DIRS)
+ list_append_unique(aruco_interfaces_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+ endif()
+ if(${_dep}_LIBRARIES)
+ list(APPEND _libraries "${${_dep}_LIBRARIES}")
+ endif()
+ if(${_dep}_LINK_FLAGS)
+ list_append_unique(aruco_interfaces_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+ endif()
+ if(${_dep}_RECURSIVE_DEPENDENCIES)
+ list_append_unique(aruco_interfaces_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+ endif()
+ endif()
+ if(_libraries)
+ ament_libraries_deduplicate(_libraries "${_libraries}")
+ list(APPEND aruco_interfaces_LIBRARIES "${_libraries}")
+ endif()
+ endforeach()
+endif()
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp
new file mode 100755
index 0000000..3d3f012
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp
@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${aruco_interfaces_DIR}/../../../include")
+
+# append include directories to aruco_interfaces_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+ find_package(ament_cmake_core QUIET REQUIRED)
+ foreach(_exported_include_dir ${_exported_include_dirs})
+ if(NOT IS_DIRECTORY "${_exported_include_dir}")
+ message(WARNING "Package 'aruco_interfaces' exports the include directory '${_exported_include_dir}' which doesn't exist")
+ endif()
+ normalize_path(_exported_include_dir "${_exported_include_dir}")
+ list(APPEND aruco_interfaces_INCLUDE_DIRS "${_exported_include_dir}")
+ endforeach()
+endif()
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp
new file mode 100755
index 0000000..1d01306
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp
@@ -0,0 +1,140 @@
+# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in
+
+set(_exported_libraries "aruco_interfaces__rosidl_generator_c;aruco_interfaces__rosidl_typesupport_c;aruco_interfaces__rosidl_typesupport_cpp")
+set(_exported_library_names "")
+
+# populate aruco_interfaces_LIBRARIES
+if(NOT _exported_libraries STREQUAL "")
+ # loop over libraries, either target names or absolute paths
+ list(LENGTH _exported_libraries _length)
+ set(_i 0)
+ while(_i LESS _length)
+ list(GET _exported_libraries ${_i} _arg)
+
+ # pass linker flags along
+ if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+ list(APPEND aruco_interfaces_LIBRARIES "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ continue()
+ endif()
+
+ if("${_arg}" MATCHES "^(debug|optimized|general)$")
+ # remember build configuration keyword
+ # and get following library
+ set(_cfg "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ if(_i EQUAL _length)
+ message(FATAL_ERROR "Package 'aruco_interfaces' passes the build configuration keyword '${_cfg}' as the last exported library")
+ endif()
+ list(GET _exported_libraries ${_i} _library)
+ else()
+ # the value is a library without a build configuration keyword
+ set(_cfg "")
+ set(_library "${_arg}")
+ endif()
+ math(EXPR _i "${_i} + 1")
+
+ if(NOT IS_ABSOLUTE "${_library}")
+ # search for library target relative to this CMake file
+ set(_lib "NOTFOUND")
+ find_library(
+ _lib NAMES "${_library}"
+ PATHS "${aruco_interfaces_DIR}/../../../lib"
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+ )
+
+ if(NOT _lib)
+ # warn about not existing library and ignore it
+ message(FATAL_ERROR "Package 'aruco_interfaces' exports the library '${_library}' which couldn't be found")
+ elseif(NOT IS_ABSOLUTE "${_lib}")
+ # the found library must be an absolute path
+ message(FATAL_ERROR "Package 'aruco_interfaces' found the library '${_library}' at '${_lib}' which is not an absolute path")
+ elseif(NOT EXISTS "${_lib}")
+ # the found library must exist
+ message(FATAL_ERROR "Package 'aruco_interfaces' found the library '${_lib}' which doesn't exist")
+ else()
+ list(APPEND aruco_interfaces_LIBRARIES ${_cfg} "${_lib}")
+ endif()
+
+ else()
+ if(NOT EXISTS "${_library}")
+ # the found library must exist
+ message(WARNING "Package 'aruco_interfaces' exports the library '${_library}' which doesn't exist")
+ else()
+ list(APPEND aruco_interfaces_LIBRARIES ${_cfg} "${_library}")
+ endif()
+ endif()
+ endwhile()
+endif()
+
+# find_library() library names with optional LIBRARY_DIRS
+# and add the libraries to aruco_interfaces_LIBRARIES
+if(NOT _exported_library_names STREQUAL "")
+ # loop over library names
+ # but remember related build configuration keyword if available
+ list(LENGTH _exported_library_names _length)
+ set(_i 0)
+ while(_i LESS _length)
+ list(GET _exported_library_names ${_i} _arg)
+ # pass linker flags along
+ if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+ list(APPEND aruco_interfaces_LIBRARIES "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ continue()
+ endif()
+
+ if("${_arg}" MATCHES "^(debug|optimized|general)$")
+ # remember build configuration keyword
+ # and get following library name
+ set(_cfg "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ if(_i EQUAL _length)
+ message(FATAL_ERROR "Package 'aruco_interfaces' passes the build configuration keyword '${_cfg}' as the last exported target")
+ endif()
+ list(GET _exported_library_names ${_i} _library)
+ else()
+ # the value is a library target without a build configuration keyword
+ set(_cfg "")
+ set(_library "${_arg}")
+ endif()
+ math(EXPR _i "${_i} + 1")
+
+ # extract optional LIBRARY_DIRS from library name
+ string(REPLACE ":" ";" _library_dirs "${_library}")
+ list(GET _library_dirs 0 _library_name)
+ list(REMOVE_AT _library_dirs 0)
+
+ set(_lib "NOTFOUND")
+ if(NOT _library_dirs)
+ # search for library in the common locations
+ find_library(
+ _lib
+ NAMES "${_library_name}"
+ )
+ if(NOT _lib)
+ # warn about not existing library and later ignore it
+ message(WARNING "Package 'aruco_interfaces' exports library '${_library_name}' which couldn't be found")
+ endif()
+ else()
+ # search for library in the specified directories
+ find_library(
+ _lib
+ NAMES "${_library_name}"
+ PATHS ${_library_dirs}
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+ )
+ if(NOT _lib)
+ # warn about not existing library and later ignore it
+ message(WARNING "Package 'aruco_interfaces' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found")
+ endif()
+ endif()
+ if(_lib)
+ list(APPEND aruco_interfaces_LIBRARIES ${_cfg} "${_lib}")
+ endif()
+ endwhile()
+endif()
+
+# TODO(dirk-thomas) deduplicate aruco_interfaces_LIBRARIES
+# while maintaining library order
+# as well as build configuration keywords
+# as well as linker flags
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_targets-extras.cmake.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_targets-extras.cmake.stamp
new file mode 100755
index 0000000..4a1b798
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_targets-extras.cmake.stamp
@@ -0,0 +1,27 @@
+# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in
+
+set(_exported_targets "aruco_interfaces__rosidl_generator_c;aruco_interfaces__rosidl_typesupport_introspection_c;aruco_interfaces__rosidl_typesupport_c;aruco_interfaces__rosidl_generator_cpp;aruco_interfaces__rosidl_typesupport_introspection_cpp;aruco_interfaces__rosidl_typesupport_cpp")
+
+# include all exported targets
+if(NOT _exported_targets STREQUAL "")
+ foreach(_target ${_exported_targets})
+ set(_export_file "${aruco_interfaces_DIR}/${_target}Export.cmake")
+ include("${_export_file}")
+
+ # extract the target names associated with the export
+ set(_regex "foreach\\(_expectedTarget (.+)\\)")
+ file(
+ STRINGS "${_export_file}" _foreach_targets
+ REGEX "${_regex}")
+ list(LENGTH _foreach_targets _matches)
+ if(NOT _matches EQUAL 1)
+ message(FATAL_ERROR
+ "Failed to find exported target names in '${_export_file}'")
+ endif()
+ string(REGEX REPLACE "${_regex}" "\\1" _targets "${_foreach_targets}")
+ string(REPLACE " " ";" _targets "${_targets}")
+ list(LENGTH _targets _length)
+
+ list(APPEND aruco_interfaces_TARGETS ${_targets})
+ endforeach()
+endif()
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
new file mode 100755
index 0000000..02e441b
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/library_path.sh.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/library_path.sh.stamp
new file mode 100755
index 0000000..292e518
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/library_path.sh.stamp
@@ -0,0 +1,16 @@
+# copied from ament_package/template/environment_hook/library_path.sh
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+ _IS_DARWIN=1
+fi
+unset _UNAME
+
+if [ $_IS_DARWIN -eq 0 ]; then
+ ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+else
+ ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+fi
+unset _IS_DARWIN
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
new file mode 100755
index 0000000..ee49c9f
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "@PACKAGE_VERSION@")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_EXACT True)
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
new file mode 100755
index 0000000..6fb3fe7
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_@PROJECT_NAME@_CONFIG_INCLUDED)
+ # ensure to keep the found flag the same
+ if(NOT DEFINED @PROJECT_NAME@_FOUND)
+ # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+ set(@PROJECT_NAME@_FOUND FALSE)
+ elseif(NOT @PROJECT_NAME@_FOUND)
+ # use separate condition to avoid uninitialized variable warning
+ set(@PROJECT_NAME@_FOUND FALSE)
+ endif()
+ return()
+endif()
+set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT @PROJECT_NAME@_FIND_QUIETLY)
+ message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "")
+ set(_msg "Package '@PROJECT_NAME@' is deprecated")
+ # append custom deprecation text if available
+ if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE")
+ set(_msg "${_msg} (@PACKAGE_DEPRECATED@)")
+ endif()
+ # optionally quiet the deprecation message
+ if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET})
+ message(DEPRECATION "${_msg}")
+ endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@")
+foreach(_extra ${_extras})
+ include("${@PROJECT_NAME@_DIR}/${_extra}")
+endforeach()
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/package.xml.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/package.xml.stamp
new file mode 100755
index 0000000..07e6272
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/package.xml.stamp
@@ -0,0 +1,27 @@
+
+
+
+ aruco_interfaces
+ 0.0.0
+ TODO: Package description
+ ros2
+ TODO: License declaration
+
+ ament_cmake
+
+ geometry_msgs
+ std_msgs
+
+ ament_lint_auto
+ ament_lint_common
+
+ rosidl_default_generators
+
+ rosidl_default_runtime
+
+ rosidl_interface_packages
+
+
+ ament_cmake
+
+
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
new file mode 100755
index 0000000..6f82f12
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
@@ -0,0 +1,143 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+from collections import OrderedDict
+import sys
+
+from catkin_pkg.package import parse_package_string
+
+
+def main(argv=sys.argv[1:]):
+ """
+ Extract the information from package.xml and make them accessible to CMake.
+
+ Parse the given package.xml file and
+ print CMake code defining several variables containing the content.
+ """
+ parser = argparse.ArgumentParser(
+ description='Parse package.xml file and print CMake code defining '
+ 'several variables',
+ )
+ parser.add_argument(
+ 'package_xml',
+ type=argparse.FileType('r', encoding='utf-8'),
+ help='The path to a package.xml file',
+ )
+ parser.add_argument(
+ 'outfile',
+ nargs='?',
+ help='The filename where the output should be written to',
+ )
+ args = parser.parse_args(argv)
+
+ try:
+ package = parse_package_string(
+ args.package_xml.read(), filename=args.package_xml.name)
+ except Exception as e:
+ print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr)
+ raise e
+ finally:
+ args.package_xml.close()
+
+ lines = generate_cmake_code(package)
+ if args.outfile:
+ with open(args.outfile, 'w', encoding='utf-8') as f:
+ for line in lines:
+ f.write('%s\n' % line)
+ else:
+ for line in lines:
+ print(line)
+
+
+def get_dependency_values(key, depends):
+ dependencies = []
+ dependencies.append((key, ' '.join(['"%s"' % str(d) for d in depends])))
+ for d in depends:
+ comparisons = [
+ 'version_lt',
+ 'version_lte',
+ 'version_eq',
+ 'version_gte',
+ 'version_gt']
+ for comp in comparisons:
+ value = getattr(d, comp, None)
+ if value is not None:
+ dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()),
+ '"%s"' % value))
+ return dependencies
+
+
+def generate_cmake_code(package):
+ """
+ Return a list of CMake set() commands containing the manifest information.
+
+ :param package: catkin_pkg.package.Package
+ :returns: list of str
+ """
+ variables = []
+ variables.append(('VERSION', '"%s"' % package.version))
+
+ variables.append((
+ 'MAINTAINER',
+ '"%s"' % (', '.join([str(m) for m in package.maintainers]))))
+
+ variables.extend(get_dependency_values('BUILD_DEPENDS',
+ package.build_depends))
+ variables.extend(get_dependency_values('BUILDTOOL_DEPENDS',
+ package.buildtool_depends))
+ variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS',
+ package.build_export_depends))
+ variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS',
+ package.buildtool_export_depends))
+ variables.extend(get_dependency_values('EXEC_DEPENDS',
+ package.exec_depends))
+ variables.extend(get_dependency_values('TEST_DEPENDS',
+ package.test_depends))
+ variables.extend(get_dependency_values('GROUP_DEPENDS',
+ package.group_depends))
+ variables.extend(get_dependency_values('MEMBER_OF_GROUPS',
+ package.member_of_groups))
+
+ deprecated = [e.content for e in package.exports
+ if e.tagname == 'deprecated']
+ variables.append(('DEPRECATED',
+ '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE')
+ if deprecated
+ else '')))
+
+ lines = []
+ lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
+ for (k, v) in variables:
+ lines.append('set(%s_%s %s)' % (package.name, k, v))
+
+ lines.append('set(%s_EXPORT_TAGS)' % package.name)
+ replaces = OrderedDict()
+ replaces['${prefix}/'] = ''
+ replaces['\\'] = '\\\\' # escape backslashes
+ replaces['"'] = '\\"' # prevent double quotes to end the CMake string
+ replaces[';'] = '\\;' # prevent semicolons to be interpreted as list separators
+ for export in package.exports:
+ export = str(export)
+ for k, v in replaces.items():
+ export = export.replace(k, v)
+ lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export))
+
+ return lines
+
+
+if __name__ == '__main__':
+ main()
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/path.sh.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/path.sh.stamp
new file mode 100755
index 0000000..e59b749
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/path.sh.stamp
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+ ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/pythonpath.sh.in.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/pythonpath.sh.in.stamp
new file mode 100755
index 0000000..de278c1
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/pythonpath.sh.in.stamp
@@ -0,0 +1,3 @@
+# generated from ament_package/template/environment_hook/pythonpath.sh.in
+
+ament_prepend_unique_value PYTHONPATH "$AMENT_CURRENT_PREFIX/@PYTHON_INSTALL_DIR@"
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/rosidl_cmake-extras.cmake.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/rosidl_cmake-extras.cmake.stamp
new file mode 100755
index 0000000..26fd8b0
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/rosidl_cmake-extras.cmake.stamp
@@ -0,0 +1,4 @@
+# generated from rosidl_cmake/cmake/rosidl_cmake-extras.cmake.in
+
+set(aruco_interfaces_IDL_FILES "msg/ArucoMarkerPose.idl")
+set(aruco_interfaces_INTERFACE_FILES "msg/ArucoMarkerPose.msg")
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/rosidl_cmake_export_typesupport_libraries-extras.cmake.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/rosidl_cmake_export_typesupport_libraries-extras.cmake.stamp
new file mode 100755
index 0000000..b2e546a
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/rosidl_cmake_export_typesupport_libraries-extras.cmake.stamp
@@ -0,0 +1,46 @@
+# generated from
+# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_libraries.cmake.in
+
+set(_exported_typesupport_libraries
+ "__rosidl_typesupport_fastrtps_c:aruco_interfaces__rosidl_typesupport_fastrtps_c;__rosidl_typesupport_fastrtps_cpp:aruco_interfaces__rosidl_typesupport_fastrtps_cpp")
+
+# populate aruco_interfaces_LIBRARIES_
+if(NOT _exported_typesupport_libraries STREQUAL "")
+ # loop over typesupport libraries
+ foreach(_tuple ${_exported_typesupport_libraries})
+ string(REPLACE ":" ";" _tuple "${_tuple}")
+ list(GET _tuple 0 _suffix)
+ list(GET _tuple 1 _library)
+
+ if(NOT IS_ABSOLUTE "${_library}")
+ # search for library target relative to this CMake file
+ set(_lib "NOTFOUND")
+ find_library(
+ _lib NAMES "${_library}"
+ PATHS "${aruco_interfaces_DIR}/../../../lib"
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+ )
+
+ if(NOT _lib)
+ # the library wasn't found
+ message(FATAL_ERROR "Package 'aruco_interfaces' exports the typesupport library '${_library}' which couldn't be found")
+ elseif(NOT IS_ABSOLUTE "${_lib}")
+ # the found library must be an absolute path
+ message(FATAL_ERROR "Package 'aruco_interfaces' found the typesupport library '${_library}' at '${_lib}' which is not an absolute path")
+ elseif(NOT EXISTS "${_lib}")
+ # the found library must exist
+ message(FATAL_ERROR "Package 'aruco_interfaces' found the typesupport library '${_lib}' which doesn't exist")
+ else()
+ list(APPEND aruco_interfaces_LIBRARIES${_suffix} ${_cfg} "${_lib}")
+ endif()
+
+ else()
+ if(NOT EXISTS "${_library}")
+ # the found library must exist
+ message(WARNING "Package 'aruco_interfaces' exports the typesupport library '${_library}' which doesn't exist")
+ else()
+ list(APPEND aruco_interfaces_LIBRARIES${_suffix} "${_library}")
+ endif()
+ endif()
+ endforeach()
+endif()
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/rosidl_cmake_export_typesupport_targets-extras.cmake.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/rosidl_cmake_export_typesupport_targets-extras.cmake.stamp
new file mode 100755
index 0000000..dde11ce
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/rosidl_cmake_export_typesupport_targets-extras.cmake.stamp
@@ -0,0 +1,23 @@
+# generated from
+# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_targets.cmake.in
+
+set(_exported_typesupport_targets
+ "__rosidl_typesupport_introspection_c:aruco_interfaces__rosidl_typesupport_introspection_c;__rosidl_typesupport_introspection_cpp:aruco_interfaces__rosidl_typesupport_introspection_cpp")
+
+# populate aruco_interfaces_TARGETS_
+if(NOT _exported_typesupport_targets STREQUAL "")
+ # loop over typesupport targets
+ foreach(_tuple ${_exported_typesupport_targets})
+ string(REPLACE ":" ";" _tuple "${_tuple}")
+ list(GET _tuple 0 _suffix)
+ list(GET _tuple 1 _target)
+
+ set(_target "aruco_interfaces::${_target}")
+ if(NOT TARGET "${_target}")
+ # the exported target must exist
+ message(WARNING "Package 'aruco_interfaces' exports the typesupport target '${_target}' which doesn't exist")
+ else()
+ list(APPEND aruco_interfaces_TARGETS${_suffix} "${_target}")
+ endif()
+ endforeach()
+endif()
diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/templates_2_cmake.py.stamp
new file mode 100755
index 0000000..b7c0faf
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_core/stamps/templates_2_cmake.py.stamp
@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import os
+import sys
+
+from ament_package.templates import get_environment_hook_template_path
+from ament_package.templates import get_package_level_template_names
+from ament_package.templates import get_package_level_template_path
+from ament_package.templates import get_prefix_level_template_names
+from ament_package.templates import get_prefix_level_template_path
+
+IS_WINDOWS = os.name == 'nt'
+
+
+def main(argv=sys.argv[1:]):
+ """
+ Extract the information about templates provided by ament_package.
+
+ Call the API provided by ament_package and
+ print CMake code defining several variables containing information about
+ the available templates.
+ """
+ parser = argparse.ArgumentParser(
+ description='Extract information about templates provided by '
+ 'ament_package and print CMake code defining several '
+ 'variables',
+ )
+ parser.add_argument(
+ 'outfile',
+ nargs='?',
+ help='The filename where the output should be written to',
+ )
+ args = parser.parse_args(argv)
+
+ lines = generate_cmake_code()
+ if args.outfile:
+ basepath = os.path.dirname(args.outfile)
+ if not os.path.exists(basepath):
+ os.makedirs(basepath)
+ with open(args.outfile, 'w') as f:
+ for line in lines:
+ f.write('%s\n' % line)
+ else:
+ for line in lines:
+ print(line)
+
+
+def generate_cmake_code():
+ """
+ Return a list of CMake set() commands containing the template information.
+
+ :returns: list of str
+ """
+ variables = []
+
+ if not IS_WINDOWS:
+ variables.append((
+ 'ENVIRONMENT_HOOK_LIBRARY_PATH',
+ '"%s"' % get_environment_hook_template_path('library_path.sh')))
+ else:
+ variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
+
+ ext = '.bat.in' if IS_WINDOWS else '.sh.in'
+ variables.append((
+ 'ENVIRONMENT_HOOK_PYTHONPATH',
+ '"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
+
+ templates = []
+ for name in get_package_level_template_names():
+ templates.append('"%s"' % get_package_level_template_path(name))
+ variables.append((
+ 'PACKAGE_LEVEL',
+ templates))
+
+ templates = []
+ for name in get_prefix_level_template_names():
+ templates.append('"%s"' % get_prefix_level_template_path(name))
+ variables.append((
+ 'PREFIX_LEVEL',
+ templates))
+
+ lines = []
+ for (k, v) in variables:
+ if isinstance(v, list):
+ lines.append('set(ament_cmake_package_templates_%s "")' % k)
+ for vv in v:
+ lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
+ % (k, vv))
+ else:
+ lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
+ # Ensure backslashes are replaced with forward slashes because CMake cannot
+ # parse files with backslashes in it.
+ return [l.replace('\\', '/') for l in lines]
+
+
+if __name__ == '__main__':
+ main()
diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/aruco_interfaces/ament_cmake_environment_hooks/ament_prefix_path.dsv
new file mode 100755
index 0000000..79d4c95
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_environment_hooks/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/library_path.dsv b/build/aruco_interfaces/ament_cmake_environment_hooks/library_path.dsv
new file mode 100755
index 0000000..89bec93
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_environment_hooks/library_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;LD_LIBRARY_PATH;lib
diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.bash b/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.bash
new file mode 100644
index 0000000..49782f2
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+ echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ _package_local_setup_IFS=$IFS
+ IFS=":"
+ for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+ # restore AMENT_CURRENT_PREFIX for each environment hook
+ AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+ # restore IFS before sourcing other files
+ IFS=$_package_local_setup_IFS
+ . "$_hook"
+ done
+ unset _hook
+ IFS=$_package_local_setup_IFS
+ unset _package_local_setup_IFS
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.dsv b/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.dsv
new file mode 100755
index 0000000..0a267c9
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.dsv
@@ -0,0 +1,4 @@
+source;share/aruco_interfaces/environment/ament_prefix_path.sh
+source;share/aruco_interfaces/environment/library_path.sh
+source;share/aruco_interfaces/environment/path.sh
+source;share/aruco_interfaces/environment/pythonpath.sh
diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.sh b/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.sh
new file mode 100644
index 0000000..8e434dd
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.sh
@@ -0,0 +1,135 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/home/ros2/dev2_ws/install/aruco_interfaces"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+ if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+ "exist. Consider sourcing a different extension than '.sh'." 1>&2
+ else
+ AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+ fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+ #echo "listname $_listname"
+ #eval echo "list value \$$_listname"
+ #echo "value $_value"
+
+ # avoid leading separator
+ eval _values=\"\$$_listname\"
+ if [ -z "$_values" ]; then
+ eval export $_listname=\"$_value\"
+ #eval echo "set list \$$_listname"
+ else
+ # field separator must not be a colon
+ _ament_append_value_IFS=$IFS
+ unset IFS
+ eval export $_listname=\"\$$_listname:$_value\"
+ #eval echo "append list \$$_listname"
+ IFS=$_ament_append_value_IFS
+ unset _ament_append_value_IFS
+ fi
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+ #echo "listname $_listname"
+ #eval echo "list value \$$_listname"
+ #echo "value $_value"
+
+ # check if the list contains the value
+ eval _values=\"\$$_listname\"
+ _duplicate=
+ _ament_prepend_unique_value_IFS=$IFS
+ IFS=":"
+ if [ "$AMENT_SHELL" = "zsh" ]; then
+ ament_zsh_to_array _values
+ fi
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ if [ "$_item" = "$_value" ]; then
+ _duplicate=1
+ fi
+ done
+ unset _item
+
+ # prepend only non-duplicates
+ if [ -z "$_duplicate" ]; then
+ # avoid trailing separator
+ if [ -z "$_values" ]; then
+ eval export $_listname=\"$_value\"
+ #eval echo "set list \$$_listname"
+ else
+ # field separator must not be a colon
+ unset IFS
+ eval export $_listname=\"$_value:\$$_listname\"
+ #eval echo "prepend list \$$_listname"
+ fi
+ fi
+ IFS=$_ament_prepend_unique_value_IFS
+ unset _ament_prepend_unique_value_IFS
+ unset _duplicate
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/aruco_interfaces/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/aruco_interfaces/environment/library_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/aruco_interfaces/environment/path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/aruco_interfaces/environment/pythonpath.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ _package_local_setup_IFS=$IFS
+ IFS=":"
+ if [ "$AMENT_SHELL" = "zsh" ]; then
+ ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+ fi
+ for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+ if [ -f "$_hook" ]; then
+ # restore IFS before sourcing other files
+ IFS=$_package_local_setup_IFS
+ # trace output
+ if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+ echo "# . \"$_hook\""
+ fi
+ . "$_hook"
+ fi
+ done
+ unset _hook
+ IFS=$_package_local_setup_IFS
+ unset _package_local_setup_IFS
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.zsh b/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.zsh
new file mode 100644
index 0000000..fe161be
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+ local _listname=$1
+ local _dollar="$"
+ local _split="{="
+ local _to_array="(\"$_dollar$_split$_listname}\")"
+ eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+ echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ _package_local_setup_IFS=$IFS
+ IFS=":"
+ for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+ # restore AMENT_CURRENT_PREFIX for each environment hook
+ AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+ # restore IFS before sourcing other files
+ IFS=$_package_local_setup_IFS
+ . "$_hook"
+ done
+ unset _hook
+ IFS=$_package_local_setup_IFS
+ unset _package_local_setup_IFS
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/package.dsv b/build/aruco_interfaces/ament_cmake_environment_hooks/package.dsv
new file mode 100755
index 0000000..f11207c
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_environment_hooks/package.dsv
@@ -0,0 +1,4 @@
+source;share/aruco_interfaces/local_setup.bash
+source;share/aruco_interfaces/local_setup.dsv
+source;share/aruco_interfaces/local_setup.sh
+source;share/aruco_interfaces/local_setup.zsh
diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/path.dsv b/build/aruco_interfaces/ament_cmake_environment_hooks/path.dsv
new file mode 100755
index 0000000..b94426a
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_environment_hooks/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/pythonpath.dsv b/build/aruco_interfaces/ament_cmake_environment_hooks/pythonpath.dsv
new file mode 100755
index 0000000..84dbc4c
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_environment_hooks/pythonpath.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.8/site-packages
diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/pythonpath.sh b/build/aruco_interfaces/ament_cmake_environment_hooks/pythonpath.sh
new file mode 100644
index 0000000..7fe2b2f
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_environment_hooks/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from ament_package/template/environment_hook/pythonpath.sh.in
+
+ament_prepend_unique_value PYTHONPATH "$AMENT_CURRENT_PREFIX/lib/python3.8/site-packages"
diff --git a/build/aruco_interfaces/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake b/build/aruco_interfaces/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
new file mode 100644
index 0000000..320fbe2
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "geometry_msgs;std_msgs;geometry_msgs;std_msgs;builtin_interfaces;rosidl_runtime_c;rosidl_typesupport_interface;geometry_msgs;std_msgs;builtin_interfaces;geometry_msgs;std_msgs;builtin_interfaces")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to aruco_interfaces_DEFINITIONS, aruco_interfaces_INCLUDE_DIRS,
+# aruco_interfaces_LIBRARIES, and aruco_interfaces_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# aruco_interfaces_DEPENDENCIES as well as the recursive dependency names
+# in aruco_interfaces_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+ find_package(ament_cmake_core QUIET REQUIRED)
+ set(aruco_interfaces_DEPENDENCIES ${_exported_dependencies})
+ set(aruco_interfaces_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+ set(_libraries)
+ foreach(_dep ${_exported_dependencies})
+ if(NOT ${_dep}_FOUND)
+ find_package("${_dep}" QUIET REQUIRED)
+ endif()
+ # if a package provides modern CMake interface targets use them
+ # exclusively assuming the classic CMake variables only exist for
+ # backward compatibility
+ set(use_modern_cmake FALSE)
+ if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+ foreach(_target ${${_dep}_TARGETS})
+ # only use actual targets
+ # in case a package uses this variable for other content
+ if(TARGET "${_target}")
+ get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+ if(_include_dirs)
+ list_append_unique(aruco_interfaces_INCLUDE_DIRS "${_include_dirs}")
+ endif()
+
+ get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+ if(_imported_configurations)
+ string(TOUPPER "${_imported_configurations}" _imported_configurations)
+ if(DEBUG_CONFIGURATIONS)
+ string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+ else()
+ set(_debug_configurations_uppercase "DEBUG")
+ endif()
+ foreach(_imported_config ${_imported_configurations})
+ get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+ if(_imported_implib)
+ set(_imported_implib_config "optimized")
+ if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+ set(_imported_implib_config "debug")
+ endif()
+ list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+ else()
+ get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+ if(_imported_location)
+ list(APPEND _libraries "${_imported_location}")
+ endif()
+ endif()
+ endforeach()
+ endif()
+
+ get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+ if(_link_libraries)
+ list(APPEND _libraries "${_link_libraries}")
+ endif()
+ set(use_modern_cmake TRUE)
+ endif()
+ endforeach()
+ endif()
+ if(NOT use_modern_cmake)
+ if(${_dep}_DEFINITIONS)
+ list_append_unique(aruco_interfaces_DEFINITIONS "${${_dep}_DEFINITIONS}")
+ endif()
+ if(${_dep}_INCLUDE_DIRS)
+ list_append_unique(aruco_interfaces_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+ endif()
+ if(${_dep}_LIBRARIES)
+ list(APPEND _libraries "${${_dep}_LIBRARIES}")
+ endif()
+ if(${_dep}_LINK_FLAGS)
+ list_append_unique(aruco_interfaces_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+ endif()
+ if(${_dep}_RECURSIVE_DEPENDENCIES)
+ list_append_unique(aruco_interfaces_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+ endif()
+ endif()
+ if(_libraries)
+ ament_libraries_deduplicate(_libraries "${_libraries}")
+ list(APPEND aruco_interfaces_LIBRARIES "${_libraries}")
+ endif()
+ endforeach()
+endif()
diff --git a/build/aruco_interfaces/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake b/build/aruco_interfaces/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
new file mode 100644
index 0000000..3d3f012
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${aruco_interfaces_DIR}/../../../include")
+
+# append include directories to aruco_interfaces_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+ find_package(ament_cmake_core QUIET REQUIRED)
+ foreach(_exported_include_dir ${_exported_include_dirs})
+ if(NOT IS_DIRECTORY "${_exported_include_dir}")
+ message(WARNING "Package 'aruco_interfaces' exports the include directory '${_exported_include_dir}' which doesn't exist")
+ endif()
+ normalize_path(_exported_include_dir "${_exported_include_dir}")
+ list(APPEND aruco_interfaces_INCLUDE_DIRS "${_exported_include_dir}")
+ endforeach()
+endif()
diff --git a/build/aruco_interfaces/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake b/build/aruco_interfaces/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake
new file mode 100644
index 0000000..1d01306
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake
@@ -0,0 +1,140 @@
+# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in
+
+set(_exported_libraries "aruco_interfaces__rosidl_generator_c;aruco_interfaces__rosidl_typesupport_c;aruco_interfaces__rosidl_typesupport_cpp")
+set(_exported_library_names "")
+
+# populate aruco_interfaces_LIBRARIES
+if(NOT _exported_libraries STREQUAL "")
+ # loop over libraries, either target names or absolute paths
+ list(LENGTH _exported_libraries _length)
+ set(_i 0)
+ while(_i LESS _length)
+ list(GET _exported_libraries ${_i} _arg)
+
+ # pass linker flags along
+ if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+ list(APPEND aruco_interfaces_LIBRARIES "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ continue()
+ endif()
+
+ if("${_arg}" MATCHES "^(debug|optimized|general)$")
+ # remember build configuration keyword
+ # and get following library
+ set(_cfg "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ if(_i EQUAL _length)
+ message(FATAL_ERROR "Package 'aruco_interfaces' passes the build configuration keyword '${_cfg}' as the last exported library")
+ endif()
+ list(GET _exported_libraries ${_i} _library)
+ else()
+ # the value is a library without a build configuration keyword
+ set(_cfg "")
+ set(_library "${_arg}")
+ endif()
+ math(EXPR _i "${_i} + 1")
+
+ if(NOT IS_ABSOLUTE "${_library}")
+ # search for library target relative to this CMake file
+ set(_lib "NOTFOUND")
+ find_library(
+ _lib NAMES "${_library}"
+ PATHS "${aruco_interfaces_DIR}/../../../lib"
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+ )
+
+ if(NOT _lib)
+ # warn about not existing library and ignore it
+ message(FATAL_ERROR "Package 'aruco_interfaces' exports the library '${_library}' which couldn't be found")
+ elseif(NOT IS_ABSOLUTE "${_lib}")
+ # the found library must be an absolute path
+ message(FATAL_ERROR "Package 'aruco_interfaces' found the library '${_library}' at '${_lib}' which is not an absolute path")
+ elseif(NOT EXISTS "${_lib}")
+ # the found library must exist
+ message(FATAL_ERROR "Package 'aruco_interfaces' found the library '${_lib}' which doesn't exist")
+ else()
+ list(APPEND aruco_interfaces_LIBRARIES ${_cfg} "${_lib}")
+ endif()
+
+ else()
+ if(NOT EXISTS "${_library}")
+ # the found library must exist
+ message(WARNING "Package 'aruco_interfaces' exports the library '${_library}' which doesn't exist")
+ else()
+ list(APPEND aruco_interfaces_LIBRARIES ${_cfg} "${_library}")
+ endif()
+ endif()
+ endwhile()
+endif()
+
+# find_library() library names with optional LIBRARY_DIRS
+# and add the libraries to aruco_interfaces_LIBRARIES
+if(NOT _exported_library_names STREQUAL "")
+ # loop over library names
+ # but remember related build configuration keyword if available
+ list(LENGTH _exported_library_names _length)
+ set(_i 0)
+ while(_i LESS _length)
+ list(GET _exported_library_names ${_i} _arg)
+ # pass linker flags along
+ if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+ list(APPEND aruco_interfaces_LIBRARIES "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ continue()
+ endif()
+
+ if("${_arg}" MATCHES "^(debug|optimized|general)$")
+ # remember build configuration keyword
+ # and get following library name
+ set(_cfg "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ if(_i EQUAL _length)
+ message(FATAL_ERROR "Package 'aruco_interfaces' passes the build configuration keyword '${_cfg}' as the last exported target")
+ endif()
+ list(GET _exported_library_names ${_i} _library)
+ else()
+ # the value is a library target without a build configuration keyword
+ set(_cfg "")
+ set(_library "${_arg}")
+ endif()
+ math(EXPR _i "${_i} + 1")
+
+ # extract optional LIBRARY_DIRS from library name
+ string(REPLACE ":" ";" _library_dirs "${_library}")
+ list(GET _library_dirs 0 _library_name)
+ list(REMOVE_AT _library_dirs 0)
+
+ set(_lib "NOTFOUND")
+ if(NOT _library_dirs)
+ # search for library in the common locations
+ find_library(
+ _lib
+ NAMES "${_library_name}"
+ )
+ if(NOT _lib)
+ # warn about not existing library and later ignore it
+ message(WARNING "Package 'aruco_interfaces' exports library '${_library_name}' which couldn't be found")
+ endif()
+ else()
+ # search for library in the specified directories
+ find_library(
+ _lib
+ NAMES "${_library_name}"
+ PATHS ${_library_dirs}
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+ )
+ if(NOT _lib)
+ # warn about not existing library and later ignore it
+ message(WARNING "Package 'aruco_interfaces' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found")
+ endif()
+ endif()
+ if(_lib)
+ list(APPEND aruco_interfaces_LIBRARIES ${_cfg} "${_lib}")
+ endif()
+ endwhile()
+endif()
+
+# TODO(dirk-thomas) deduplicate aruco_interfaces_LIBRARIES
+# while maintaining library order
+# as well as build configuration keywords
+# as well as linker flags
diff --git a/build/aruco_interfaces/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake b/build/aruco_interfaces/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake
new file mode 100644
index 0000000..4a1b798
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake
@@ -0,0 +1,27 @@
+# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in
+
+set(_exported_targets "aruco_interfaces__rosidl_generator_c;aruco_interfaces__rosidl_typesupport_introspection_c;aruco_interfaces__rosidl_typesupport_c;aruco_interfaces__rosidl_generator_cpp;aruco_interfaces__rosidl_typesupport_introspection_cpp;aruco_interfaces__rosidl_typesupport_cpp")
+
+# include all exported targets
+if(NOT _exported_targets STREQUAL "")
+ foreach(_target ${_exported_targets})
+ set(_export_file "${aruco_interfaces_DIR}/${_target}Export.cmake")
+ include("${_export_file}")
+
+ # extract the target names associated with the export
+ set(_regex "foreach\\(_expectedTarget (.+)\\)")
+ file(
+ STRINGS "${_export_file}" _foreach_targets
+ REGEX "${_regex}")
+ list(LENGTH _foreach_targets _matches)
+ if(NOT _matches EQUAL 1)
+ message(FATAL_ERROR
+ "Failed to find exported target names in '${_export_file}'")
+ endif()
+ string(REGEX REPLACE "${_regex}" "\\1" _targets "${_foreach_targets}")
+ string(REPLACE " " ";" _targets "${_targets}")
+ list(LENGTH _targets _length)
+
+ list(APPEND aruco_interfaces_TARGETS ${_targets})
+ endforeach()
+endif()
diff --git a/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/aruco_interfaces b/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/aruco_interfaces
new file mode 100755
index 0000000..4b40f93
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/aruco_interfaces
@@ -0,0 +1 @@
+geometry_msgs;std_msgs;rosidl_default_runtime;ament_lint_auto;ament_lint_common
\ No newline at end of file
diff --git a/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/packages/aruco_interfaces b/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/packages/aruco_interfaces
new file mode 100755
index 0000000..e69de29
diff --git a/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/aruco_interfaces b/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/aruco_interfaces
new file mode 100644
index 0000000..f590790
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/aruco_interfaces
@@ -0,0 +1 @@
+/home/ros2/dev2_ws/install/v4l2_camera:/home/ros2/dev2_ws/install/turtle_follower_py:/home/ros2/dev2_ws/install/camera_calibration:/home/ros2/dev2_ws/install/aruco_interfaces:/home/ros2/dev2_ws/install/aruco_detector:/opt/ros/foxy
\ No newline at end of file
diff --git a/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/rosidl_interfaces/aruco_interfaces b/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/rosidl_interfaces/aruco_interfaces
new file mode 100755
index 0000000..051e7ca
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/rosidl_interfaces/aruco_interfaces
@@ -0,0 +1,2 @@
+msg/ArucoMarkerPose.idl
+msg/ArucoMarkerPose.msg
\ No newline at end of file
diff --git a/build/aruco_interfaces/ament_cmake_package_templates/templates.cmake b/build/aruco_interfaces/ament_cmake_package_templates/templates.cmake
new file mode 100755
index 0000000..028c16d
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_package_templates/templates.cmake
@@ -0,0 +1,14 @@
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/environment_hook/library_path.sh")
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/environment_hook/pythonpath.sh.in")
+set(ament_cmake_package_templates_PACKAGE_LEVEL "")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.bash.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.zsh.in")
+set(ament_cmake_package_templates_PREFIX_LEVEL "")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/_local_setup_util.py")
diff --git a/build/aruco_interfaces/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/aruco_interfaces/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
new file mode 100644
index 0000000..e4bb759
--- /dev/null
+++ b/build/aruco_interfaces/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
@@ -0,0 +1,57 @@
+# generated from
+# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in
+
+function(ament_cmake_uninstall_target_remove_empty_directories path)
+ set(install_space "/home/ros2/dev2_ws/install/aruco_interfaces")
+ if(install_space STREQUAL "")
+ message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty")
+ endif()
+
+ string(LENGTH "${install_space}" length)
+ string(SUBSTRING "${path}" 0 ${length} path_prefix)
+ if(NOT path_prefix STREQUAL install_space)
+ message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'")
+ endif()
+ if(path STREQUAL install_space)
+ return()
+ endif()
+
+ # check if directory is empty
+ file(GLOB files "${path}/*")
+ list(LENGTH files length)
+ if(length EQUAL 0)
+ message(STATUS "Uninstalling: ${path}/")
+ execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}")
+ # recursively try to remove parent directories
+ get_filename_component(parent_path "${path}" PATH)
+ ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+ endif()
+endfunction()
+
+# uninstall files installed using the standard install() function
+set(install_manifest "/home/ros2/dev2_ws/build/aruco_interfaces/install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+ message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+ if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+ message(STATUS "Uninstalling: ${installed_file}")
+ file(REMOVE "${installed_file}")
+ if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+ message(FATAL_ERROR "Failed to remove '${installed_file}'")
+ endif()
+
+ # remove empty parent folders
+ get_filename_component(parent_path "${installed_file}" PATH)
+ ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+ endif()
+endforeach()
+
+# end of template
+
+message(STATUS "Execute custom uninstall script")
+
+# begin of custom uninstall code
diff --git a/build/aruco_interfaces/aruco_interfaces__py/CMakeFiles/CMakeDirectoryInformation.cmake b/build/aruco_interfaces/aruco_interfaces__py/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100755
index 0000000..6636814
--- /dev/null
+++ b/build/aruco_interfaces/aruco_interfaces__py/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -0,0 +1,16 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Relative path conversion top directories.
+set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/ros2/dev2_ws/build/aruco_interfaces/aruco_interfaces__py")
+set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/ros2/dev2_ws/build/aruco_interfaces")
+
+# Force unix paths in dependencies.
+set(CMAKE_FORCE_UNIX_PATHS 1)
+
+
+# The C and CXX include file regular expressions for this directory.
+set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
+set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
diff --git a/build/aruco_interfaces/aruco_interfaces__py/CMakeFiles/aruco_interfaces__py.dir/DependInfo.cmake b/build/aruco_interfaces/aruco_interfaces__py/CMakeFiles/aruco_interfaces__py.dir/DependInfo.cmake
new file mode 100755
index 0000000..382b3ba
--- /dev/null
+++ b/build/aruco_interfaces/aruco_interfaces__py/CMakeFiles/aruco_interfaces__py.dir/DependInfo.cmake
@@ -0,0 +1,21 @@
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+ )
+# The set of files for implicit dependencies of each language:
+
+# Pairs of files generated by the same build rule.
+set(CMAKE_MULTIPLE_OUTPUT_PAIRS
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_c.c" "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c"
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+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/_aruco_marker_pose_s.c" "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c"
+ )
+
+
+# Targets to which this target links.
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diff --git a/build/aruco_interfaces/aruco_interfaces__py/CMakeFiles/aruco_interfaces__py.dir/build.make b/build/aruco_interfaces/aruco_interfaces__py/CMakeFiles/aruco_interfaces__py.dir/build.make
new file mode 100755
index 0000000..f4a63b5
--- /dev/null
+++ b/build/aruco_interfaces/aruco_interfaces__py/CMakeFiles/aruco_interfaces__py.dir/build.make
@@ -0,0 +1,180 @@
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+
+# Delete rule output on recipe failure.
+.DELETE_ON_ERROR:
+
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+
+# A target that is always out of date.
+cmake_force:
+
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/ros2/dev2_ws/src/aruco_interfaces
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/ros2/dev2_ws/build/aruco_interfaces
+
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+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
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+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
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+# See the License for the specific language governing permissions and
+# limitations under the License.
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+ COMMENT "Generating Python code for ROS interfaces"
+ VERBATIM
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+
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diff --git a/build/aruco_interfaces/colcon_build.rc b/build/aruco_interfaces/colcon_build.rc
new file mode 100755
index 0000000..573541a
--- /dev/null
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diff --git a/build/aruco_interfaces/colcon_command_prefix_build.sh b/build/aruco_interfaces/colcon_command_prefix_build.sh
new file mode 100755
index 0000000..f9867d5
--- /dev/null
+++ b/build/aruco_interfaces/colcon_command_prefix_build.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/build/aruco_interfaces/colcon_command_prefix_build.sh.env b/build/aruco_interfaces/colcon_command_prefix_build.sh.env
new file mode 100755
index 0000000..0f750d8
--- /dev/null
+++ b/build/aruco_interfaces/colcon_command_prefix_build.sh.env
@@ -0,0 +1,70 @@
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+_=/usr/bin/colcon
diff --git a/build/aruco_interfaces/install_manifest.txt b/build/aruco_interfaces/install_manifest.txt
new file mode 100755
index 0000000..c433633
--- /dev/null
+++ b/build/aruco_interfaces/install_manifest.txt
@@ -0,0 +1,74 @@
+/home/ros2/dev2_ws/install/aruco_interfaces/share/ament_index/resource_index/rosidl_interfaces/aruco_interfaces
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/rosidl_generator_c__visibility_control.h
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.h
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__functions.h
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__functions.c
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__struct.h
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/aruco_marker_pose.h
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/environment/library_path.sh
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/environment/library_path.dsv
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/libaruco_interfaces__rosidl_generator_c.so
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_fastrtps_c.h
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/libaruco_interfaces__rosidl_typesupport_fastrtps_c.so
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_fastrtps_cpp.hpp
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/libaruco_interfaces__rosidl_typesupport_fastrtps_cpp.so
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_introspection_c.h
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/libaruco_interfaces__rosidl_typesupport_introspection_c.so
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/libaruco_interfaces__rosidl_typesupport_c.so
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__traits.hpp
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__builder.hpp
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__struct.hpp
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/aruco_marker_pose.hpp
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp
+/home/ros2/dev2_ws/install/aruco_interfaces/include/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_introspection_cpp.hpp
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/libaruco_interfaces__rosidl_typesupport_introspection_cpp.so
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/libaruco_interfaces__rosidl_typesupport_cpp.so
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/environment/pythonpath.sh
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/environment/pythonpath.dsv
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/python3.8/site-packages/aruco_interfaces/__init__.py
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/python3.8/site-packages/aruco_interfaces/msg/_aruco_marker_pose_s.c
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/python3.8/site-packages/aruco_interfaces/msg/__init__.py
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/python3.8/site-packages/aruco_interfaces/msg/_aruco_marker_pose.py
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/python3.8/site-packages/aruco_interfaces/aruco_interfaces_s__rosidl_typesupport_fastrtps_c.cpython-38-x86_64-linux-gnu.so
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/python3.8/site-packages/aruco_interfaces/aruco_interfaces_s__rosidl_typesupport_introspection_c.cpython-38-x86_64-linux-gnu.so
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/python3.8/site-packages/aruco_interfaces/aruco_interfaces_s__rosidl_typesupport_c.cpython-38-x86_64-linux-gnu.so
+/home/ros2/dev2_ws/install/aruco_interfaces/lib/libaruco_interfaces__python.so
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/msg/ArucoMarkerPose.idl
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/msg/ArucoMarkerPose.msg
+/home/ros2/dev2_ws/install/aruco_interfaces/share/ament_index/resource_index/package_run_dependencies/aruco_interfaces
+/home/ros2/dev2_ws/install/aruco_interfaces/share/ament_index/resource_index/parent_prefix_path/aruco_interfaces
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/environment/ament_prefix_path.sh
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/environment/ament_prefix_path.dsv
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/environment/path.sh
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/environment/path.dsv
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/local_setup.bash
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/local_setup.sh
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/local_setup.zsh
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/local_setup.dsv
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/package.dsv
+/home/ros2/dev2_ws/install/aruco_interfaces/share/ament_index/resource_index/packages/aruco_interfaces
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_generator_cExport.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_generator_cExport-noconfig.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_introspection_cExport.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_introspection_cExport-noconfig.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_cExport.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_cExport-noconfig.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_generator_cppExport.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_introspection_cppExport.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_introspection_cppExport-noconfig.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_cppExport.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfaces__rosidl_typesupport_cppExport-noconfig.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/rosidl_cmake-extras.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/ament_cmake_export_libraries-extras.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/ament_cmake_export_targets-extras.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/ament_cmake_export_include_directories-extras.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfacesConfig.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/cmake/aruco_interfacesConfig-version.cmake
+/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/package.xml
\ No newline at end of file
diff --git a/build/aruco_interfaces/libaruco_interfaces__rosidl_generator_c.so b/build/aruco_interfaces/libaruco_interfaces__rosidl_generator_c.so
new file mode 100755
index 0000000..7dc802f
Binary files /dev/null and b/build/aruco_interfaces/libaruco_interfaces__rosidl_generator_c.so differ
diff --git a/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_c.so b/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_c.so
new file mode 100755
index 0000000..1725c55
Binary files /dev/null and b/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_c.so differ
diff --git a/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_cpp.so b/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_cpp.so
new file mode 100755
index 0000000..c763948
Binary files /dev/null and b/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_cpp.so differ
diff --git a/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_fastrtps_c.so b/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_fastrtps_c.so
new file mode 100755
index 0000000..5267613
Binary files /dev/null and b/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_fastrtps_c.so differ
diff --git a/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_fastrtps_cpp.so b/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_fastrtps_cpp.so
new file mode 100755
index 0000000..5f056e0
Binary files /dev/null and b/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_fastrtps_cpp.so differ
diff --git a/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_introspection_c.so b/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_introspection_c.so
new file mode 100755
index 0000000..ce3f6c1
Binary files /dev/null and b/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_introspection_c.so differ
diff --git a/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_introspection_cpp.so b/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_introspection_cpp.so
new file mode 100755
index 0000000..3465c9c
Binary files /dev/null and b/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_introspection_cpp.so differ
diff --git a/build/aruco_interfaces/rosidl_adapter/aruco_interfaces.idls b/build/aruco_interfaces/rosidl_adapter/aruco_interfaces.idls
new file mode 100755
index 0000000..9a77c65
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_adapter/aruco_interfaces.idls
@@ -0,0 +1 @@
+/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces:msg/ArucoMarkerPose.idl
diff --git a/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl b/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl
new file mode 100755
index 0000000..4b732f8
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl
@@ -0,0 +1,15 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from aruco_interfaces/msg/ArucoMarkerPose.msg
+// generated code does not contain a copyright notice
+
+#include "geometry_msgs/msg/Pose.idl"
+
+module aruco_interfaces {
+ module msg {
+ struct ArucoMarkerPose {
+ sequence marker_ids;
+
+ sequence poses;
+ };
+ };
+};
diff --git a/build/aruco_interfaces/rosidl_adapter__arguments__aruco_interfaces.json b/build/aruco_interfaces/rosidl_adapter__arguments__aruco_interfaces.json
new file mode 100755
index 0000000..d5fa5c2
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_adapter__arguments__aruco_interfaces.json
@@ -0,0 +1,6 @@
+{
+ "package_name": "aruco_interfaces",
+ "non_idl_tuples": [
+ "/home/ros2/dev2_ws/src/aruco_interfaces:msg/ArucoMarkerPose.msg"
+ ]
+}
diff --git a/build/aruco_interfaces/rosidl_cmake/rosidl_cmake-extras.cmake b/build/aruco_interfaces/rosidl_cmake/rosidl_cmake-extras.cmake
new file mode 100644
index 0000000..26fd8b0
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_cmake/rosidl_cmake-extras.cmake
@@ -0,0 +1,4 @@
+# generated from rosidl_cmake/cmake/rosidl_cmake-extras.cmake.in
+
+set(aruco_interfaces_IDL_FILES "msg/ArucoMarkerPose.idl")
+set(aruco_interfaces_INTERFACE_FILES "msg/ArucoMarkerPose.msg")
diff --git a/build/aruco_interfaces/rosidl_cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake b/build/aruco_interfaces/rosidl_cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
new file mode 100644
index 0000000..b2e546a
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
@@ -0,0 +1,46 @@
+# generated from
+# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_libraries.cmake.in
+
+set(_exported_typesupport_libraries
+ "__rosidl_typesupport_fastrtps_c:aruco_interfaces__rosidl_typesupport_fastrtps_c;__rosidl_typesupport_fastrtps_cpp:aruco_interfaces__rosidl_typesupport_fastrtps_cpp")
+
+# populate aruco_interfaces_LIBRARIES_
+if(NOT _exported_typesupport_libraries STREQUAL "")
+ # loop over typesupport libraries
+ foreach(_tuple ${_exported_typesupport_libraries})
+ string(REPLACE ":" ";" _tuple "${_tuple}")
+ list(GET _tuple 0 _suffix)
+ list(GET _tuple 1 _library)
+
+ if(NOT IS_ABSOLUTE "${_library}")
+ # search for library target relative to this CMake file
+ set(_lib "NOTFOUND")
+ find_library(
+ _lib NAMES "${_library}"
+ PATHS "${aruco_interfaces_DIR}/../../../lib"
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+ )
+
+ if(NOT _lib)
+ # the library wasn't found
+ message(FATAL_ERROR "Package 'aruco_interfaces' exports the typesupport library '${_library}' which couldn't be found")
+ elseif(NOT IS_ABSOLUTE "${_lib}")
+ # the found library must be an absolute path
+ message(FATAL_ERROR "Package 'aruco_interfaces' found the typesupport library '${_library}' at '${_lib}' which is not an absolute path")
+ elseif(NOT EXISTS "${_lib}")
+ # the found library must exist
+ message(FATAL_ERROR "Package 'aruco_interfaces' found the typesupport library '${_lib}' which doesn't exist")
+ else()
+ list(APPEND aruco_interfaces_LIBRARIES${_suffix} ${_cfg} "${_lib}")
+ endif()
+
+ else()
+ if(NOT EXISTS "${_library}")
+ # the found library must exist
+ message(WARNING "Package 'aruco_interfaces' exports the typesupport library '${_library}' which doesn't exist")
+ else()
+ list(APPEND aruco_interfaces_LIBRARIES${_suffix} "${_library}")
+ endif()
+ endif()
+ endforeach()
+endif()
diff --git a/build/aruco_interfaces/rosidl_cmake/rosidl_cmake_export_typesupport_targets-extras.cmake b/build/aruco_interfaces/rosidl_cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
new file mode 100644
index 0000000..dde11ce
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
@@ -0,0 +1,23 @@
+# generated from
+# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_targets.cmake.in
+
+set(_exported_typesupport_targets
+ "__rosidl_typesupport_introspection_c:aruco_interfaces__rosidl_typesupport_introspection_c;__rosidl_typesupport_introspection_cpp:aruco_interfaces__rosidl_typesupport_introspection_cpp")
+
+# populate aruco_interfaces_TARGETS_
+if(NOT _exported_typesupport_targets STREQUAL "")
+ # loop over typesupport targets
+ foreach(_tuple ${_exported_typesupport_targets})
+ string(REPLACE ":" ";" _tuple "${_tuple}")
+ list(GET _tuple 0 _suffix)
+ list(GET _tuple 1 _target)
+
+ set(_target "aruco_interfaces::${_target}")
+ if(NOT TARGET "${_target}")
+ # the exported target must exist
+ message(WARNING "Package 'aruco_interfaces' exports the typesupport target '${_target}' which doesn't exist")
+ else()
+ list(APPEND aruco_interfaces_TARGETS${_suffix} "${_target}")
+ endif()
+ endforeach()
+endif()
diff --git a/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/aruco_marker_pose.h b/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/aruco_marker_pose.h
new file mode 100755
index 0000000..d500977
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/aruco_marker_pose.h
@@ -0,0 +1,12 @@
+// generated from rosidl_generator_c/resource/idl.h.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__ARUCO_MARKER_POSE_H_
+#define ARUCO_INTERFACES__MSG__ARUCO_MARKER_POSE_H_
+
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__functions.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__type_support.h"
+
+#endif // ARUCO_INTERFACES__MSG__ARUCO_MARKER_POSE_H_
diff --git a/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__functions.c b/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__functions.c
new file mode 100755
index 0000000..ddc97af
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__functions.c
@@ -0,0 +1,156 @@
+// generated from rosidl_generator_c/resource/idl__functions.c.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__functions.h"
+
+#include
+#include
+#include
+#include
+
+
+// Include directives for member types
+// Member `marker_ids`
+#include "rosidl_runtime_c/primitives_sequence_functions.h"
+// Member `poses`
+#include "geometry_msgs/msg/detail/pose__functions.h"
+
+bool
+aruco_interfaces__msg__ArucoMarkerPose__init(aruco_interfaces__msg__ArucoMarkerPose * msg)
+{
+ if (!msg) {
+ return false;
+ }
+ // marker_ids
+ if (!rosidl_runtime_c__int64__Sequence__init(&msg->marker_ids, 0)) {
+ aruco_interfaces__msg__ArucoMarkerPose__fini(msg);
+ return false;
+ }
+ // poses
+ if (!geometry_msgs__msg__Pose__Sequence__init(&msg->poses, 0)) {
+ aruco_interfaces__msg__ArucoMarkerPose__fini(msg);
+ return false;
+ }
+ return true;
+}
+
+void
+aruco_interfaces__msg__ArucoMarkerPose__fini(aruco_interfaces__msg__ArucoMarkerPose * msg)
+{
+ if (!msg) {
+ return;
+ }
+ // marker_ids
+ rosidl_runtime_c__int64__Sequence__fini(&msg->marker_ids);
+ // poses
+ geometry_msgs__msg__Pose__Sequence__fini(&msg->poses);
+}
+
+aruco_interfaces__msg__ArucoMarkerPose *
+aruco_interfaces__msg__ArucoMarkerPose__create()
+{
+ aruco_interfaces__msg__ArucoMarkerPose * msg = (aruco_interfaces__msg__ArucoMarkerPose *)malloc(sizeof(aruco_interfaces__msg__ArucoMarkerPose));
+ if (!msg) {
+ return NULL;
+ }
+ memset(msg, 0, sizeof(aruco_interfaces__msg__ArucoMarkerPose));
+ bool success = aruco_interfaces__msg__ArucoMarkerPose__init(msg);
+ if (!success) {
+ free(msg);
+ return NULL;
+ }
+ return msg;
+}
+
+void
+aruco_interfaces__msg__ArucoMarkerPose__destroy(aruco_interfaces__msg__ArucoMarkerPose * msg)
+{
+ if (msg) {
+ aruco_interfaces__msg__ArucoMarkerPose__fini(msg);
+ }
+ free(msg);
+}
+
+
+bool
+aruco_interfaces__msg__ArucoMarkerPose__Sequence__init(aruco_interfaces__msg__ArucoMarkerPose__Sequence * array, size_t size)
+{
+ if (!array) {
+ return false;
+ }
+ aruco_interfaces__msg__ArucoMarkerPose * data = NULL;
+ if (size) {
+ data = (aruco_interfaces__msg__ArucoMarkerPose *)calloc(size, sizeof(aruco_interfaces__msg__ArucoMarkerPose));
+ if (!data) {
+ return false;
+ }
+ // initialize all array elements
+ size_t i;
+ for (i = 0; i < size; ++i) {
+ bool success = aruco_interfaces__msg__ArucoMarkerPose__init(&data[i]);
+ if (!success) {
+ break;
+ }
+ }
+ if (i < size) {
+ // if initialization failed finalize the already initialized array elements
+ for (; i > 0; --i) {
+ aruco_interfaces__msg__ArucoMarkerPose__fini(&data[i - 1]);
+ }
+ free(data);
+ return false;
+ }
+ }
+ array->data = data;
+ array->size = size;
+ array->capacity = size;
+ return true;
+}
+
+void
+aruco_interfaces__msg__ArucoMarkerPose__Sequence__fini(aruco_interfaces__msg__ArucoMarkerPose__Sequence * array)
+{
+ if (!array) {
+ return;
+ }
+ if (array->data) {
+ // ensure that data and capacity values are consistent
+ assert(array->capacity > 0);
+ // finalize all array elements
+ for (size_t i = 0; i < array->capacity; ++i) {
+ aruco_interfaces__msg__ArucoMarkerPose__fini(&array->data[i]);
+ }
+ free(array->data);
+ array->data = NULL;
+ array->size = 0;
+ array->capacity = 0;
+ } else {
+ // ensure that data, size, and capacity values are consistent
+ assert(0 == array->size);
+ assert(0 == array->capacity);
+ }
+}
+
+aruco_interfaces__msg__ArucoMarkerPose__Sequence *
+aruco_interfaces__msg__ArucoMarkerPose__Sequence__create(size_t size)
+{
+ aruco_interfaces__msg__ArucoMarkerPose__Sequence * array = (aruco_interfaces__msg__ArucoMarkerPose__Sequence *)malloc(sizeof(aruco_interfaces__msg__ArucoMarkerPose__Sequence));
+ if (!array) {
+ return NULL;
+ }
+ bool success = aruco_interfaces__msg__ArucoMarkerPose__Sequence__init(array, size);
+ if (!success) {
+ free(array);
+ return NULL;
+ }
+ return array;
+}
+
+void
+aruco_interfaces__msg__ArucoMarkerPose__Sequence__destroy(aruco_interfaces__msg__ArucoMarkerPose__Sequence * array)
+{
+ if (array) {
+ aruco_interfaces__msg__ArucoMarkerPose__Sequence__fini(array);
+ }
+ free(array);
+}
diff --git a/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__functions.h b/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__functions.h
new file mode 100755
index 0000000..0b3bc3e
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__functions.h
@@ -0,0 +1,124 @@
+// generated from rosidl_generator_c/resource/idl__functions.h.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__FUNCTIONS_H_
+#define ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__FUNCTIONS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include
+#include
+
+#include "rosidl_runtime_c/visibility_control.h"
+#include "aruco_interfaces/msg/rosidl_generator_c__visibility_control.h"
+
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.h"
+
+/// Initialize msg/ArucoMarkerPose message.
+/**
+ * If the init function is called twice for the same message without
+ * calling fini inbetween previously allocated memory will be leaked.
+ * \param[in,out] msg The previously allocated message pointer.
+ * Fields without a default value will not be initialized by this function.
+ * You might want to call memset(msg, 0, sizeof(
+ * aruco_interfaces__msg__ArucoMarkerPose
+ * )) before or use
+ * aruco_interfaces__msg__ArucoMarkerPose__create()
+ * to allocate and initialize the message.
+ * \return true if initialization was successful, otherwise false
+ */
+ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces
+bool
+aruco_interfaces__msg__ArucoMarkerPose__init(aruco_interfaces__msg__ArucoMarkerPose * msg);
+
+/// Finalize msg/ArucoMarkerPose message.
+/**
+ * \param[in,out] msg The allocated message pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces
+void
+aruco_interfaces__msg__ArucoMarkerPose__fini(aruco_interfaces__msg__ArucoMarkerPose * msg);
+
+/// Create msg/ArucoMarkerPose message.
+/**
+ * It allocates the memory for the message, sets the memory to zero, and
+ * calls
+ * aruco_interfaces__msg__ArucoMarkerPose__init().
+ * \return The pointer to the initialized message if successful,
+ * otherwise NULL
+ */
+ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces
+aruco_interfaces__msg__ArucoMarkerPose *
+aruco_interfaces__msg__ArucoMarkerPose__create();
+
+/// Destroy msg/ArucoMarkerPose message.
+/**
+ * It calls
+ * aruco_interfaces__msg__ArucoMarkerPose__fini()
+ * and frees the memory of the message.
+ * \param[in,out] msg The allocated message pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces
+void
+aruco_interfaces__msg__ArucoMarkerPose__destroy(aruco_interfaces__msg__ArucoMarkerPose * msg);
+
+
+/// Initialize array of msg/ArucoMarkerPose messages.
+/**
+ * It allocates the memory for the number of elements and calls
+ * aruco_interfaces__msg__ArucoMarkerPose__init()
+ * for each element of the array.
+ * \param[in,out] array The allocated array pointer.
+ * \param[in] size The size / capacity of the array.
+ * \return true if initialization was successful, otherwise false
+ * If the array pointer is valid and the size is zero it is guaranteed
+ # to return true.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces
+bool
+aruco_interfaces__msg__ArucoMarkerPose__Sequence__init(aruco_interfaces__msg__ArucoMarkerPose__Sequence * array, size_t size);
+
+/// Finalize array of msg/ArucoMarkerPose messages.
+/**
+ * It calls
+ * aruco_interfaces__msg__ArucoMarkerPose__fini()
+ * for each element of the array and frees the memory for the number of
+ * elements.
+ * \param[in,out] array The initialized array pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces
+void
+aruco_interfaces__msg__ArucoMarkerPose__Sequence__fini(aruco_interfaces__msg__ArucoMarkerPose__Sequence * array);
+
+/// Create array of msg/ArucoMarkerPose messages.
+/**
+ * It allocates the memory for the array and calls
+ * aruco_interfaces__msg__ArucoMarkerPose__Sequence__init().
+ * \param[in] size The size / capacity of the array.
+ * \return The pointer to the initialized array if successful, otherwise NULL
+ */
+ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces
+aruco_interfaces__msg__ArucoMarkerPose__Sequence *
+aruco_interfaces__msg__ArucoMarkerPose__Sequence__create(size_t size);
+
+/// Destroy array of msg/ArucoMarkerPose messages.
+/**
+ * It calls
+ * aruco_interfaces__msg__ArucoMarkerPose__Sequence__fini()
+ * on the array,
+ * and frees the memory of the array.
+ * \param[in,out] array The initialized array pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces
+void
+aruco_interfaces__msg__ArucoMarkerPose__Sequence__destroy(aruco_interfaces__msg__ArucoMarkerPose__Sequence * array);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__FUNCTIONS_H_
diff --git a/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__struct.h b/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__struct.h
new file mode 100755
index 0000000..e19d61e
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__struct.h
@@ -0,0 +1,47 @@
+// generated from rosidl_generator_c/resource/idl__struct.h.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__STRUCT_H_
+#define ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__STRUCT_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include
+#include
+#include
+
+
+// Constants defined in the message
+
+// Include directives for member types
+// Member 'marker_ids'
+#include "rosidl_runtime_c/primitives_sequence.h"
+// Member 'poses'
+#include "geometry_msgs/msg/detail/pose__struct.h"
+
+// Struct defined in msg/ArucoMarkerPose in the package aruco_interfaces.
+typedef struct aruco_interfaces__msg__ArucoMarkerPose
+{
+ rosidl_runtime_c__int64__Sequence marker_ids;
+ geometry_msgs__msg__Pose__Sequence poses;
+} aruco_interfaces__msg__ArucoMarkerPose;
+
+// Struct for a sequence of aruco_interfaces__msg__ArucoMarkerPose.
+typedef struct aruco_interfaces__msg__ArucoMarkerPose__Sequence
+{
+ aruco_interfaces__msg__ArucoMarkerPose * data;
+ /// The number of valid items in data
+ size_t size;
+ /// The number of allocated items in data
+ size_t capacity;
+} aruco_interfaces__msg__ArucoMarkerPose__Sequence;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__STRUCT_H_
diff --git a/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.h b/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.h
new file mode 100755
index 0000000..4b2263e
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.h
@@ -0,0 +1,33 @@
+// generated from rosidl_generator_c/resource/idl__type_support.h.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__TYPE_SUPPORT_H_
+#define ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__TYPE_SUPPORT_H_
+
+#include "rosidl_typesupport_interface/macros.h"
+
+#include "aruco_interfaces/msg/rosidl_generator_c__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rosidl_runtime_c/message_type_support_struct.h"
+
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+ rosidl_typesupport_c,
+ aruco_interfaces,
+ msg,
+ ArucoMarkerPose
+)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__TYPE_SUPPORT_H_
diff --git a/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/rosidl_generator_c__visibility_control.h b/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/rosidl_generator_c__visibility_control.h
new file mode 100644
index 0000000..360a866
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/rosidl_generator_c__visibility_control.h
@@ -0,0 +1,42 @@
+// generated from rosidl_generator_c/resource/rosidl_generator_c__visibility_control.h.in
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
+#define ARUCO_INTERFACES__MSG__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+// https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+ #ifdef __GNUC__
+ #define ROSIDL_GENERATOR_C_EXPORT_aruco_interfaces __attribute__ ((dllexport))
+ #define ROSIDL_GENERATOR_C_IMPORT_aruco_interfaces __attribute__ ((dllimport))
+ #else
+ #define ROSIDL_GENERATOR_C_EXPORT_aruco_interfaces __declspec(dllexport)
+ #define ROSIDL_GENERATOR_C_IMPORT_aruco_interfaces __declspec(dllimport)
+ #endif
+ #ifdef ROSIDL_GENERATOR_C_BUILDING_DLL_aruco_interfaces
+ #define ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces ROSIDL_GENERATOR_C_EXPORT_aruco_interfaces
+ #else
+ #define ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces ROSIDL_GENERATOR_C_IMPORT_aruco_interfaces
+ #endif
+#else
+ #define ROSIDL_GENERATOR_C_EXPORT_aruco_interfaces __attribute__ ((visibility("default")))
+ #define ROSIDL_GENERATOR_C_IMPORT_aruco_interfaces
+ #if __GNUC__ >= 4
+ #define ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces __attribute__ ((visibility("default")))
+ #else
+ #define ROSIDL_GENERATOR_C_PUBLIC_aruco_interfaces
+ #endif
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ARUCO_INTERFACES__MSG__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
diff --git a/build/aruco_interfaces/rosidl_generator_c__arguments.json b/build/aruco_interfaces/rosidl_generator_c__arguments.json
new file mode 100755
index 0000000..c29f216
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_c__arguments.json
@@ -0,0 +1,148 @@
+{
+ "package_name": "aruco_interfaces",
+ "output_dir": "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces",
+ "template_dir": "/opt/ros/foxy/share/rosidl_generator_c/cmake/../resource",
+ "idl_tuples": [
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces:msg/ArucoMarkerPose.idl"
+ ],
+ "ros_interface_dependencies": [
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ],
+ "target_dependencies": [
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../../../lib/rosidl_generator_c/rosidl_generator_c",
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../../../lib/python3.8/site-packages/rosidl_generator_c/__init__.py",
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../resource/action__type_support.h.em",
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../resource/idl.h.em",
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../resource/idl__functions.c.em",
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../resource/idl__functions.h.em",
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../resource/idl__struct.h.em",
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../resource/idl__type_support.h.em",
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../resource/msg__functions.c.em",
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../resource/msg__functions.h.em",
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../resource/msg__struct.h.em",
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../resource/msg__type_support.h.em",
+ "/opt/ros/foxy/share/rosidl_generator_c/cmake/../resource/srv__type_support.h.em",
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ]
+}
diff --git a/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/aruco_marker_pose.hpp b/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/aruco_marker_pose.hpp
new file mode 100755
index 0000000..0436e0c
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/aruco_marker_pose.hpp
@@ -0,0 +1,11 @@
+// generated from rosidl_generator_cpp/resource/idl.hpp.em
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__ARUCO_MARKER_POSE_HPP_
+#define ARUCO_INTERFACES__MSG__ARUCO_MARKER_POSE_HPP_
+
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.hpp"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__builder.hpp"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__traits.hpp"
+
+#endif // ARUCO_INTERFACES__MSG__ARUCO_MARKER_POSE_HPP_
diff --git a/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__builder.hpp b/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__builder.hpp
new file mode 100755
index 0000000..b293eab
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__builder.hpp
@@ -0,0 +1,71 @@
+// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__BUILDER_HPP_
+#define ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__BUILDER_HPP_
+
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.hpp"
+#include
+#include
+#include
+
+
+namespace aruco_interfaces
+{
+
+namespace msg
+{
+
+namespace builder
+{
+
+class Init_ArucoMarkerPose_poses
+{
+public:
+ explicit Init_ArucoMarkerPose_poses(::aruco_interfaces::msg::ArucoMarkerPose & msg)
+ : msg_(msg)
+ {}
+ ::aruco_interfaces::msg::ArucoMarkerPose poses(::aruco_interfaces::msg::ArucoMarkerPose::_poses_type arg)
+ {
+ msg_.poses = std::move(arg);
+ return std::move(msg_);
+ }
+
+private:
+ ::aruco_interfaces::msg::ArucoMarkerPose msg_;
+};
+
+class Init_ArucoMarkerPose_marker_ids
+{
+public:
+ Init_ArucoMarkerPose_marker_ids()
+ : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
+ {}
+ Init_ArucoMarkerPose_poses marker_ids(::aruco_interfaces::msg::ArucoMarkerPose::_marker_ids_type arg)
+ {
+ msg_.marker_ids = std::move(arg);
+ return Init_ArucoMarkerPose_poses(msg_);
+ }
+
+private:
+ ::aruco_interfaces::msg::ArucoMarkerPose msg_;
+};
+
+} // namespace builder
+
+} // namespace msg
+
+template
+auto build();
+
+template<>
+inline
+auto build<::aruco_interfaces::msg::ArucoMarkerPose>()
+{
+ return aruco_interfaces::msg::builder::Init_ArucoMarkerPose_marker_ids();
+}
+
+} // namespace aruco_interfaces
+
+#endif // ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__BUILDER_HPP_
diff --git a/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__struct.hpp b/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__struct.hpp
new file mode 100755
index 0000000..da06629
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__struct.hpp
@@ -0,0 +1,138 @@
+// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__STRUCT_HPP_
+#define ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__STRUCT_HPP_
+
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+
+// Include directives for member types
+// Member 'poses'
+#include "geometry_msgs/msg/detail/pose__struct.hpp"
+
+#ifndef _WIN32
+# define DEPRECATED__aruco_interfaces__msg__ArucoMarkerPose __attribute__((deprecated))
+#else
+# define DEPRECATED__aruco_interfaces__msg__ArucoMarkerPose __declspec(deprecated)
+#endif
+
+namespace aruco_interfaces
+{
+
+namespace msg
+{
+
+// message struct
+template
+struct ArucoMarkerPose_
+{
+ using Type = ArucoMarkerPose_;
+
+ explicit ArucoMarkerPose_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
+ {
+ (void)_init;
+ }
+
+ explicit ArucoMarkerPose_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
+ {
+ (void)_init;
+ (void)_alloc;
+ }
+
+ // field types and members
+ using _marker_ids_type =
+ std::vector::other>;
+ _marker_ids_type marker_ids;
+ using _poses_type =
+ std::vector, typename ContainerAllocator::template rebind>::other>;
+ _poses_type poses;
+
+ // setters for named parameter idiom
+ Type & set__marker_ids(
+ const std::vector::other> & _arg)
+ {
+ this->marker_ids = _arg;
+ return *this;
+ }
+ Type & set__poses(
+ const std::vector, typename ContainerAllocator::template rebind>::other> & _arg)
+ {
+ this->poses = _arg;
+ return *this;
+ }
+
+ // constant declarations
+
+ // pointer types
+ using RawPtr =
+ aruco_interfaces::msg::ArucoMarkerPose_ *;
+ using ConstRawPtr =
+ const aruco_interfaces::msg::ArucoMarkerPose_ *;
+ using SharedPtr =
+ std::shared_ptr>;
+ using ConstSharedPtr =
+ std::shared_ptr const>;
+
+ template>>
+ using UniquePtrWithDeleter =
+ std::unique_ptr, Deleter>;
+
+ using UniquePtr = UniquePtrWithDeleter<>;
+
+ template>>
+ using ConstUniquePtrWithDeleter =
+ std::unique_ptr const, Deleter>;
+ using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
+
+ using WeakPtr =
+ std::weak_ptr>;
+ using ConstWeakPtr =
+ std::weak_ptr const>;
+
+ // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
+ // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
+ typedef DEPRECATED__aruco_interfaces__msg__ArucoMarkerPose
+ std::shared_ptr>
+ Ptr;
+ typedef DEPRECATED__aruco_interfaces__msg__ArucoMarkerPose
+ std::shared_ptr const>
+ ConstPtr;
+
+ // comparison operators
+ bool operator==(const ArucoMarkerPose_ & other) const
+ {
+ if (this->marker_ids != other.marker_ids) {
+ return false;
+ }
+ if (this->poses != other.poses) {
+ return false;
+ }
+ return true;
+ }
+ bool operator!=(const ArucoMarkerPose_ & other) const
+ {
+ return !this->operator==(other);
+ }
+}; // struct ArucoMarkerPose_
+
+// alias to use template instance with default allocator
+using ArucoMarkerPose =
+ aruco_interfaces::msg::ArucoMarkerPose_>;
+
+// constant definitions
+
+} // namespace msg
+
+} // namespace aruco_interfaces
+
+#endif // ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__STRUCT_HPP_
diff --git a/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__traits.hpp b/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__traits.hpp
new file mode 100755
index 0000000..c8c4ea8
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__traits.hpp
@@ -0,0 +1,42 @@
+// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__TRAITS_HPP_
+#define ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__TRAITS_HPP_
+
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.hpp"
+#include
+#include
+#include
+
+namespace rosidl_generator_traits
+{
+
+template<>
+inline const char * data_type()
+{
+ return "aruco_interfaces::msg::ArucoMarkerPose";
+}
+
+template<>
+inline const char * name()
+{
+ return "aruco_interfaces/msg/ArucoMarkerPose";
+}
+
+template<>
+struct has_fixed_size
+ : std::integral_constant {};
+
+template<>
+struct has_bounded_size
+ : std::integral_constant {};
+
+template<>
+struct is_message
+ : std::true_type {};
+
+} // namespace rosidl_generator_traits
+
+#endif // ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__TRAITS_HPP_
diff --git a/build/aruco_interfaces/rosidl_generator_cpp__arguments.json b/build/aruco_interfaces/rosidl_generator_cpp__arguments.json
new file mode 100755
index 0000000..bae82da
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_cpp__arguments.json
@@ -0,0 +1,150 @@
+{
+ "package_name": "aruco_interfaces",
+ "output_dir": "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces",
+ "template_dir": "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource",
+ "idl_tuples": [
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces:msg/ArucoMarkerPose.idl"
+ ],
+ "ros_interface_dependencies": [
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ],
+ "target_dependencies": [
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../../../lib/rosidl_generator_cpp/rosidl_generator_cpp",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../../../lib/python3.8/site-packages/rosidl_generator_cpp/__init__.py",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/action__builder.hpp.em",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/action__struct.hpp.em",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/action__traits.hpp.em",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/idl.hpp.em",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/idl__builder.hpp.em",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/idl__struct.hpp.em",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/idl__traits.hpp.em",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/msg__builder.hpp.em",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/msg__struct.hpp.em",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/msg__traits.hpp.em",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/srv__builder.hpp.em",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/srv__struct.hpp.em",
+ "/opt/ros/foxy/share/rosidl_generator_cpp/cmake/../resource/srv__traits.hpp.em",
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ]
+}
diff --git a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/__init__.py b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_c.c b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_c.c
new file mode 100755
index 0000000..1e5a93f
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_c.c
@@ -0,0 +1,171 @@
+// generated from rosidl_generator_py/resource/_idl_pkg_typesupport_entry_point.c.em
+// generated code does not contain a copyright notice
+#include
+
+static PyMethodDef aruco_interfaces__methods[] = {
+ {NULL, NULL, 0, NULL} /* sentinel */
+};
+
+static struct PyModuleDef aruco_interfaces__module = {
+ PyModuleDef_HEAD_INIT,
+ "_aruco_interfaces_support",
+ "_aruco_interfaces_doc",
+ -1, /* -1 means that the module keeps state in global variables */
+ aruco_interfaces__methods,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+};
+
+#include
+#include
+#include "rosidl_runtime_c/visibility_control.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/action_type_support_struct.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__type_support.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__functions.h"
+
+static void * aruco_interfaces__msg__aruco_marker_pose__create_ros_message(void)
+{
+ return aruco_interfaces__msg__ArucoMarkerPose__create();
+}
+
+static void aruco_interfaces__msg__aruco_marker_pose__destroy_ros_message(void * raw_ros_message)
+{
+ aruco_interfaces__msg__ArucoMarkerPose * ros_message = (aruco_interfaces__msg__ArucoMarkerPose *)raw_ros_message;
+ aruco_interfaces__msg__ArucoMarkerPose__destroy(ros_message);
+}
+
+ROSIDL_GENERATOR_C_IMPORT
+bool aruco_interfaces__msg__aruco_marker_pose__convert_from_py(PyObject * _pymsg, void * ros_message);
+ROSIDL_GENERATOR_C_IMPORT
+PyObject * aruco_interfaces__msg__aruco_marker_pose__convert_to_py(void * raw_ros_message);
+
+
+ROSIDL_GENERATOR_C_IMPORT
+const rosidl_message_type_support_t *
+ROSIDL_GET_MSG_TYPE_SUPPORT(aruco_interfaces, msg, ArucoMarkerPose);
+
+int8_t
+_register_msg_type__msg__aruco_marker_pose(PyObject * pymodule)
+{
+ int8_t err;
+
+ PyObject * pyobject_create_ros_message = NULL;
+ pyobject_create_ros_message = PyCapsule_New(
+ (void *)&aruco_interfaces__msg__aruco_marker_pose__create_ros_message,
+ NULL, NULL);
+ if (!pyobject_create_ros_message) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "create_ros_message_msg__msg__aruco_marker_pose",
+ pyobject_create_ros_message);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_create_ros_message);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+
+ PyObject * pyobject_destroy_ros_message = NULL;
+ pyobject_destroy_ros_message = PyCapsule_New(
+ (void *)&aruco_interfaces__msg__aruco_marker_pose__destroy_ros_message,
+ NULL, NULL);
+ if (!pyobject_destroy_ros_message) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "destroy_ros_message_msg__msg__aruco_marker_pose",
+ pyobject_destroy_ros_message);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_destroy_ros_message);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+
+ PyObject * pyobject_convert_from_py = NULL;
+ pyobject_convert_from_py = PyCapsule_New(
+ (void *)&aruco_interfaces__msg__aruco_marker_pose__convert_from_py,
+ NULL, NULL);
+ if (!pyobject_convert_from_py) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "convert_from_py_msg__msg__aruco_marker_pose",
+ pyobject_convert_from_py);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_convert_from_py);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+
+ PyObject * pyobject_convert_to_py = NULL;
+ pyobject_convert_to_py = PyCapsule_New(
+ (void *)&aruco_interfaces__msg__aruco_marker_pose__convert_to_py,
+ NULL, NULL);
+ if (!pyobject_convert_to_py) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "convert_to_py_msg__msg__aruco_marker_pose",
+ pyobject_convert_to_py);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_convert_to_py);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+
+ PyObject * pyobject_type_support = NULL;
+ pyobject_type_support = PyCapsule_New(
+ (void *)ROSIDL_GET_MSG_TYPE_SUPPORT(aruco_interfaces, msg, ArucoMarkerPose),
+ NULL, NULL);
+ if (!pyobject_type_support) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "type_support_msg__msg__aruco_marker_pose",
+ pyobject_type_support);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_type_support);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+ return 0;
+}
+
+PyMODINIT_FUNC
+PyInit_aruco_interfaces_s__rosidl_typesupport_c(void)
+{
+ PyObject * pymodule = NULL;
+ pymodule = PyModule_Create(&aruco_interfaces__module);
+ if (!pymodule) {
+ return NULL;
+ }
+ int8_t err;
+
+ err = _register_msg_type__msg__aruco_marker_pose(pymodule);
+ if (err) {
+ Py_XDECREF(pymodule);
+ return NULL;
+ }
+
+ return pymodule;
+}
diff --git a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c
new file mode 100755
index 0000000..78dc785
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c
@@ -0,0 +1,171 @@
+// generated from rosidl_generator_py/resource/_idl_pkg_typesupport_entry_point.c.em
+// generated code does not contain a copyright notice
+#include
+
+static PyMethodDef aruco_interfaces__methods[] = {
+ {NULL, NULL, 0, NULL} /* sentinel */
+};
+
+static struct PyModuleDef aruco_interfaces__module = {
+ PyModuleDef_HEAD_INIT,
+ "_aruco_interfaces_support",
+ "_aruco_interfaces_doc",
+ -1, /* -1 means that the module keeps state in global variables */
+ aruco_interfaces__methods,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+};
+
+#include
+#include
+#include "rosidl_runtime_c/visibility_control.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/action_type_support_struct.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__type_support.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__functions.h"
+
+static void * aruco_interfaces__msg__aruco_marker_pose__create_ros_message(void)
+{
+ return aruco_interfaces__msg__ArucoMarkerPose__create();
+}
+
+static void aruco_interfaces__msg__aruco_marker_pose__destroy_ros_message(void * raw_ros_message)
+{
+ aruco_interfaces__msg__ArucoMarkerPose * ros_message = (aruco_interfaces__msg__ArucoMarkerPose *)raw_ros_message;
+ aruco_interfaces__msg__ArucoMarkerPose__destroy(ros_message);
+}
+
+ROSIDL_GENERATOR_C_IMPORT
+bool aruco_interfaces__msg__aruco_marker_pose__convert_from_py(PyObject * _pymsg, void * ros_message);
+ROSIDL_GENERATOR_C_IMPORT
+PyObject * aruco_interfaces__msg__aruco_marker_pose__convert_to_py(void * raw_ros_message);
+
+
+ROSIDL_GENERATOR_C_IMPORT
+const rosidl_message_type_support_t *
+ROSIDL_GET_MSG_TYPE_SUPPORT(aruco_interfaces, msg, ArucoMarkerPose);
+
+int8_t
+_register_msg_type__msg__aruco_marker_pose(PyObject * pymodule)
+{
+ int8_t err;
+
+ PyObject * pyobject_create_ros_message = NULL;
+ pyobject_create_ros_message = PyCapsule_New(
+ (void *)&aruco_interfaces__msg__aruco_marker_pose__create_ros_message,
+ NULL, NULL);
+ if (!pyobject_create_ros_message) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "create_ros_message_msg__msg__aruco_marker_pose",
+ pyobject_create_ros_message);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_create_ros_message);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+
+ PyObject * pyobject_destroy_ros_message = NULL;
+ pyobject_destroy_ros_message = PyCapsule_New(
+ (void *)&aruco_interfaces__msg__aruco_marker_pose__destroy_ros_message,
+ NULL, NULL);
+ if (!pyobject_destroy_ros_message) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "destroy_ros_message_msg__msg__aruco_marker_pose",
+ pyobject_destroy_ros_message);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_destroy_ros_message);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+
+ PyObject * pyobject_convert_from_py = NULL;
+ pyobject_convert_from_py = PyCapsule_New(
+ (void *)&aruco_interfaces__msg__aruco_marker_pose__convert_from_py,
+ NULL, NULL);
+ if (!pyobject_convert_from_py) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "convert_from_py_msg__msg__aruco_marker_pose",
+ pyobject_convert_from_py);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_convert_from_py);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+
+ PyObject * pyobject_convert_to_py = NULL;
+ pyobject_convert_to_py = PyCapsule_New(
+ (void *)&aruco_interfaces__msg__aruco_marker_pose__convert_to_py,
+ NULL, NULL);
+ if (!pyobject_convert_to_py) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "convert_to_py_msg__msg__aruco_marker_pose",
+ pyobject_convert_to_py);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_convert_to_py);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+
+ PyObject * pyobject_type_support = NULL;
+ pyobject_type_support = PyCapsule_New(
+ (void *)ROSIDL_GET_MSG_TYPE_SUPPORT(aruco_interfaces, msg, ArucoMarkerPose),
+ NULL, NULL);
+ if (!pyobject_type_support) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "type_support_msg__msg__aruco_marker_pose",
+ pyobject_type_support);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_type_support);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+ return 0;
+}
+
+PyMODINIT_FUNC
+PyInit_aruco_interfaces_s__rosidl_typesupport_fastrtps_c(void)
+{
+ PyObject * pymodule = NULL;
+ pymodule = PyModule_Create(&aruco_interfaces__module);
+ if (!pymodule) {
+ return NULL;
+ }
+ int8_t err;
+
+ err = _register_msg_type__msg__aruco_marker_pose(pymodule);
+ if (err) {
+ Py_XDECREF(pymodule);
+ return NULL;
+ }
+
+ return pymodule;
+}
diff --git a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_introspection_c.c b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_introspection_c.c
new file mode 100755
index 0000000..192cfea
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_introspection_c.c
@@ -0,0 +1,171 @@
+// generated from rosidl_generator_py/resource/_idl_pkg_typesupport_entry_point.c.em
+// generated code does not contain a copyright notice
+#include
+
+static PyMethodDef aruco_interfaces__methods[] = {
+ {NULL, NULL, 0, NULL} /* sentinel */
+};
+
+static struct PyModuleDef aruco_interfaces__module = {
+ PyModuleDef_HEAD_INIT,
+ "_aruco_interfaces_support",
+ "_aruco_interfaces_doc",
+ -1, /* -1 means that the module keeps state in global variables */
+ aruco_interfaces__methods,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+};
+
+#include
+#include
+#include "rosidl_runtime_c/visibility_control.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/action_type_support_struct.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__type_support.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__functions.h"
+
+static void * aruco_interfaces__msg__aruco_marker_pose__create_ros_message(void)
+{
+ return aruco_interfaces__msg__ArucoMarkerPose__create();
+}
+
+static void aruco_interfaces__msg__aruco_marker_pose__destroy_ros_message(void * raw_ros_message)
+{
+ aruco_interfaces__msg__ArucoMarkerPose * ros_message = (aruco_interfaces__msg__ArucoMarkerPose *)raw_ros_message;
+ aruco_interfaces__msg__ArucoMarkerPose__destroy(ros_message);
+}
+
+ROSIDL_GENERATOR_C_IMPORT
+bool aruco_interfaces__msg__aruco_marker_pose__convert_from_py(PyObject * _pymsg, void * ros_message);
+ROSIDL_GENERATOR_C_IMPORT
+PyObject * aruco_interfaces__msg__aruco_marker_pose__convert_to_py(void * raw_ros_message);
+
+
+ROSIDL_GENERATOR_C_IMPORT
+const rosidl_message_type_support_t *
+ROSIDL_GET_MSG_TYPE_SUPPORT(aruco_interfaces, msg, ArucoMarkerPose);
+
+int8_t
+_register_msg_type__msg__aruco_marker_pose(PyObject * pymodule)
+{
+ int8_t err;
+
+ PyObject * pyobject_create_ros_message = NULL;
+ pyobject_create_ros_message = PyCapsule_New(
+ (void *)&aruco_interfaces__msg__aruco_marker_pose__create_ros_message,
+ NULL, NULL);
+ if (!pyobject_create_ros_message) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "create_ros_message_msg__msg__aruco_marker_pose",
+ pyobject_create_ros_message);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_create_ros_message);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+
+ PyObject * pyobject_destroy_ros_message = NULL;
+ pyobject_destroy_ros_message = PyCapsule_New(
+ (void *)&aruco_interfaces__msg__aruco_marker_pose__destroy_ros_message,
+ NULL, NULL);
+ if (!pyobject_destroy_ros_message) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "destroy_ros_message_msg__msg__aruco_marker_pose",
+ pyobject_destroy_ros_message);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_destroy_ros_message);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+
+ PyObject * pyobject_convert_from_py = NULL;
+ pyobject_convert_from_py = PyCapsule_New(
+ (void *)&aruco_interfaces__msg__aruco_marker_pose__convert_from_py,
+ NULL, NULL);
+ if (!pyobject_convert_from_py) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "convert_from_py_msg__msg__aruco_marker_pose",
+ pyobject_convert_from_py);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_convert_from_py);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+
+ PyObject * pyobject_convert_to_py = NULL;
+ pyobject_convert_to_py = PyCapsule_New(
+ (void *)&aruco_interfaces__msg__aruco_marker_pose__convert_to_py,
+ NULL, NULL);
+ if (!pyobject_convert_to_py) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "convert_to_py_msg__msg__aruco_marker_pose",
+ pyobject_convert_to_py);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_convert_to_py);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+
+ PyObject * pyobject_type_support = NULL;
+ pyobject_type_support = PyCapsule_New(
+ (void *)ROSIDL_GET_MSG_TYPE_SUPPORT(aruco_interfaces, msg, ArucoMarkerPose),
+ NULL, NULL);
+ if (!pyobject_type_support) {
+ // previously added objects will be removed when the module is destroyed
+ return -1;
+ }
+ err = PyModule_AddObject(
+ pymodule,
+ "type_support_msg__msg__aruco_marker_pose",
+ pyobject_type_support);
+ if (err) {
+ // the created capsule needs to be decremented
+ Py_XDECREF(pyobject_type_support);
+ // previously added objects will be removed when the module is destroyed
+ return err;
+ }
+ return 0;
+}
+
+PyMODINIT_FUNC
+PyInit_aruco_interfaces_s__rosidl_typesupport_introspection_c(void)
+{
+ PyObject * pymodule = NULL;
+ pymodule = PyModule_Create(&aruco_interfaces__module);
+ if (!pymodule) {
+ return NULL;
+ }
+ int8_t err;
+
+ err = _register_msg_type__msg__aruco_marker_pose(pymodule);
+ if (err) {
+ Py_XDECREF(pymodule);
+ return NULL;
+ }
+
+ return pymodule;
+}
diff --git a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/aruco_interfaces_s__rosidl_typesupport_c.cpython-38-x86_64-linux-gnu.so b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/aruco_interfaces_s__rosidl_typesupport_c.cpython-38-x86_64-linux-gnu.so
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diff --git a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/aruco_interfaces_s__rosidl_typesupport_fastrtps_c.cpython-38-x86_64-linux-gnu.so b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/aruco_interfaces_s__rosidl_typesupport_fastrtps_c.cpython-38-x86_64-linux-gnu.so
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diff --git a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/aruco_interfaces_s__rosidl_typesupport_introspection_c.cpython-38-x86_64-linux-gnu.so b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/aruco_interfaces_s__rosidl_typesupport_introspection_c.cpython-38-x86_64-linux-gnu.so
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diff --git a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/libaruco_interfaces__python.so b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/libaruco_interfaces__python.so
new file mode 100755
index 0000000..789f0e3
Binary files /dev/null and b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/libaruco_interfaces__python.so differ
diff --git a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/__init__.py b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/__init__.py
new file mode 100755
index 0000000..b776617
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/__init__.py
@@ -0,0 +1 @@
+from aruco_interfaces.msg._aruco_marker_pose import ArucoMarkerPose # noqa: F401
diff --git a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/_aruco_marker_pose.py b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/_aruco_marker_pose.py
new file mode 100755
index 0000000..f217966
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/_aruco_marker_pose.py
@@ -0,0 +1,174 @@
+# generated from rosidl_generator_py/resource/_idl.py.em
+# with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+# generated code does not contain a copyright notice
+
+
+# Import statements for member types
+
+# Member 'marker_ids'
+import array # noqa: E402, I100
+
+import rosidl_parser.definition # noqa: E402, I100
+
+
+class Metaclass_ArucoMarkerPose(type):
+ """Metaclass of message 'ArucoMarkerPose'."""
+
+ _CREATE_ROS_MESSAGE = None
+ _CONVERT_FROM_PY = None
+ _CONVERT_TO_PY = None
+ _DESTROY_ROS_MESSAGE = None
+ _TYPE_SUPPORT = None
+
+ __constants = {
+ }
+
+ @classmethod
+ def __import_type_support__(cls):
+ try:
+ from rosidl_generator_py import import_type_support
+ module = import_type_support('aruco_interfaces')
+ except ImportError:
+ import logging
+ import traceback
+ logger = logging.getLogger(
+ 'aruco_interfaces.msg.ArucoMarkerPose')
+ logger.debug(
+ 'Failed to import needed modules for type support:\n' +
+ traceback.format_exc())
+ else:
+ cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__aruco_marker_pose
+ cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__aruco_marker_pose
+ cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__aruco_marker_pose
+ cls._TYPE_SUPPORT = module.type_support_msg__msg__aruco_marker_pose
+ cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__aruco_marker_pose
+
+ from geometry_msgs.msg import Pose
+ if Pose.__class__._TYPE_SUPPORT is None:
+ Pose.__class__.__import_type_support__()
+
+ @classmethod
+ def __prepare__(cls, name, bases, **kwargs):
+ # list constant names here so that they appear in the help text of
+ # the message class under "Data and other attributes defined here:"
+ # as well as populate each message instance
+ return {
+ }
+
+
+class ArucoMarkerPose(metaclass=Metaclass_ArucoMarkerPose):
+ """Message class 'ArucoMarkerPose'."""
+
+ __slots__ = [
+ '_marker_ids',
+ '_poses',
+ ]
+
+ _fields_and_field_types = {
+ 'marker_ids': 'sequence',
+ 'poses': 'sequence',
+ }
+
+ SLOT_TYPES = (
+ rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('int64')), # noqa: E501
+ rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.NamespacedType(['geometry_msgs', 'msg'], 'Pose')), # noqa: E501
+ )
+
+ def __init__(self, **kwargs):
+ assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
+ 'Invalid arguments passed to constructor: %s' % \
+ ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
+ self.marker_ids = array.array('q', kwargs.get('marker_ids', []))
+ self.poses = kwargs.get('poses', [])
+
+ def __repr__(self):
+ typename = self.__class__.__module__.split('.')
+ typename.pop()
+ typename.append(self.__class__.__name__)
+ args = []
+ for s, t in zip(self.__slots__, self.SLOT_TYPES):
+ field = getattr(self, s)
+ fieldstr = repr(field)
+ # We use Python array type for fields that can be directly stored
+ # in them, and "normal" sequences for everything else. If it is
+ # a type that we store in an array, strip off the 'array' portion.
+ if (
+ isinstance(t, rosidl_parser.definition.AbstractSequence) and
+ isinstance(t.value_type, rosidl_parser.definition.BasicType) and
+ t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
+ ):
+ if len(field) == 0:
+ fieldstr = '[]'
+ else:
+ assert fieldstr.startswith('array(')
+ prefix = "array('X', "
+ suffix = ')'
+ fieldstr = fieldstr[len(prefix):-len(suffix)]
+ args.append(s[1:] + '=' + fieldstr)
+ return '%s(%s)' % ('.'.join(typename), ', '.join(args))
+
+ def __eq__(self, other):
+ if not isinstance(other, self.__class__):
+ return False
+ if self.marker_ids != other.marker_ids:
+ return False
+ if self.poses != other.poses:
+ return False
+ return True
+
+ @classmethod
+ def get_fields_and_field_types(cls):
+ from copy import copy
+ return copy(cls._fields_and_field_types)
+
+ @property
+ def marker_ids(self):
+ """Message field 'marker_ids'."""
+ return self._marker_ids
+
+ @marker_ids.setter
+ def marker_ids(self, value):
+ if isinstance(value, array.array):
+ assert value.typecode == 'q', \
+ "The 'marker_ids' array.array() must have the type code of 'q'"
+ self._marker_ids = value
+ return
+ if __debug__:
+ from collections.abc import Sequence
+ from collections.abc import Set
+ from collections import UserList
+ from collections import UserString
+ assert \
+ ((isinstance(value, Sequence) or
+ isinstance(value, Set) or
+ isinstance(value, UserList)) and
+ not isinstance(value, str) and
+ not isinstance(value, UserString) and
+ all(isinstance(v, int) for v in value) and
+ all(val >= -9223372036854775808 and val < 9223372036854775808 for val in value)), \
+ "The 'marker_ids' field must be a set or sequence and each value of type 'int' and each integer in [-9223372036854775808, 9223372036854775807]"
+ self._marker_ids = array.array('q', value)
+
+ @property
+ def poses(self):
+ """Message field 'poses'."""
+ return self._poses
+
+ @poses.setter
+ def poses(self, value):
+ if __debug__:
+ from geometry_msgs.msg import Pose
+ from collections.abc import Sequence
+ from collections.abc import Set
+ from collections import UserList
+ from collections import UserString
+ assert \
+ ((isinstance(value, Sequence) or
+ isinstance(value, Set) or
+ isinstance(value, UserList)) and
+ not isinstance(value, str) and
+ not isinstance(value, UserString) and
+ all(isinstance(v, Pose) for v in value) and
+ True), \
+ "The 'poses' field must be a set or sequence and each value of type 'Pose'"
+ self._poses = value
diff --git a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/_aruco_marker_pose_s.c b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/_aruco_marker_pose_s.c
new file mode 100755
index 0000000..c677ad5
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/_aruco_marker_pose_s.c
@@ -0,0 +1,243 @@
+// generated from rosidl_generator_py/resource/_idl_support.c.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
+#include
+#include
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+#include "numpy/ndarrayobject.h"
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+#include "rosidl_runtime_c/visibility_control.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__functions.h"
+
+#include "rosidl_runtime_c/primitives_sequence.h"
+#include "rosidl_runtime_c/primitives_sequence_functions.h"
+
+// Nested array functions includes
+#include "geometry_msgs/msg/detail/pose__functions.h"
+// end nested array functions include
+ROSIDL_GENERATOR_C_IMPORT
+bool geometry_msgs__msg__pose__convert_from_py(PyObject * _pymsg, void * _ros_message);
+ROSIDL_GENERATOR_C_IMPORT
+PyObject * geometry_msgs__msg__pose__convert_to_py(void * raw_ros_message);
+
+ROSIDL_GENERATOR_C_EXPORT
+bool aruco_interfaces__msg__aruco_marker_pose__convert_from_py(PyObject * _pymsg, void * _ros_message)
+{
+ // check that the passed message is of the expected Python class
+ {
+ char full_classname_dest[56];
+ {
+ char * class_name = NULL;
+ char * module_name = NULL;
+ {
+ PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
+ if (class_attr) {
+ PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
+ if (name_attr) {
+ class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
+ Py_DECREF(name_attr);
+ }
+ PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
+ if (module_attr) {
+ module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
+ Py_DECREF(module_attr);
+ }
+ Py_DECREF(class_attr);
+ }
+ }
+ if (!class_name || !module_name) {
+ return false;
+ }
+ snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
+ }
+ assert(strncmp("aruco_interfaces.msg._aruco_marker_pose.ArucoMarkerPose", full_classname_dest, 55) == 0);
+ }
+ aruco_interfaces__msg__ArucoMarkerPose * ros_message = _ros_message;
+ { // marker_ids
+ PyObject * field = PyObject_GetAttrString(_pymsg, "marker_ids");
+ if (!field) {
+ return false;
+ }
+ PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'marker_ids'");
+ if (!seq_field) {
+ Py_DECREF(field);
+ return false;
+ }
+ Py_ssize_t size = PySequence_Size(field);
+ if (-1 == size) {
+ Py_DECREF(seq_field);
+ Py_DECREF(field);
+ return false;
+ }
+ if (!rosidl_runtime_c__int64__Sequence__init(&(ros_message->marker_ids), size)) {
+ PyErr_SetString(PyExc_RuntimeError, "unable to create int64__Sequence ros_message");
+ Py_DECREF(seq_field);
+ Py_DECREF(field);
+ return false;
+ }
+ int64_t * dest = ros_message->marker_ids.data;
+ for (Py_ssize_t i = 0; i < size; ++i) {
+ PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
+ if (!item) {
+ Py_DECREF(seq_field);
+ Py_DECREF(field);
+ return false;
+ }
+ assert(PyLong_Check(item));
+ int64_t tmp = PyLong_AsLongLong(item);
+ memcpy(&dest[i], &tmp, sizeof(int64_t));
+ }
+ Py_DECREF(seq_field);
+ Py_DECREF(field);
+ }
+ { // poses
+ PyObject * field = PyObject_GetAttrString(_pymsg, "poses");
+ if (!field) {
+ return false;
+ }
+ PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'poses'");
+ if (!seq_field) {
+ Py_DECREF(field);
+ return false;
+ }
+ Py_ssize_t size = PySequence_Size(field);
+ if (-1 == size) {
+ Py_DECREF(seq_field);
+ Py_DECREF(field);
+ return false;
+ }
+ if (!geometry_msgs__msg__Pose__Sequence__init(&(ros_message->poses), size)) {
+ PyErr_SetString(PyExc_RuntimeError, "unable to create geometry_msgs__msg__Pose__Sequence ros_message");
+ Py_DECREF(seq_field);
+ Py_DECREF(field);
+ return false;
+ }
+ geometry_msgs__msg__Pose * dest = ros_message->poses.data;
+ for (Py_ssize_t i = 0; i < size; ++i) {
+ if (!geometry_msgs__msg__pose__convert_from_py(PySequence_Fast_GET_ITEM(seq_field, i), &dest[i])) {
+ Py_DECREF(seq_field);
+ Py_DECREF(field);
+ return false;
+ }
+ }
+ Py_DECREF(seq_field);
+ Py_DECREF(field);
+ }
+
+ return true;
+}
+
+ROSIDL_GENERATOR_C_EXPORT
+PyObject * aruco_interfaces__msg__aruco_marker_pose__convert_to_py(void * raw_ros_message)
+{
+ /* NOTE(esteve): Call constructor of ArucoMarkerPose */
+ PyObject * _pymessage = NULL;
+ {
+ PyObject * pymessage_module = PyImport_ImportModule("aruco_interfaces.msg._aruco_marker_pose");
+ assert(pymessage_module);
+ PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "ArucoMarkerPose");
+ assert(pymessage_class);
+ Py_DECREF(pymessage_module);
+ _pymessage = PyObject_CallObject(pymessage_class, NULL);
+ Py_DECREF(pymessage_class);
+ if (!_pymessage) {
+ return NULL;
+ }
+ }
+ aruco_interfaces__msg__ArucoMarkerPose * ros_message = (aruco_interfaces__msg__ArucoMarkerPose *)raw_ros_message;
+ { // marker_ids
+ PyObject * field = NULL;
+ field = PyObject_GetAttrString(_pymessage, "marker_ids");
+ if (!field) {
+ return NULL;
+ }
+ assert(field->ob_type != NULL);
+ assert(field->ob_type->tp_name != NULL);
+ assert(strcmp(field->ob_type->tp_name, "array.array") == 0);
+ // ensure that itemsize matches the sizeof of the ROS message field
+ PyObject * itemsize_attr = PyObject_GetAttrString(field, "itemsize");
+ assert(itemsize_attr != NULL);
+ size_t itemsize = PyLong_AsSize_t(itemsize_attr);
+ Py_DECREF(itemsize_attr);
+ if (itemsize != sizeof(int64_t)) {
+ PyErr_SetString(PyExc_RuntimeError, "itemsize doesn't match expectation");
+ Py_DECREF(field);
+ return NULL;
+ }
+ // clear the array, poor approach to remove potential default values
+ Py_ssize_t length = PyObject_Length(field);
+ if (-1 == length) {
+ Py_DECREF(field);
+ return NULL;
+ }
+ if (length > 0) {
+ PyObject * pop = PyObject_GetAttrString(field, "pop");
+ assert(pop != NULL);
+ for (Py_ssize_t i = 0; i < length; ++i) {
+ PyObject * ret = PyObject_CallFunctionObjArgs(pop, NULL);
+ if (!ret) {
+ Py_DECREF(pop);
+ Py_DECREF(field);
+ return NULL;
+ }
+ Py_DECREF(ret);
+ }
+ Py_DECREF(pop);
+ }
+ if (ros_message->marker_ids.size > 0) {
+ // populating the array.array using the frombytes method
+ PyObject * frombytes = PyObject_GetAttrString(field, "frombytes");
+ assert(frombytes != NULL);
+ int64_t * src = &(ros_message->marker_ids.data[0]);
+ PyObject * data = PyBytes_FromStringAndSize((const char *)src, ros_message->marker_ids.size * sizeof(int64_t));
+ assert(data != NULL);
+ PyObject * ret = PyObject_CallFunctionObjArgs(frombytes, data, NULL);
+ Py_DECREF(data);
+ Py_DECREF(frombytes);
+ if (!ret) {
+ Py_DECREF(field);
+ return NULL;
+ }
+ Py_DECREF(ret);
+ }
+ Py_DECREF(field);
+ }
+ { // poses
+ PyObject * field = NULL;
+ size_t size = ros_message->poses.size;
+ field = PyList_New(size);
+ if (!field) {
+ return NULL;
+ }
+ geometry_msgs__msg__Pose * item;
+ for (size_t i = 0; i < size; ++i) {
+ item = &(ros_message->poses.data[i]);
+ PyObject * pyitem = geometry_msgs__msg__pose__convert_to_py(item);
+ if (!pyitem) {
+ Py_DECREF(field);
+ return NULL;
+ }
+ int rc = PyList_SetItem(field, i, pyitem);
+ (void)rc;
+ assert(rc == 0);
+ }
+ assert(PySequence_Check(field));
+ {
+ int rc = PyObject_SetAttrString(_pymessage, "poses", field);
+ Py_DECREF(field);
+ if (rc) {
+ return NULL;
+ }
+ }
+ }
+
+ // ownership of _pymessage is transferred to the caller
+ return _pymessage;
+}
diff --git a/build/aruco_interfaces/rosidl_generator_py__arguments.json b/build/aruco_interfaces/rosidl_generator_py__arguments.json
new file mode 100755
index 0000000..f756c55
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_generator_py__arguments.json
@@ -0,0 +1,148 @@
+{
+ "package_name": "aruco_interfaces",
+ "output_dir": "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces",
+ "template_dir": "/opt/ros/foxy/share/rosidl_generator_py/cmake/../resource",
+ "idl_tuples": [
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces:msg/ArucoMarkerPose.idl"
+ ],
+ "ros_interface_dependencies": [
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ],
+ "target_dependencies": [
+ "/opt/ros/foxy/share/rosidl_generator_py/cmake/../../../lib/rosidl_generator_py/rosidl_generator_py",
+ "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/__init__.py",
+ "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/generate_py_impl.py",
+ "/opt/ros/foxy/share/rosidl_generator_py/cmake/../resource/_action_pkg_typesupport_entry_point.c.em",
+ "/opt/ros/foxy/share/rosidl_generator_py/cmake/../resource/_action.py.em",
+ "/opt/ros/foxy/share/rosidl_generator_py/cmake/../resource/_idl_pkg_typesupport_entry_point.c.em",
+ "/opt/ros/foxy/share/rosidl_generator_py/cmake/../resource/_idl_support.c.em",
+ "/opt/ros/foxy/share/rosidl_generator_py/cmake/../resource/_idl.py.em",
+ "/opt/ros/foxy/share/rosidl_generator_py/cmake/../resource/_msg_pkg_typesupport_entry_point.c.em",
+ "/opt/ros/foxy/share/rosidl_generator_py/cmake/../resource/_msg_support.c.em",
+ "/opt/ros/foxy/share/rosidl_generator_py/cmake/../resource/_msg.py.em",
+ "/opt/ros/foxy/share/rosidl_generator_py/cmake/../resource/_srv_pkg_typesupport_entry_point.c.em",
+ "/opt/ros/foxy/share/rosidl_generator_py/cmake/../resource/_srv.py.em",
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ]
+}
diff --git a/build/aruco_interfaces/rosidl_typesupport_c/aruco_interfaces/msg/aruco_marker_pose__type_support.cpp b/build/aruco_interfaces/rosidl_typesupport_c/aruco_interfaces/msg/aruco_marker_pose__type_support.cpp
new file mode 100755
index 0000000..404abb8
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_c/aruco_interfaces/msg/aruco_marker_pose__type_support.cpp
@@ -0,0 +1,96 @@
+// generated from rosidl_typesupport_c/resource/idl__type_support.cpp.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#include "cstddef"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "aruco_interfaces/msg/rosidl_typesupport_c__visibility_control.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.h"
+#include "rosidl_typesupport_c/identifier.h"
+#include "rosidl_typesupport_c/message_type_support_dispatch.h"
+#include "rosidl_typesupport_c/type_support_map.h"
+#include "rosidl_typesupport_c/visibility_control.h"
+#include "rosidl_typesupport_interface/macros.h"
+
+namespace aruco_interfaces
+{
+
+namespace msg
+{
+
+namespace rosidl_typesupport_c
+{
+
+typedef struct _ArucoMarkerPose_type_support_ids_t
+{
+ const char * typesupport_identifier[2];
+} _ArucoMarkerPose_type_support_ids_t;
+
+static const _ArucoMarkerPose_type_support_ids_t _ArucoMarkerPose_message_typesupport_ids = {
+ {
+ "rosidl_typesupport_fastrtps_c", // ::rosidl_typesupport_fastrtps_c::typesupport_identifier,
+ "rosidl_typesupport_introspection_c", // ::rosidl_typesupport_introspection_c::typesupport_identifier,
+ }
+};
+
+typedef struct _ArucoMarkerPose_type_support_symbol_names_t
+{
+ const char * symbol_name[2];
+} _ArucoMarkerPose_type_support_symbol_names_t;
+
+#define STRINGIFY_(s) #s
+#define STRINGIFY(s) STRINGIFY_(s)
+
+static const _ArucoMarkerPose_type_support_symbol_names_t _ArucoMarkerPose_message_typesupport_symbol_names = {
+ {
+ STRINGIFY(ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, aruco_interfaces, msg, ArucoMarkerPose)),
+ STRINGIFY(ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, aruco_interfaces, msg, ArucoMarkerPose)),
+ }
+};
+
+typedef struct _ArucoMarkerPose_type_support_data_t
+{
+ void * data[2];
+} _ArucoMarkerPose_type_support_data_t;
+
+static _ArucoMarkerPose_type_support_data_t _ArucoMarkerPose_message_typesupport_data = {
+ {
+ 0, // will store the shared library later
+ 0, // will store the shared library later
+ }
+};
+
+static const type_support_map_t _ArucoMarkerPose_message_typesupport_map = {
+ 2,
+ "aruco_interfaces",
+ &_ArucoMarkerPose_message_typesupport_ids.typesupport_identifier[0],
+ &_ArucoMarkerPose_message_typesupport_symbol_names.symbol_name[0],
+ &_ArucoMarkerPose_message_typesupport_data.data[0],
+};
+
+static const rosidl_message_type_support_t ArucoMarkerPose_message_type_support_handle = {
+ rosidl_typesupport_c__typesupport_identifier,
+ reinterpret_cast(&_ArucoMarkerPose_message_typesupport_map),
+ rosidl_typesupport_c__get_message_typesupport_handle_function,
+};
+
+} // namespace rosidl_typesupport_c
+
+} // namespace msg
+
+} // namespace aruco_interfaces
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_C_EXPORT_aruco_interfaces
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_c, aruco_interfaces, msg, ArucoMarkerPose)() {
+ return &::aruco_interfaces::msg::rosidl_typesupport_c::ArucoMarkerPose_message_type_support_handle;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/build/aruco_interfaces/rosidl_typesupport_c/aruco_interfaces/msg/rosidl_typesupport_c__visibility_control.h b/build/aruco_interfaces/rosidl_typesupport_c/aruco_interfaces/msg/rosidl_typesupport_c__visibility_control.h
new file mode 100644
index 0000000..5d63588
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_c/aruco_interfaces/msg/rosidl_typesupport_c__visibility_control.h
@@ -0,0 +1,43 @@
+// generated from
+// rosidl_typesupport_c/resource/rosidl_typesupport_c__visibility_control.h.in
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__ROSIDL_TYPESUPPORT_C__VISIBILITY_CONTROL_H_
+#define ARUCO_INTERFACES__MSG__ROSIDL_TYPESUPPORT_C__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+// https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+ #ifdef __GNUC__
+ #define ROSIDL_TYPESUPPORT_C_EXPORT_aruco_interfaces __attribute__ ((dllexport))
+ #define ROSIDL_TYPESUPPORT_C_IMPORT_aruco_interfaces __attribute__ ((dllimport))
+ #else
+ #define ROSIDL_TYPESUPPORT_C_EXPORT_aruco_interfaces __declspec(dllexport)
+ #define ROSIDL_TYPESUPPORT_C_IMPORT_aruco_interfaces __declspec(dllimport)
+ #endif
+ #ifdef ROSIDL_TYPESUPPORT_C_BUILDING_DLL_aruco_interfaces
+ #define ROSIDL_TYPESUPPORT_C_PUBLIC_aruco_interfaces ROSIDL_TYPESUPPORT_C_EXPORT_aruco_interfaces
+ #else
+ #define ROSIDL_TYPESUPPORT_C_PUBLIC_aruco_interfaces ROSIDL_TYPESUPPORT_C_IMPORT_aruco_interfaces
+ #endif
+#else
+ #define ROSIDL_TYPESUPPORT_C_EXPORT_aruco_interfaces __attribute__ ((visibility("default")))
+ #define ROSIDL_TYPESUPPORT_C_IMPORT_aruco_interfaces
+ #if __GNUC__ >= 4
+ #define ROSIDL_TYPESUPPORT_C_PUBLIC_aruco_interfaces __attribute__ ((visibility("default")))
+ #else
+ #define ROSIDL_TYPESUPPORT_C_PUBLIC_aruco_interfaces
+ #endif
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ARUCO_INTERFACES__MSG__ROSIDL_TYPESUPPORT_C__VISIBILITY_CONTROL_H_
diff --git a/build/aruco_interfaces/rosidl_typesupport_c__arguments.json b/build/aruco_interfaces/rosidl_typesupport_c__arguments.json
new file mode 100755
index 0000000..4712125
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_c__arguments.json
@@ -0,0 +1,141 @@
+{
+ "package_name": "aruco_interfaces",
+ "output_dir": "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_typesupport_c/aruco_interfaces",
+ "template_dir": "/opt/ros/foxy/share/rosidl_typesupport_c/resource",
+ "idl_tuples": [
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces:msg/ArucoMarkerPose.idl"
+ ],
+ "ros_interface_dependencies": [
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ],
+ "target_dependencies": [
+ "/opt/ros/foxy/lib/rosidl_typesupport_c/rosidl_typesupport_c",
+ "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_typesupport_c/__init__.py",
+ "/opt/ros/foxy/share/rosidl_typesupport_c/resource/action__type_support.c.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_c/resource/idl__type_support.cpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_c/resource/msg__type_support.cpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_c/resource/srv__type_support.cpp.em",
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ]
+}
diff --git a/build/aruco_interfaces/rosidl_typesupport_cpp/aruco_interfaces/msg/aruco_marker_pose__type_support.cpp b/build/aruco_interfaces/rosidl_typesupport_cpp/aruco_interfaces/msg/aruco_marker_pose__type_support.cpp
new file mode 100755
index 0000000..d15c776
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_cpp/aruco_interfaces/msg/aruco_marker_pose__type_support.cpp
@@ -0,0 +1,108 @@
+// generated from rosidl_typesupport_cpp/resource/idl__type_support.cpp.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#include "cstddef"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.hpp"
+#include "rosidl_typesupport_cpp/identifier.hpp"
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+#include "rosidl_typesupport_c/type_support_map.h"
+#include "rosidl_typesupport_cpp/message_type_support_dispatch.hpp"
+#include "rosidl_typesupport_cpp/visibility_control.h"
+#include "rosidl_typesupport_interface/macros.h"
+
+namespace aruco_interfaces
+{
+
+namespace msg
+{
+
+namespace rosidl_typesupport_cpp
+{
+
+typedef struct _ArucoMarkerPose_type_support_ids_t
+{
+ const char * typesupport_identifier[2];
+} _ArucoMarkerPose_type_support_ids_t;
+
+static const _ArucoMarkerPose_type_support_ids_t _ArucoMarkerPose_message_typesupport_ids = {
+ {
+ "rosidl_typesupport_fastrtps_cpp", // ::rosidl_typesupport_fastrtps_cpp::typesupport_identifier,
+ "rosidl_typesupport_introspection_cpp", // ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
+ }
+};
+
+typedef struct _ArucoMarkerPose_type_support_symbol_names_t
+{
+ const char * symbol_name[2];
+} _ArucoMarkerPose_type_support_symbol_names_t;
+
+#define STRINGIFY_(s) #s
+#define STRINGIFY(s) STRINGIFY_(s)
+
+static const _ArucoMarkerPose_type_support_symbol_names_t _ArucoMarkerPose_message_typesupport_symbol_names = {
+ {
+ STRINGIFY(ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, aruco_interfaces, msg, ArucoMarkerPose)),
+ STRINGIFY(ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, aruco_interfaces, msg, ArucoMarkerPose)),
+ }
+};
+
+typedef struct _ArucoMarkerPose_type_support_data_t
+{
+ void * data[2];
+} _ArucoMarkerPose_type_support_data_t;
+
+static _ArucoMarkerPose_type_support_data_t _ArucoMarkerPose_message_typesupport_data = {
+ {
+ 0, // will store the shared library later
+ 0, // will store the shared library later
+ }
+};
+
+static const type_support_map_t _ArucoMarkerPose_message_typesupport_map = {
+ 2,
+ "aruco_interfaces",
+ &_ArucoMarkerPose_message_typesupport_ids.typesupport_identifier[0],
+ &_ArucoMarkerPose_message_typesupport_symbol_names.symbol_name[0],
+ &_ArucoMarkerPose_message_typesupport_data.data[0],
+};
+
+static const rosidl_message_type_support_t ArucoMarkerPose_message_type_support_handle = {
+ ::rosidl_typesupport_cpp::typesupport_identifier,
+ reinterpret_cast(&_ArucoMarkerPose_message_typesupport_map),
+ ::rosidl_typesupport_cpp::get_message_typesupport_handle_function,
+};
+
+} // namespace rosidl_typesupport_cpp
+
+} // namespace msg
+
+} // namespace aruco_interfaces
+
+namespace rosidl_typesupport_cpp
+{
+
+template<>
+ROSIDL_TYPESUPPORT_CPP_PUBLIC
+const rosidl_message_type_support_t *
+get_message_type_support_handle()
+{
+ return &::aruco_interfaces::msg::rosidl_typesupport_cpp::ArucoMarkerPose_message_type_support_handle;
+}
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_CPP_PUBLIC
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_cpp, aruco_interfaces, msg, ArucoMarkerPose)() {
+ return get_message_type_support_handle();
+}
+
+#ifdef __cplusplus
+}
+#endif
+} // namespace rosidl_typesupport_cpp
diff --git a/build/aruco_interfaces/rosidl_typesupport_cpp__arguments.json b/build/aruco_interfaces/rosidl_typesupport_cpp__arguments.json
new file mode 100755
index 0000000..c5fb938
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_cpp__arguments.json
@@ -0,0 +1,141 @@
+{
+ "package_name": "aruco_interfaces",
+ "output_dir": "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_typesupport_cpp/aruco_interfaces",
+ "template_dir": "/opt/ros/foxy/share/rosidl_typesupport_cpp/resource",
+ "idl_tuples": [
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces:msg/ArucoMarkerPose.idl"
+ ],
+ "ros_interface_dependencies": [
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ],
+ "target_dependencies": [
+ "/opt/ros/foxy/lib/rosidl_typesupport_cpp/rosidl_typesupport_cpp",
+ "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_typesupport_cpp/__init__.py",
+ "/opt/ros/foxy/share/rosidl_typesupport_cpp/resource/action__type_support.cpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_cpp/resource/idl__type_support.cpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_cpp/resource/msg__type_support.cpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_cpp/resource/srv__type_support.cpp.em",
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ]
+}
diff --git a/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_fastrtps_c.h b/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_fastrtps_c.h
new file mode 100755
index 0000000..4af8e0c
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+#ifndef ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
+#define ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
+
+
+#include
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+#include "aruco_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_aruco_interfaces
+size_t get_serialized_size_aruco_interfaces__msg__ArucoMarkerPose(
+ const void * untyped_ros_message,
+ size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_aruco_interfaces
+size_t max_serialized_size_aruco_interfaces__msg__ArucoMarkerPose(
+ bool & full_bounded,
+ size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_aruco_interfaces
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, aruco_interfaces, msg, ArucoMarkerPose)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.cpp b/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.cpp
new file mode 100755
index 0000000..fb0e480
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.cpp
@@ -0,0 +1,269 @@
+// generated from rosidl_typesupport_fastrtps_c/resource/idl__type_support_c.cpp.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_fastrtps_c.h"
+
+
+#include
+#include
+#include
+#include "rosidl_typesupport_fastrtps_c/identifier.h"
+#include "rosidl_typesupport_fastrtps_c/wstring_conversion.hpp"
+#include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
+#include "aruco_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__functions.h"
+#include "fastcdr/Cdr.h"
+
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wunused-parameter"
+# ifdef __clang__
+# pragma clang diagnostic ignored "-Wdeprecated-register"
+# pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
+# endif
+#endif
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+
+// includes and forward declarations of message dependencies and their conversion functions
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+#include "geometry_msgs/msg/detail/pose__functions.h" // poses
+#include "rosidl_runtime_c/primitives_sequence.h" // marker_ids
+#include "rosidl_runtime_c/primitives_sequence_functions.h" // marker_ids
+
+// forward declare type support functions
+ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_aruco_interfaces
+size_t get_serialized_size_geometry_msgs__msg__Pose(
+ const void * untyped_ros_message,
+ size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_aruco_interfaces
+size_t max_serialized_size_geometry_msgs__msg__Pose(
+ bool & full_bounded,
+ size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_aruco_interfaces
+const rosidl_message_type_support_t *
+ ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, geometry_msgs, msg, Pose)();
+
+
+using _ArucoMarkerPose__ros_msg_type = aruco_interfaces__msg__ArucoMarkerPose;
+
+static bool _ArucoMarkerPose__cdr_serialize(
+ const void * untyped_ros_message,
+ eprosima::fastcdr::Cdr & cdr)
+{
+ if (!untyped_ros_message) {
+ fprintf(stderr, "ros message handle is null\n");
+ return false;
+ }
+ const _ArucoMarkerPose__ros_msg_type * ros_message = static_cast(untyped_ros_message);
+ // Field name: marker_ids
+ {
+ size_t size = ros_message->marker_ids.size;
+ auto array_ptr = ros_message->marker_ids.data;
+ cdr << static_cast(size);
+ cdr.serializeArray(array_ptr, size);
+ }
+
+ // Field name: poses
+ {
+ const message_type_support_callbacks_t * callbacks =
+ static_cast(
+ ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+ rosidl_typesupport_fastrtps_c, geometry_msgs, msg, Pose
+ )()->data);
+ size_t size = ros_message->poses.size;
+ auto array_ptr = ros_message->poses.data;
+ cdr << static_cast(size);
+ for (size_t i = 0; i < size; ++i) {
+ if (!callbacks->cdr_serialize(
+ &array_ptr[i], cdr))
+ {
+ return false;
+ }
+ }
+ }
+
+ return true;
+}
+
+static bool _ArucoMarkerPose__cdr_deserialize(
+ eprosima::fastcdr::Cdr & cdr,
+ void * untyped_ros_message)
+{
+ if (!untyped_ros_message) {
+ fprintf(stderr, "ros message handle is null\n");
+ return false;
+ }
+ _ArucoMarkerPose__ros_msg_type * ros_message = static_cast<_ArucoMarkerPose__ros_msg_type *>(untyped_ros_message);
+ // Field name: marker_ids
+ {
+ uint32_t cdrSize;
+ cdr >> cdrSize;
+ size_t size = static_cast(cdrSize);
+ if (ros_message->marker_ids.data) {
+ rosidl_runtime_c__int64__Sequence__fini(&ros_message->marker_ids);
+ }
+ if (!rosidl_runtime_c__int64__Sequence__init(&ros_message->marker_ids, size)) {
+ return "failed to create array for field 'marker_ids'";
+ }
+ auto array_ptr = ros_message->marker_ids.data;
+ cdr.deserializeArray(array_ptr, size);
+ }
+
+ // Field name: poses
+ {
+ const message_type_support_callbacks_t * callbacks =
+ static_cast(
+ ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+ rosidl_typesupport_fastrtps_c, geometry_msgs, msg, Pose
+ )()->data);
+ uint32_t cdrSize;
+ cdr >> cdrSize;
+ size_t size = static_cast(cdrSize);
+ if (ros_message->poses.data) {
+ geometry_msgs__msg__Pose__Sequence__fini(&ros_message->poses);
+ }
+ if (!geometry_msgs__msg__Pose__Sequence__init(&ros_message->poses, size)) {
+ return "failed to create array for field 'poses'";
+ }
+ auto array_ptr = ros_message->poses.data;
+ for (size_t i = 0; i < size; ++i) {
+ if (!callbacks->cdr_deserialize(
+ cdr, &array_ptr[i]))
+ {
+ return false;
+ }
+ }
+ }
+
+ return true;
+}
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_aruco_interfaces
+size_t get_serialized_size_aruco_interfaces__msg__ArucoMarkerPose(
+ const void * untyped_ros_message,
+ size_t current_alignment)
+{
+ const _ArucoMarkerPose__ros_msg_type * ros_message = static_cast(untyped_ros_message);
+ (void)ros_message;
+ size_t initial_alignment = current_alignment;
+
+ const size_t padding = 4;
+ const size_t wchar_size = 4;
+ (void)padding;
+ (void)wchar_size;
+
+ // field.name marker_ids
+ {
+ size_t array_size = ros_message->marker_ids.size;
+ auto array_ptr = ros_message->marker_ids.data;
+ current_alignment += padding +
+ eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
+ (void)array_ptr;
+ size_t item_size = sizeof(array_ptr[0]);
+ current_alignment += array_size * item_size +
+ eprosima::fastcdr::Cdr::alignment(current_alignment, item_size);
+ }
+ // field.name poses
+ {
+ size_t array_size = ros_message->poses.size;
+ auto array_ptr = ros_message->poses.data;
+ current_alignment += padding +
+ eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
+
+ for (size_t index = 0; index < array_size; ++index) {
+ current_alignment += get_serialized_size_geometry_msgs__msg__Pose(
+ &array_ptr[index], current_alignment);
+ }
+ }
+
+ return current_alignment - initial_alignment;
+}
+
+static uint32_t _ArucoMarkerPose__get_serialized_size(const void * untyped_ros_message)
+{
+ return static_cast(
+ get_serialized_size_aruco_interfaces__msg__ArucoMarkerPose(
+ untyped_ros_message, 0));
+}
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_aruco_interfaces
+size_t max_serialized_size_aruco_interfaces__msg__ArucoMarkerPose(
+ bool & full_bounded,
+ size_t current_alignment)
+{
+ size_t initial_alignment = current_alignment;
+
+ const size_t padding = 4;
+ const size_t wchar_size = 4;
+ (void)padding;
+ (void)wchar_size;
+ (void)full_bounded;
+
+ // member: marker_ids
+ {
+ size_t array_size = 0;
+ full_bounded = false;
+ current_alignment += padding +
+ eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
+
+ current_alignment += array_size * sizeof(uint64_t) +
+ eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint64_t));
+ }
+ // member: poses
+ {
+ size_t array_size = 0;
+ full_bounded = false;
+ current_alignment += padding +
+ eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
+
+
+ for (size_t index = 0; index < array_size; ++index) {
+ current_alignment +=
+ max_serialized_size_geometry_msgs__msg__Pose(
+ full_bounded, current_alignment);
+ }
+ }
+
+ return current_alignment - initial_alignment;
+}
+
+static size_t _ArucoMarkerPose__max_serialized_size(bool & full_bounded)
+{
+ return max_serialized_size_aruco_interfaces__msg__ArucoMarkerPose(
+ full_bounded, 0);
+}
+
+
+static message_type_support_callbacks_t __callbacks_ArucoMarkerPose = {
+ "aruco_interfaces::msg",
+ "ArucoMarkerPose",
+ _ArucoMarkerPose__cdr_serialize,
+ _ArucoMarkerPose__cdr_deserialize,
+ _ArucoMarkerPose__get_serialized_size,
+ _ArucoMarkerPose__max_serialized_size
+};
+
+static rosidl_message_type_support_t _ArucoMarkerPose__type_support = {
+ rosidl_typesupport_fastrtps_c__identifier,
+ &__callbacks_ArucoMarkerPose,
+ get_message_typesupport_handle_function,
+};
+
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, aruco_interfaces, msg, ArucoMarkerPose)() {
+ return &_ArucoMarkerPose__type_support;
+}
+
+#if defined(__cplusplus)
+}
+#endif
diff --git a/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h b/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
new file mode 100644
index 0000000..d679585
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
@@ -0,0 +1,43 @@
+// generated from
+// rosidl_typesupport_fastrtps_c/resource/rosidl_typesupport_fastrtps_c__visibility_control.h.in
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
+#define ARUCO_INTERFACES__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+// https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+ #ifdef __GNUC__
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_aruco_interfaces __attribute__ ((dllexport))
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_aruco_interfaces __attribute__ ((dllimport))
+ #else
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_aruco_interfaces __declspec(dllexport)
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_aruco_interfaces __declspec(dllimport)
+ #endif
+ #ifdef ROSIDL_TYPESUPPORT_FASTRTPS_C_BUILDING_DLL_aruco_interfaces
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_aruco_interfaces ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_aruco_interfaces
+ #else
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_aruco_interfaces ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_aruco_interfaces
+ #endif
+#else
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_aruco_interfaces __attribute__ ((visibility("default")))
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_aruco_interfaces
+ #if __GNUC__ >= 4
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_aruco_interfaces __attribute__ ((visibility("default")))
+ #else
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_aruco_interfaces
+ #endif
+#endif
+
+#if __cplusplus
+}
+#endif
+
+#endif // ARUCO_INTERFACES__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
diff --git a/build/aruco_interfaces/rosidl_typesupport_fastrtps_c__arguments.json b/build/aruco_interfaces/rosidl_typesupport_fastrtps_c__arguments.json
new file mode 100755
index 0000000..be9a1bc
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_fastrtps_c__arguments.json
@@ -0,0 +1,143 @@
+{
+ "package_name": "aruco_interfaces",
+ "output_dir": "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces",
+ "template_dir": "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/resource",
+ "idl_tuples": [
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces:msg/ArucoMarkerPose.idl"
+ ],
+ "ros_interface_dependencies": [
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ],
+ "target_dependencies": [
+ "/opt/ros/foxy/lib/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c",
+ "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_typesupport_fastrtps_c/__init__.py",
+ "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/resource/idl__type_support_c.cpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/resource/msg__rosidl_typesupport_fastrtps_c.h.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/resource/srv__rosidl_typesupport_fastrtps_c.h.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/resource/srv__type_support_c.cpp.em",
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ]
+}
diff --git a/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_fastrtps_cpp.hpp b/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_fastrtps_cpp.hpp
new file mode 100755
index 0000000..821279c
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
+#define ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
+
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+#include "aruco_interfaces/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.hpp"
+
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wunused-parameter"
+# ifdef __clang__
+# pragma clang diagnostic ignored "-Wdeprecated-register"
+# pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
+# endif
+#endif
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+
+#include "fastcdr/Cdr.h"
+
+namespace aruco_interfaces
+{
+
+namespace msg
+{
+
+namespace typesupport_fastrtps_cpp
+{
+
+bool
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces
+cdr_serialize(
+ const aruco_interfaces::msg::ArucoMarkerPose & ros_message,
+ eprosima::fastcdr::Cdr & cdr);
+
+bool
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces
+cdr_deserialize(
+ eprosima::fastcdr::Cdr & cdr,
+ aruco_interfaces::msg::ArucoMarkerPose & ros_message);
+
+size_t
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces
+get_serialized_size(
+ const aruco_interfaces::msg::ArucoMarkerPose & ros_message,
+ size_t current_alignment);
+
+size_t
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces
+max_serialized_size_ArucoMarkerPose(
+ bool & full_bounded,
+ size_t current_alignment);
+
+} // namespace typesupport_fastrtps_cpp
+
+} // namespace msg
+
+} // namespace aruco_interfaces
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces
+const rosidl_message_type_support_t *
+ ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, aruco_interfaces, msg, ArucoMarkerPose)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp b/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp
new file mode 100755
index 0000000..301d699
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp
@@ -0,0 +1,265 @@
+// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_fastrtps_cpp.hpp"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.hpp"
+
+#include
+#include
+#include
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+#include "rosidl_typesupport_fastrtps_cpp/identifier.hpp"
+#include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
+#include "rosidl_typesupport_fastrtps_cpp/message_type_support_decl.hpp"
+#include "rosidl_typesupport_fastrtps_cpp/wstring_conversion.hpp"
+#include "fastcdr/Cdr.h"
+
+
+// forward declaration of message dependencies and their conversion functions
+namespace geometry_msgs
+{
+namespace msg
+{
+namespace typesupport_fastrtps_cpp
+{
+bool cdr_serialize(
+ const geometry_msgs::msg::Pose &,
+ eprosima::fastcdr::Cdr &);
+bool cdr_deserialize(
+ eprosima::fastcdr::Cdr &,
+ geometry_msgs::msg::Pose &);
+size_t get_serialized_size(
+ const geometry_msgs::msg::Pose &,
+ size_t current_alignment);
+size_t
+max_serialized_size_Pose(
+ bool & full_bounded,
+ size_t current_alignment);
+} // namespace typesupport_fastrtps_cpp
+} // namespace msg
+} // namespace geometry_msgs
+
+
+namespace aruco_interfaces
+{
+
+namespace msg
+{
+
+namespace typesupport_fastrtps_cpp
+{
+
+bool
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces
+cdr_serialize(
+ const aruco_interfaces::msg::ArucoMarkerPose & ros_message,
+ eprosima::fastcdr::Cdr & cdr)
+{
+ // Member: marker_ids
+ {
+ cdr << ros_message.marker_ids;
+ }
+ // Member: poses
+ {
+ size_t size = ros_message.poses.size();
+ cdr << static_cast(size);
+ for (size_t i = 0; i < size; i++) {
+ geometry_msgs::msg::typesupport_fastrtps_cpp::cdr_serialize(
+ ros_message.poses[i],
+ cdr);
+ }
+ }
+ return true;
+}
+
+bool
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces
+cdr_deserialize(
+ eprosima::fastcdr::Cdr & cdr,
+ aruco_interfaces::msg::ArucoMarkerPose & ros_message)
+{
+ // Member: marker_ids
+ {
+ cdr >> ros_message.marker_ids;
+ }
+
+ // Member: poses
+ {
+ uint32_t cdrSize;
+ cdr >> cdrSize;
+ size_t size = static_cast(cdrSize);
+ ros_message.poses.resize(size);
+ for (size_t i = 0; i < size; i++) {
+ geometry_msgs::msg::typesupport_fastrtps_cpp::cdr_deserialize(
+ cdr, ros_message.poses[i]);
+ }
+ }
+
+ return true;
+}
+
+size_t
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces
+get_serialized_size(
+ const aruco_interfaces::msg::ArucoMarkerPose & ros_message,
+ size_t current_alignment)
+{
+ size_t initial_alignment = current_alignment;
+
+ const size_t padding = 4;
+ const size_t wchar_size = 4;
+ (void)padding;
+ (void)wchar_size;
+
+ // Member: marker_ids
+ {
+ size_t array_size = ros_message.marker_ids.size();
+
+ current_alignment += padding +
+ eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
+ size_t item_size = sizeof(ros_message.marker_ids[0]);
+ current_alignment += array_size * item_size +
+ eprosima::fastcdr::Cdr::alignment(current_alignment, item_size);
+ }
+ // Member: poses
+ {
+ size_t array_size = ros_message.poses.size();
+
+ current_alignment += padding +
+ eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
+
+ for (size_t index = 0; index < array_size; ++index) {
+ current_alignment +=
+ geometry_msgs::msg::typesupport_fastrtps_cpp::get_serialized_size(
+ ros_message.poses[index], current_alignment);
+ }
+ }
+
+ return current_alignment - initial_alignment;
+}
+
+size_t
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces
+max_serialized_size_ArucoMarkerPose(
+ bool & full_bounded,
+ size_t current_alignment)
+{
+ size_t initial_alignment = current_alignment;
+
+ const size_t padding = 4;
+ const size_t wchar_size = 4;
+ (void)padding;
+ (void)wchar_size;
+ (void)full_bounded;
+
+
+ // Member: marker_ids
+ {
+ size_t array_size = 0;
+ full_bounded = false;
+ current_alignment += padding +
+ eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
+
+ current_alignment += array_size * sizeof(uint64_t) +
+ eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint64_t));
+ }
+
+ // Member: poses
+ {
+ size_t array_size = 0;
+ full_bounded = false;
+ current_alignment += padding +
+ eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
+
+
+ for (size_t index = 0; index < array_size; ++index) {
+ current_alignment +=
+ geometry_msgs::msg::typesupport_fastrtps_cpp::max_serialized_size_Pose(
+ full_bounded, current_alignment);
+ }
+ }
+
+ return current_alignment - initial_alignment;
+}
+
+static bool _ArucoMarkerPose__cdr_serialize(
+ const void * untyped_ros_message,
+ eprosima::fastcdr::Cdr & cdr)
+{
+ auto typed_message =
+ static_cast(
+ untyped_ros_message);
+ return cdr_serialize(*typed_message, cdr);
+}
+
+static bool _ArucoMarkerPose__cdr_deserialize(
+ eprosima::fastcdr::Cdr & cdr,
+ void * untyped_ros_message)
+{
+ auto typed_message =
+ static_cast(
+ untyped_ros_message);
+ return cdr_deserialize(cdr, *typed_message);
+}
+
+static uint32_t _ArucoMarkerPose__get_serialized_size(
+ const void * untyped_ros_message)
+{
+ auto typed_message =
+ static_cast(
+ untyped_ros_message);
+ return static_cast(get_serialized_size(*typed_message, 0));
+}
+
+static size_t _ArucoMarkerPose__max_serialized_size(bool & full_bounded)
+{
+ return max_serialized_size_ArucoMarkerPose(full_bounded, 0);
+}
+
+static message_type_support_callbacks_t _ArucoMarkerPose__callbacks = {
+ "aruco_interfaces::msg",
+ "ArucoMarkerPose",
+ _ArucoMarkerPose__cdr_serialize,
+ _ArucoMarkerPose__cdr_deserialize,
+ _ArucoMarkerPose__get_serialized_size,
+ _ArucoMarkerPose__max_serialized_size
+};
+
+static rosidl_message_type_support_t _ArucoMarkerPose__handle = {
+ rosidl_typesupport_fastrtps_cpp::typesupport_identifier,
+ &_ArucoMarkerPose__callbacks,
+ get_message_typesupport_handle_function,
+};
+
+} // namespace typesupport_fastrtps_cpp
+
+} // namespace msg
+
+} // namespace aruco_interfaces
+
+namespace rosidl_typesupport_fastrtps_cpp
+{
+
+template<>
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_aruco_interfaces
+const rosidl_message_type_support_t *
+get_message_type_support_handle()
+{
+ return &aruco_interfaces::msg::typesupport_fastrtps_cpp::_ArucoMarkerPose__handle;
+}
+
+} // namespace rosidl_typesupport_fastrtps_cpp
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, aruco_interfaces, msg, ArucoMarkerPose)() {
+ return &aruco_interfaces::msg::typesupport_fastrtps_cpp::_ArucoMarkerPose__handle;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h b/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
new file mode 100644
index 0000000..318c8fa
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
@@ -0,0 +1,43 @@
+// generated from
+// rosidl_typesupport_fastrtps_cpp/resource/rosidl_typesupport_fastrtps_cpp__visibility_control.h.in
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
+#define ARUCO_INTERFACES__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+// https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+ #ifdef __GNUC__
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_aruco_interfaces __attribute__ ((dllexport))
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_aruco_interfaces __attribute__ ((dllimport))
+ #else
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_aruco_interfaces __declspec(dllexport)
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_aruco_interfaces __declspec(dllimport)
+ #endif
+ #ifdef ROSIDL_TYPESUPPORT_FASTRTPS_CPP_BUILDING_DLL_aruco_interfaces
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_aruco_interfaces
+ #else
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_aruco_interfaces
+ #endif
+#else
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_aruco_interfaces __attribute__ ((visibility("default")))
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_aruco_interfaces
+ #if __GNUC__ >= 4
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces __attribute__ ((visibility("default")))
+ #else
+ #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_aruco_interfaces
+ #endif
+#endif
+
+#if __cplusplus
+}
+#endif
+
+#endif // ARUCO_INTERFACES__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
diff --git a/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp__arguments.json b/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp__arguments.json
new file mode 100755
index 0000000..b222192
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp__arguments.json
@@ -0,0 +1,143 @@
+{
+ "package_name": "aruco_interfaces",
+ "output_dir": "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces",
+ "template_dir": "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_cpp/resource",
+ "idl_tuples": [
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces:msg/ArucoMarkerPose.idl"
+ ],
+ "ros_interface_dependencies": [
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ],
+ "target_dependencies": [
+ "/opt/ros/foxy/lib/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp",
+ "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_typesupport_fastrtps_cpp/__init__.py",
+ "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_cpp/resource/msg__rosidl_typesupport_fastrtps_cpp.hpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_cpp/resource/srv__rosidl_typesupport_fastrtps_cpp.hpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_fastrtps_cpp/resource/srv__type_support.cpp.em",
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ]
+}
diff --git a/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_introspection_c.h b/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_introspection_c.h
new file mode 100755
index 0000000..912b991
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
+#define ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+#include "aruco_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h"
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_aruco_interfaces
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, aruco_interfaces, msg, ArucoMarkerPose)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c b/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c
new file mode 100755
index 0000000..f70f031
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c
@@ -0,0 +1,139 @@
+// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#include
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_introspection_c.h"
+#include "aruco_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h"
+#include "rosidl_typesupport_introspection_c/field_types.h"
+#include "rosidl_typesupport_introspection_c/identifier.h"
+#include "rosidl_typesupport_introspection_c/message_introspection.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__functions.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.h"
+
+
+// Include directives for member types
+// Member `marker_ids`
+#include "rosidl_runtime_c/primitives_sequence_functions.h"
+// Member `poses`
+#include "geometry_msgs/msg/pose.h"
+// Member `poses`
+#include "geometry_msgs/msg/detail/pose__rosidl_typesupport_introspection_c.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+void ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_init_function(
+ void * message_memory, enum rosidl_runtime_c__message_initialization _init)
+{
+ // TODO(karsten1987): initializers are not yet implemented for typesupport c
+ // see https://github.com/ros2/ros2/issues/397
+ (void) _init;
+ aruco_interfaces__msg__ArucoMarkerPose__init(message_memory);
+}
+
+void ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_fini_function(void * message_memory)
+{
+ aruco_interfaces__msg__ArucoMarkerPose__fini(message_memory);
+}
+
+size_t ArucoMarkerPose__rosidl_typesupport_introspection_c__size_function__Pose__poses(
+ const void * untyped_member)
+{
+ const geometry_msgs__msg__Pose__Sequence * member =
+ (const geometry_msgs__msg__Pose__Sequence *)(untyped_member);
+ return member->size;
+}
+
+const void * ArucoMarkerPose__rosidl_typesupport_introspection_c__get_const_function__Pose__poses(
+ const void * untyped_member, size_t index)
+{
+ const geometry_msgs__msg__Pose__Sequence * member =
+ (const geometry_msgs__msg__Pose__Sequence *)(untyped_member);
+ return &member->data[index];
+}
+
+void * ArucoMarkerPose__rosidl_typesupport_introspection_c__get_function__Pose__poses(
+ void * untyped_member, size_t index)
+{
+ geometry_msgs__msg__Pose__Sequence * member =
+ (geometry_msgs__msg__Pose__Sequence *)(untyped_member);
+ return &member->data[index];
+}
+
+bool ArucoMarkerPose__rosidl_typesupport_introspection_c__resize_function__Pose__poses(
+ void * untyped_member, size_t size)
+{
+ geometry_msgs__msg__Pose__Sequence * member =
+ (geometry_msgs__msg__Pose__Sequence *)(untyped_member);
+ geometry_msgs__msg__Pose__Sequence__fini(member);
+ return geometry_msgs__msg__Pose__Sequence__init(member, size);
+}
+
+static rosidl_typesupport_introspection_c__MessageMember ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_message_member_array[2] = {
+ {
+ "marker_ids", // name
+ rosidl_typesupport_introspection_c__ROS_TYPE_INT64, // type
+ 0, // upper bound of string
+ NULL, // members of sub message
+ true, // is array
+ 0, // array size
+ false, // is upper bound
+ offsetof(aruco_interfaces__msg__ArucoMarkerPose, marker_ids), // bytes offset in struct
+ NULL, // default value
+ NULL, // size() function pointer
+ NULL, // get_const(index) function pointer
+ NULL, // get(index) function pointer
+ NULL // resize(index) function pointer
+ },
+ {
+ "poses", // name
+ rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE, // type
+ 0, // upper bound of string
+ NULL, // members of sub message (initialized later)
+ true, // is array
+ 0, // array size
+ false, // is upper bound
+ offsetof(aruco_interfaces__msg__ArucoMarkerPose, poses), // bytes offset in struct
+ NULL, // default value
+ ArucoMarkerPose__rosidl_typesupport_introspection_c__size_function__Pose__poses, // size() function pointer
+ ArucoMarkerPose__rosidl_typesupport_introspection_c__get_const_function__Pose__poses, // get_const(index) function pointer
+ ArucoMarkerPose__rosidl_typesupport_introspection_c__get_function__Pose__poses, // get(index) function pointer
+ ArucoMarkerPose__rosidl_typesupport_introspection_c__resize_function__Pose__poses // resize(index) function pointer
+ }
+};
+
+static const rosidl_typesupport_introspection_c__MessageMembers ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_message_members = {
+ "aruco_interfaces__msg", // message namespace
+ "ArucoMarkerPose", // message name
+ 2, // number of fields
+ sizeof(aruco_interfaces__msg__ArucoMarkerPose),
+ ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_message_member_array, // message members
+ ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_init_function, // function to initialize message memory (memory has to be allocated)
+ ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_fini_function // function to terminate message instance (will not free memory)
+};
+
+// this is not const since it must be initialized on first access
+// since C does not allow non-integral compile-time constants
+static rosidl_message_type_support_t ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_message_type_support_handle = {
+ 0,
+ &ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_message_members,
+ get_message_typesupport_handle_function,
+};
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_aruco_interfaces
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, aruco_interfaces, msg, ArucoMarkerPose)() {
+ ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_message_member_array[1].members_ =
+ ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, geometry_msgs, msg, Pose)();
+ if (!ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_message_type_support_handle.typesupport_identifier) {
+ ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_message_type_support_handle.typesupport_identifier =
+ rosidl_typesupport_introspection_c__identifier;
+ }
+ return &ArucoMarkerPose__rosidl_typesupport_introspection_c__ArucoMarkerPose_message_type_support_handle;
+}
+#ifdef __cplusplus
+}
+#endif
diff --git a/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h b/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h
new file mode 100644
index 0000000..fbd357e
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h
@@ -0,0 +1,43 @@
+// generated from
+// rosidl_typesupport_introspection_c/resource/rosidl_typesupport_introspection_c__visibility_control.h.in
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
+#define ARUCO_INTERFACES__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+// https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+ #ifdef __GNUC__
+ #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_aruco_interfaces __attribute__ ((dllexport))
+ #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_aruco_interfaces __attribute__ ((dllimport))
+ #else
+ #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_aruco_interfaces __declspec(dllexport)
+ #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_aruco_interfaces __declspec(dllimport)
+ #endif
+ #ifdef ROSIDL_TYPESUPPORT_INTROSPECTION_C_BUILDING_DLL_aruco_interfaces
+ #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_aruco_interfaces ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_aruco_interfaces
+ #else
+ #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_aruco_interfaces ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_aruco_interfaces
+ #endif
+#else
+ #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_aruco_interfaces __attribute__ ((visibility("default")))
+ #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_aruco_interfaces
+ #if __GNUC__ >= 4
+ #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_aruco_interfaces __attribute__ ((visibility("default")))
+ #else
+ #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_aruco_interfaces
+ #endif
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ARUCO_INTERFACES__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
diff --git a/build/aruco_interfaces/rosidl_typesupport_introspection_c__arguments.json b/build/aruco_interfaces/rosidl_typesupport_introspection_c__arguments.json
new file mode 100755
index 0000000..00ad732
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_introspection_c__arguments.json
@@ -0,0 +1,143 @@
+{
+ "package_name": "aruco_interfaces",
+ "output_dir": "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces",
+ "template_dir": "/opt/ros/foxy/share/rosidl_typesupport_introspection_c/resource",
+ "idl_tuples": [
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces:msg/ArucoMarkerPose.idl"
+ ],
+ "ros_interface_dependencies": [
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ],
+ "target_dependencies": [
+ "/opt/ros/foxy/lib/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c",
+ "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_typesupport_introspection_c/__init__.py",
+ "/opt/ros/foxy/share/rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_introspection_c/resource/idl__type_support.c.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_introspection_c/resource/msg__rosidl_typesupport_introspection_c.h.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_introspection_c/resource/msg__type_support.c.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_introspection_c/resource/srv__rosidl_typesupport_introspection_c.h.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_introspection_c/resource/srv__type_support.c.em",
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ]
+}
diff --git a/build/aruco_interfaces/rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_introspection_cpp.hpp b/build/aruco_interfaces/rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_introspection_cpp.hpp
new file mode 100755
index 0000000..2078f7e
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#ifndef ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
+#define ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
+
+
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// TODO(dirk-thomas) these visibility macros should be message package specific
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
+const rosidl_message_type_support_t *
+ ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, aruco_interfaces, msg, ArucoMarkerPose)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ARUCO_INTERFACES__MSG__DETAIL__ARUCO_MARKER_POSE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/build/aruco_interfaces/rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp b/build/aruco_interfaces/rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp
new file mode 100755
index 0000000..8ed0563
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp
@@ -0,0 +1,176 @@
+// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
+// with input from aruco_interfaces:msg/ArucoMarkerPose.idl
+// generated code does not contain a copyright notice
+
+#include "array"
+#include "cstddef"
+#include "string"
+#include "vector"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+#include "rosidl_typesupport_interface/macros.h"
+#include "aruco_interfaces/msg/detail/aruco_marker_pose__struct.hpp"
+#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
+#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
+#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
+#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
+#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
+
+namespace aruco_interfaces
+{
+
+namespace msg
+{
+
+namespace rosidl_typesupport_introspection_cpp
+{
+
+void ArucoMarkerPose_init_function(
+ void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
+{
+ new (message_memory) aruco_interfaces::msg::ArucoMarkerPose(_init);
+}
+
+void ArucoMarkerPose_fini_function(void * message_memory)
+{
+ auto typed_message = static_cast(message_memory);
+ typed_message->~ArucoMarkerPose();
+}
+
+size_t size_function__ArucoMarkerPose__marker_ids(const void * untyped_member)
+{
+ const auto * member = reinterpret_cast *>(untyped_member);
+ return member->size();
+}
+
+const void * get_const_function__ArucoMarkerPose__marker_ids(const void * untyped_member, size_t index)
+{
+ const auto & member =
+ *reinterpret_cast *>(untyped_member);
+ return &member[index];
+}
+
+void * get_function__ArucoMarkerPose__marker_ids(void * untyped_member, size_t index)
+{
+ auto & member =
+ *reinterpret_cast *>(untyped_member);
+ return &member[index];
+}
+
+void resize_function__ArucoMarkerPose__marker_ids(void * untyped_member, size_t size)
+{
+ auto * member =
+ reinterpret_cast *>(untyped_member);
+ member->resize(size);
+}
+
+size_t size_function__ArucoMarkerPose__poses(const void * untyped_member)
+{
+ const auto * member = reinterpret_cast *>(untyped_member);
+ return member->size();
+}
+
+const void * get_const_function__ArucoMarkerPose__poses(const void * untyped_member, size_t index)
+{
+ const auto & member =
+ *reinterpret_cast *>(untyped_member);
+ return &member[index];
+}
+
+void * get_function__ArucoMarkerPose__poses(void * untyped_member, size_t index)
+{
+ auto & member =
+ *reinterpret_cast *>(untyped_member);
+ return &member[index];
+}
+
+void resize_function__ArucoMarkerPose__poses(void * untyped_member, size_t size)
+{
+ auto * member =
+ reinterpret_cast *>(untyped_member);
+ member->resize(size);
+}
+
+static const ::rosidl_typesupport_introspection_cpp::MessageMember ArucoMarkerPose_message_member_array[2] = {
+ {
+ "marker_ids", // name
+ ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT64, // type
+ 0, // upper bound of string
+ nullptr, // members of sub message
+ true, // is array
+ 0, // array size
+ false, // is upper bound
+ offsetof(aruco_interfaces::msg::ArucoMarkerPose, marker_ids), // bytes offset in struct
+ nullptr, // default value
+ size_function__ArucoMarkerPose__marker_ids, // size() function pointer
+ get_const_function__ArucoMarkerPose__marker_ids, // get_const(index) function pointer
+ get_function__ArucoMarkerPose__marker_ids, // get(index) function pointer
+ resize_function__ArucoMarkerPose__marker_ids // resize(index) function pointer
+ },
+ {
+ "poses", // name
+ ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE, // type
+ 0, // upper bound of string
+ ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle(), // members of sub message
+ true, // is array
+ 0, // array size
+ false, // is upper bound
+ offsetof(aruco_interfaces::msg::ArucoMarkerPose, poses), // bytes offset in struct
+ nullptr, // default value
+ size_function__ArucoMarkerPose__poses, // size() function pointer
+ get_const_function__ArucoMarkerPose__poses, // get_const(index) function pointer
+ get_function__ArucoMarkerPose__poses, // get(index) function pointer
+ resize_function__ArucoMarkerPose__poses // resize(index) function pointer
+ }
+};
+
+static const ::rosidl_typesupport_introspection_cpp::MessageMembers ArucoMarkerPose_message_members = {
+ "aruco_interfaces::msg", // message namespace
+ "ArucoMarkerPose", // message name
+ 2, // number of fields
+ sizeof(aruco_interfaces::msg::ArucoMarkerPose),
+ ArucoMarkerPose_message_member_array, // message members
+ ArucoMarkerPose_init_function, // function to initialize message memory (memory has to be allocated)
+ ArucoMarkerPose_fini_function // function to terminate message instance (will not free memory)
+};
+
+static const rosidl_message_type_support_t ArucoMarkerPose_message_type_support_handle = {
+ ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
+ &ArucoMarkerPose_message_members,
+ get_message_typesupport_handle_function,
+};
+
+} // namespace rosidl_typesupport_introspection_cpp
+
+} // namespace msg
+
+} // namespace aruco_interfaces
+
+
+namespace rosidl_typesupport_introspection_cpp
+{
+
+template<>
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
+const rosidl_message_type_support_t *
+get_message_type_support_handle()
+{
+ return &::aruco_interfaces::msg::rosidl_typesupport_introspection_cpp::ArucoMarkerPose_message_type_support_handle;
+}
+
+} // namespace rosidl_typesupport_introspection_cpp
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, aruco_interfaces, msg, ArucoMarkerPose)() {
+ return &::aruco_interfaces::msg::rosidl_typesupport_introspection_cpp::ArucoMarkerPose_message_type_support_handle;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/build/aruco_interfaces/rosidl_typesupport_introspection_cpp__arguments.json b/build/aruco_interfaces/rosidl_typesupport_introspection_cpp__arguments.json
new file mode 100755
index 0000000..06475e2
--- /dev/null
+++ b/build/aruco_interfaces/rosidl_typesupport_introspection_cpp__arguments.json
@@ -0,0 +1,143 @@
+{
+ "package_name": "aruco_interfaces",
+ "output_dir": "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_typesupport_introspection_cpp/aruco_interfaces",
+ "template_dir": "/opt/ros/foxy/share/rosidl_typesupport_introspection_cpp/resource",
+ "idl_tuples": [
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces:msg/ArucoMarkerPose.idl"
+ ],
+ "ros_interface_dependencies": [
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "geometry_msgs:/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "std_msgs:/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ],
+ "target_dependencies": [
+ "/opt/ros/foxy/lib/rosidl_typesupport_introspection_cpp/rosidl_typesupport_introspection_cpp",
+ "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_typesupport_introspection_cpp/__init__.py",
+ "/opt/ros/foxy/share/rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.hpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_introspection_cpp/resource/msg__rosidl_typesupport_introspection_cpp.hpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_introspection_cpp/resource/msg__type_support.cpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_introspection_cpp/resource/srv__rosidl_typesupport_introspection_cpp.hpp.em",
+ "/opt/ros/foxy/share/rosidl_typesupport_introspection_cpp/resource/srv__type_support.cpp.em",
+ "/home/ros2/dev2_ws/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Accel.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Inertia.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/InertiaStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Point32.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PointStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Polygon.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PolygonStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Pose2D.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseArray.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Quaternion.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/QuaternionStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Transform.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TransformStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Twist.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovariance.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Vector3Stamped.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/Wrench.idl",
+ "/opt/ros/foxy/share/geometry_msgs/msg/WrenchStamped.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Bool.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Byte.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ByteMultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Char.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/ColorRGBA.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Empty.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Float64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Header.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/Int8MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayDimension.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/MultiArrayLayout.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/String.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt16MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt32MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt64MultiArray.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8.idl",
+ "/opt/ros/foxy/share/std_msgs/msg/UInt8MultiArray.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
+ "/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl"
+ ]
+}
diff --git a/build/camera_calibration/build/lib/camera_calibration/__init__.py b/build/camera_calibration/build/lib/camera_calibration/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/build/camera_calibration/build/lib/camera_calibration/calibrator.py b/build/camera_calibration/build/lib/camera_calibration/calibrator.py
new file mode 100755
index 0000000..6ee8814
--- /dev/null
+++ b/build/camera_calibration/build/lib/camera_calibration/calibrator.py
@@ -0,0 +1,1146 @@
+#!/usr/bin/env python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from io import BytesIO
+import cv2
+import cv_bridge
+import image_geometry
+import math
+import numpy.linalg
+import pickle
+import random
+import sensor_msgs.msg
+import tarfile
+import time
+from distutils.version import LooseVersion
+
+
+# Supported calibration patterns
+class Patterns:
+ Chessboard, Circles, ACircles = list(range(3))
+
+class CalibrationException(Exception):
+ pass
+
+# TODO: Make pattern per-board?
+class ChessboardInfo():
+ def __init__(self, n_cols = 0, n_rows = 0, dim = 0.0):
+ self.n_cols = n_cols
+ self.n_rows = n_rows
+ self.dim = dim
+
+# Make all private!!!!!
+def lmin(seq1, seq2):
+ """ Pairwise minimum of two sequences """
+ return [min(a, b) for (a, b) in zip(seq1, seq2)]
+
+def lmax(seq1, seq2):
+ """ Pairwise maximum of two sequences """
+ return [max(a, b) for (a, b) in zip(seq1, seq2)]
+
+def _pdist(p1, p2):
+ """
+ Distance bwt two points. p1 = (x, y), p2 = (x, y)
+ """
+ return math.sqrt(math.pow(p1[0] - p2[0], 2) + math.pow(p1[1] - p2[1], 2))
+
+def _get_outside_corners(corners, board):
+ """
+ Return the four corners of the board as a whole, as (up_left, up_right, down_right, down_left).
+ """
+ xdim = board.n_cols
+ ydim = board.n_rows
+
+ if corners.shape[1] * corners.shape[0] != xdim * ydim:
+ raise Exception("Invalid number of corners! %d corners. X: %d, Y: %d" % (corners.shape[1] * corners.shape[0],
+ xdim, ydim))
+
+ up_left = corners[0,0]
+ up_right = corners[xdim - 1,0]
+ down_right = corners[-1,0]
+ down_left = corners[-xdim,0]
+
+ return (up_left, up_right, down_right, down_left)
+
+def _get_skew(corners, board):
+ """
+ Get skew for given checkerboard detection.
+ Scaled to [0,1], which 0 = no skew, 1 = high skew
+ Skew is proportional to the divergence of three outside corners from 90 degrees.
+ """
+ # TODO Using three nearby interior corners might be more robust, outside corners occasionally
+ # get mis-detected
+ up_left, up_right, down_right, _ = _get_outside_corners(corners, board)
+
+ def angle(a, b, c):
+ """
+ Return angle between lines ab, bc
+ """
+ ab = a - b
+ cb = c - b
+ return math.acos(numpy.dot(ab,cb) / (numpy.linalg.norm(ab) * numpy.linalg.norm(cb)))
+
+ skew = min(1.0, 2. * abs((math.pi / 2.) - angle(up_left, up_right, down_right)))
+ return skew
+
+def _get_area(corners, board):
+ """
+ Get 2d image area of the detected checkerboard.
+ The projected checkerboard is assumed to be a convex quadrilateral, and the area computed as
+ |p X q|/2; see http://mathworld.wolfram.com/Quadrilateral.html.
+ """
+ (up_left, up_right, down_right, down_left) = _get_outside_corners(corners, board)
+ a = up_right - up_left
+ b = down_right - up_right
+ c = down_left - down_right
+ p = b + c
+ q = a + b
+ return abs(p[0]*q[1] - p[1]*q[0]) / 2.
+
+def _get_corners(img, board, refine = True, checkerboard_flags=0):
+ """
+ Get corners for a particular chessboard for an image
+ """
+ h = img.shape[0]
+ w = img.shape[1]
+ if len(img.shape) == 3 and img.shape[2] == 3:
+ mono = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+ else:
+ mono = img
+ (ok, corners) = cv2.findChessboardCorners(mono, (board.n_cols, board.n_rows), flags = cv2.CALIB_CB_ADAPTIVE_THRESH |
+ cv2.CALIB_CB_NORMALIZE_IMAGE | checkerboard_flags)
+ if not ok:
+ return (ok, corners)
+
+ # If any corners are within BORDER pixels of the screen edge, reject the detection by setting ok to false
+ # NOTE: This may cause problems with very low-resolution cameras, where 8 pixels is a non-negligible fraction
+ # of the image size. See http://answers.ros.org/question/3155/how-can-i-calibrate-low-resolution-cameras
+ BORDER = 8
+ if not all([(BORDER < corners[i, 0, 0] < (w - BORDER)) and (BORDER < corners[i, 0, 1] < (h - BORDER)) for i in range(corners.shape[0])]):
+ ok = False
+
+ # Ensure that all corner-arrays are going from top to bottom.
+ if board.n_rows!=board.n_cols:
+ if corners[0, 0, 1] > corners[-1, 0, 1]:
+ corners = numpy.copy(numpy.flipud(corners))
+ else:
+ direction_corners=(corners[-1]-corners[0])>=numpy.array([[0.0,0.0]])
+
+ if not numpy.all(direction_corners):
+ if not numpy.any(direction_corners):
+ corners = numpy.copy(numpy.flipud(corners))
+ elif direction_corners[0][0]:
+ corners=numpy.rot90(corners.reshape(board.n_rows,board.n_cols,2)).reshape(board.n_cols*board.n_rows,1,2)
+ else:
+ corners=numpy.rot90(corners.reshape(board.n_rows,board.n_cols,2),3).reshape(board.n_cols*board.n_rows,1,2)
+
+ if refine and ok:
+ # Use a radius of half the minimum distance between corners. This should be large enough to snap to the
+ # correct corner, but not so large as to include a wrong corner in the search window.
+ min_distance = float("inf")
+ for row in range(board.n_rows):
+ for col in range(board.n_cols - 1):
+ index = row*board.n_rows + col
+ min_distance = min(min_distance, _pdist(corners[index, 0], corners[index + 1, 0]))
+ for row in range(board.n_rows - 1):
+ for col in range(board.n_cols):
+ index = row*board.n_rows + col
+ min_distance = min(min_distance, _pdist(corners[index, 0], corners[index + board.n_cols, 0]))
+ radius = int(math.ceil(min_distance * 0.5))
+ cv2.cornerSubPix(mono, corners, (radius,radius), (-1,-1),
+ ( cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.1 ))
+
+ return (ok, corners)
+
+def _get_circles(img, board, pattern):
+ """
+ Get circle centers for a symmetric or asymmetric grid
+ """
+ h = img.shape[0]
+ w = img.shape[1]
+ if len(img.shape) == 3 and img.shape[2] == 3:
+ mono = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+ else:
+ mono = img
+
+ flag = cv2.CALIB_CB_SYMMETRIC_GRID
+ if pattern == Patterns.ACircles:
+ flag = cv2.CALIB_CB_ASYMMETRIC_GRID
+ mono_arr = numpy.array(mono)
+ (ok, corners) = cv2.findCirclesGrid(mono_arr, (board.n_cols, board.n_rows), flags=flag)
+
+ # In symmetric case, findCirclesGrid does not detect the target if it's turned sideways. So we try
+ # again with dimensions swapped - not so efficient.
+ # TODO Better to add as second board? Corner ordering will change.
+ if not ok and pattern == Patterns.Circles:
+ (ok, corners) = cv2.findCirclesGrid(mono_arr, (board.n_rows, board.n_cols), flags=flag)
+
+ return (ok, corners)
+
+
+# TODO self.size needs to come from CameraInfo, full resolution
+class Calibrator():
+ """
+ Base class for calibration system
+ """
+ def __init__(self, boards, flags=0, pattern=Patterns.Chessboard, name='', checkerboard_flags=cv2.CALIB_CB_FAST_CHECK):
+ # Ordering the dimensions for the different detectors is actually a minefield...
+ if pattern == Patterns.Chessboard:
+ # Make sure n_cols > n_rows to agree with OpenCV CB detector output
+ self._boards = [ChessboardInfo(max(i.n_cols, i.n_rows), min(i.n_cols, i.n_rows), i.dim) for i in boards]
+ elif pattern == Patterns.ACircles:
+ # 7x4 and 4x7 are actually different patterns. Assume square-ish pattern, so n_rows > n_cols.
+ self._boards = [ChessboardInfo(min(i.n_cols, i.n_rows), max(i.n_cols, i.n_rows), i.dim) for i in boards]
+ elif pattern == Patterns.Circles:
+ # We end up having to check both ways anyway
+ self._boards = boards
+
+ # Set to true after we perform calibration
+ self.calibrated = False
+ self.calib_flags = flags
+ self.checkerboard_flags = checkerboard_flags
+ self.pattern = pattern
+ self.br = cv_bridge.CvBridge()
+
+ # self.db is list of (parameters, image) samples for use in calibration. parameters has form
+ # (X, Y, size, skew) all normalized to [0,1], to keep track of what sort of samples we've taken
+ # and ensure enough variety.
+ self.db = []
+ # For each db sample, we also record the detected corners.
+ self.good_corners = []
+ # Set to true when we have sufficiently varied samples to calibrate
+ self.goodenough = False
+ self.param_ranges = [0.7, 0.7, 0.4, 0.5]
+ self.name = name
+
+ def mkgray(self, msg):
+ """
+ Convert a message into a 8-bit 1 channel monochrome OpenCV image
+ """
+ # as cv_bridge automatically scales, we need to remove that behavior
+ # TODO: get a Python API in cv_bridge to check for the image depth.
+ if self.br.encoding_to_dtype_with_channels(msg.encoding)[0] in ['uint16', 'int16']:
+ mono16 = self.br.imgmsg_to_cv2(msg, '16UC1')
+ mono8 = numpy.array(mono16 / 256, dtype=numpy.uint8)
+ return mono8
+ elif 'FC1' in msg.encoding:
+ # floating point image handling
+ img = self.br.imgmsg_to_cv2(msg, "passthrough")
+ _, max_val, _, _ = cv2.minMaxLoc(img)
+ if max_val > 0:
+ scale = 255.0 / max_val
+ mono_img = (img * scale).astype(numpy.uint8)
+ else:
+ mono_img = img.astype(numpy.uint8)
+ return mono_img
+ else:
+ return self.br.imgmsg_to_cv2(msg, "mono8")
+
+ def get_parameters(self, corners, board, size):
+ """
+ Return list of parameters [X, Y, size, skew] describing the checkerboard view.
+ """
+ (width, height) = size
+ Xs = corners[:,:,0]
+ Ys = corners[:,:,1]
+ area = _get_area(corners, board)
+ border = math.sqrt(area)
+ # For X and Y, we "shrink" the image all around by approx. half the board size.
+ # Otherwise large boards are penalized because you can't get much X/Y variation.
+ p_x = min(1.0, max(0.0, (numpy.mean(Xs) - border / 2) / (width - border)))
+ p_y = min(1.0, max(0.0, (numpy.mean(Ys) - border / 2) / (height - border)))
+ p_size = math.sqrt(area / (width * height))
+ skew = _get_skew(corners, board)
+ params = [p_x, p_y, p_size, skew]
+ return params
+
+ def is_good_sample(self, params):
+ """
+ Returns true if the checkerboard detection described by params should be added to the database.
+ """
+ if not self.db:
+ return True
+
+ def param_distance(p1, p2):
+ return sum([abs(a-b) for (a,b) in zip(p1, p2)])
+
+ db_params = [sample[0] for sample in self.db]
+ d = min([param_distance(params, p) for p in db_params])
+ #print "d = %.3f" % d #DEBUG
+ # TODO What's a good threshold here? Should it be configurable?
+ return d > 0.2
+
+ _param_names = ["X", "Y", "Size", "Skew"]
+
+ def compute_goodenough(self):
+ if not self.db:
+ return None
+
+ # Find range of checkerboard poses covered by samples in database
+ all_params = [sample[0] for sample in self.db]
+ min_params = all_params[0]
+ max_params = all_params[0]
+ for params in all_params[1:]:
+ min_params = lmin(min_params, params)
+ max_params = lmax(max_params, params)
+ # Don't reward small size or skew
+ min_params = [min_params[0], min_params[1], 0., 0.]
+
+ # For each parameter, judge how much progress has been made toward adequate variation
+ progress = [min((hi - lo) / r, 1.0) for (lo, hi, r) in zip(min_params, max_params, self.param_ranges)]
+ # If we have lots of samples, allow calibration even if not all parameters are green
+ # TODO Awkward that we update self.goodenough instead of returning it
+ self.goodenough = (len(self.db) >= 40) or all([p == 1.0 for p in progress])
+
+ return list(zip(self._param_names, min_params, max_params, progress))
+
+ def mk_object_points(self, boards, use_board_size = False):
+ opts = []
+ for i, b in enumerate(boards):
+ num_pts = b.n_cols * b.n_rows
+ opts_loc = numpy.zeros((num_pts, 1, 3), numpy.float32)
+ for j in range(num_pts):
+ opts_loc[j, 0, 0] = (j // b.n_cols)
+ if self.pattern == Patterns.ACircles:
+ opts_loc[j, 0, 1] = 2*(j % b.n_cols) + (opts_loc[j, 0, 0] % 2)
+ else:
+ opts_loc[j, 0, 1] = (j % b.n_cols)
+ opts_loc[j, 0, 2] = 0
+ if use_board_size:
+ opts_loc[j, 0, :] = opts_loc[j, 0, :] * b.dim
+ opts.append(opts_loc)
+ return opts
+
+ def get_corners(self, img, refine = True):
+ """
+ Use cvFindChessboardCorners to find corners of chessboard in image.
+
+ Check all boards. Return corners for first chessboard that it detects
+ if given multiple size chessboards.
+
+ Returns (ok, corners, board)
+ """
+
+ for b in self._boards:
+ if self.pattern == Patterns.Chessboard:
+ (ok, corners) = _get_corners(img, b, refine, self.checkerboard_flags)
+ else:
+ (ok, corners) = _get_circles(img, b, self.pattern)
+ if ok:
+ return (ok, corners, b)
+ return (False, None, None)
+
+ def downsample_and_detect(self, img):
+ """
+ Downsample the input image to approximately VGA resolution and detect the
+ calibration target corners in the full-size image.
+
+ Combines these apparently orthogonal duties as an optimization. Checkerboard
+ detection is too expensive on large images, so it's better to do detection on
+ the smaller display image and scale the corners back up to the correct size.
+
+ Returns (scrib, corners, downsampled_corners, board, (x_scale, y_scale)).
+ """
+ # Scale the input image down to ~VGA size
+ height = img.shape[0]
+ width = img.shape[1]
+ scale = math.sqrt( (width*height) / (640.*480.) )
+ if scale > 1.0:
+ scrib = cv2.resize(img, (int(width / scale), int(height / scale)))
+ else:
+ scrib = img
+ # Due to rounding, actual horizontal/vertical scaling may differ slightly
+ x_scale = float(width) / scrib.shape[1]
+ y_scale = float(height) / scrib.shape[0]
+
+ if self.pattern == Patterns.Chessboard:
+ # Detect checkerboard
+ (ok, downsampled_corners, board) = self.get_corners(scrib, refine = True)
+
+ # Scale corners back to full size image
+ corners = None
+ if ok:
+ if scale > 1.0:
+ # Refine up-scaled corners in the original full-res image
+ # TODO Does this really make a difference in practice?
+ corners_unrefined = downsampled_corners.copy()
+ corners_unrefined[:, :, 0] *= x_scale
+ corners_unrefined[:, :, 1] *= y_scale
+ radius = int(math.ceil(scale))
+ if len(img.shape) == 3 and img.shape[2] == 3:
+ mono = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+ else:
+ mono = img
+ cv2.cornerSubPix(mono, corners_unrefined, (radius,radius), (-1,-1),
+ ( cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.1 ))
+ corners = corners_unrefined
+ else:
+ corners = downsampled_corners
+ else:
+ # Circle grid detection is fast even on large images
+ (ok, corners, board) = self.get_corners(img)
+ # Scale corners to downsampled image for display
+ downsampled_corners = None
+ if ok:
+ if scale > 1.0:
+ downsampled_corners = corners.copy()
+ downsampled_corners[:,:,0] /= x_scale
+ downsampled_corners[:,:,1] /= y_scale
+ else:
+ downsampled_corners = corners
+
+ return (scrib, corners, downsampled_corners, board, (x_scale, y_scale))
+
+
+ def lrmsg(self, d, k, r, p):
+ """ Used by :meth:`as_message`. Return a CameraInfo message for the given calibration matrices """
+ msg = sensor_msgs.msg.CameraInfo()
+ (msg.width, msg.height) = self.size
+ if d.size > 5:
+ msg.distortion_model = "rational_polynomial"
+ else:
+ msg.distortion_model = "plumb_bob"
+ msg.d = numpy.ravel(d).copy().tolist()
+ msg.k = numpy.ravel(k).copy().tolist()
+ msg.r = numpy.ravel(r).copy().tolist()
+ msg.p = numpy.ravel(p).copy().tolist()
+ return msg
+
+ def lrreport(self, d, k, r, p):
+ print("D = ", numpy.ravel(d).tolist())
+ print("K = ", numpy.ravel(k).tolist())
+ print("R = ", numpy.ravel(r).tolist())
+ print("P = ", numpy.ravel(p).tolist())
+
+ def lrost(self, name, d, k, r, p):
+ calmessage = (
+ "# oST version 5.0 parameters\n"
+ + "\n"
+ + "\n"
+ + "[image]\n"
+ + "\n"
+ + "width\n"
+ + str(self.size[0]) + "\n"
+ + "\n"
+ + "height\n"
+ + str(self.size[1]) + "\n"
+ + "\n"
+ + "[%s]" % name + "\n"
+ + "\n"
+ + "camera matrix\n"
+ + " ".join(["%8f" % k[0,i] for i in range(3)]) + "\n"
+ + " ".join(["%8f" % k[1,i] for i in range(3)]) + "\n"
+ + " ".join(["%8f" % k[2,i] for i in range(3)]) + "\n"
+ + "\n"
+ + "distortion\n"
+ + " ".join(["%8f" % d[i,0] for i in range(d.shape[0])]) + "\n"
+ + "\n"
+ + "rectification\n"
+ + " ".join(["%8f" % r[0,i] for i in range(3)]) + "\n"
+ + " ".join(["%8f" % r[1,i] for i in range(3)]) + "\n"
+ + " ".join(["%8f" % r[2,i] for i in range(3)]) + "\n"
+ + "\n"
+ + "projection\n"
+ + " ".join(["%8f" % p[0,i] for i in range(4)]) + "\n"
+ + " ".join(["%8f" % p[1,i] for i in range(4)]) + "\n"
+ + " ".join(["%8f" % p[2,i] for i in range(4)]) + "\n"
+ + "\n")
+ assert len(calmessage) < 525, "Calibration info must be less than 525 bytes"
+ return calmessage
+
+ def lryaml(self, name, d, k, r, p):
+ calmessage = (""
+ + "image_width: " + str(self.size[0]) + "\n"
+ + "image_height: " + str(self.size[1]) + "\n"
+ + "camera_name: " + name + "\n"
+ + "camera_matrix:\n"
+ + " rows: 3\n"
+ + " cols: 3\n"
+ + " data: [" + ", ".join(["%8f" % i for i in k.reshape(1,9)[0]]) + "]\n"
+ + "distortion_model: " + ("rational_polynomial" if d.size > 5 else "plumb_bob") + "\n"
+ + "distortion_coefficients:\n"
+ + " rows: 1\n"
+ + " cols: 5\n"
+ + " data: [" + ", ".join(["%8f" % d[i,0] for i in range(d.shape[0])]) + "]\n"
+ + "rectification_matrix:\n"
+ + " rows: 3\n"
+ + " cols: 3\n"
+ + " data: [" + ", ".join(["%8f" % i for i in r.reshape(1,9)[0]]) + "]\n"
+ + "projection_matrix:\n"
+ + " rows: 3\n"
+ + " cols: 4\n"
+ + " data: [" + ", ".join(["%8f" % i for i in p.reshape(1,12)[0]]) + "]\n"
+ + "")
+ return calmessage
+
+ def do_save(self):
+ filename = '/tmp/calibrationdata.tar.gz'
+ tf = tarfile.open(filename, 'w:gz')
+ self.do_tarfile_save(tf) # Must be overridden in subclasses
+ tf.close()
+ print(("Wrote calibration data to", filename))
+
+def image_from_archive(archive, name):
+ """
+ Load image PGM file from tar archive.
+
+ Used for tarfile loading and unit test.
+ """
+ member = archive.getmember(name)
+ imagefiledata = numpy.frombuffer(archive.extractfile(member).read(), numpy.uint8)
+ imagefiledata.resize((1, imagefiledata.size))
+ return cv2.imdecode(imagefiledata, cv2.IMREAD_COLOR)
+
+class ImageDrawable():
+ """
+ Passed to CalibrationNode after image handled. Allows plotting of images
+ with detected corner points
+ """
+ def __init__(self):
+ self.params = None
+
+class MonoDrawable(ImageDrawable):
+ def __init__(self):
+ ImageDrawable.__init__(self)
+ self.scrib = None
+ self.linear_error = -1.0
+
+
+class StereoDrawable(ImageDrawable):
+ def __init__(self):
+ ImageDrawable.__init__(self)
+ self.lscrib = None
+ self.rscrib = None
+ self.epierror = -1
+ self.dim = -1
+
+
+class MonoCalibrator(Calibrator):
+ """
+ Calibration class for monocular cameras::
+
+ images = [cv2.imread("mono%d.png") for i in range(8)]
+ mc = MonoCalibrator()
+ mc.cal(images)
+ print mc.as_message()
+ """
+
+ is_mono = True # TODO Could get rid of is_mono
+
+ def __init__(self, *args, **kwargs):
+ if 'name' not in kwargs:
+ kwargs['name'] = 'narrow_stereo/left'
+ super(MonoCalibrator, self).__init__(*args, **kwargs)
+
+ def cal(self, images):
+ """
+ Calibrate camera from given images
+ """
+ goodcorners = self.collect_corners(images)
+ self.cal_fromcorners(goodcorners)
+ self.calibrated = True
+
+ def collect_corners(self, images):
+ """
+ :param images: source images containing chessboards
+ :type images: list of :class:`cvMat`
+
+ Find chessboards in all images.
+
+ Return [ (corners, ChessboardInfo) ]
+ """
+ self.size = (images[0].shape[1], images[0].shape[0])
+ corners = [self.get_corners(i) for i in images]
+
+ goodcorners = [(co, b) for (ok, co, b) in corners if ok]
+ if not goodcorners:
+ raise CalibrationException("No corners found in images!")
+ return goodcorners
+
+ def cal_fromcorners(self, good):
+ """
+ :param good: Good corner positions and boards
+ :type good: [(corners, ChessboardInfo)]
+
+
+ """
+ boards = [ b for (_, b) in good ]
+
+ ipts = [ points for (points, _) in good ]
+ opts = self.mk_object_points(boards)
+
+ self.intrinsics = numpy.zeros((3, 3), numpy.float64)
+ if self.calib_flags & cv2.CALIB_RATIONAL_MODEL:
+ self.distortion = numpy.zeros((8, 1), numpy.float64) # rational polynomial
+ else:
+ self.distortion = numpy.zeros((5, 1), numpy.float64) # plumb bob
+ # If FIX_ASPECT_RATIO flag set, enforce focal lengths have 1/1 ratio
+ self.intrinsics[0,0] = 1.0
+ self.intrinsics[1,1] = 1.0
+ cv2.calibrateCamera(
+ opts, ipts,
+ self.size, self.intrinsics,
+ self.distortion,
+ flags = self.calib_flags)
+
+ # R is identity matrix for monocular calibration
+ self.R = numpy.eye(3, dtype=numpy.float64)
+ self.P = numpy.zeros((3, 4), dtype=numpy.float64)
+
+ self.set_alpha(0.0)
+
+ def set_alpha(self, a):
+ """
+ Set the alpha value for the calibrated camera solution. The alpha
+ value is a zoom, and ranges from 0 (zoomed in, all pixels in
+ calibrated image are valid) to 1 (zoomed out, all pixels in
+ original image are in calibrated image).
+ """
+
+ # NOTE: Prior to Electric, this code was broken such that we never actually saved the new
+ # camera matrix. In effect, this enforced P = [K|0] for monocular cameras.
+ # TODO: Verify that OpenCV #1199 gets applied (improved GetOptimalNewCameraMatrix)
+ ncm, _ = cv2.getOptimalNewCameraMatrix(self.intrinsics, self.distortion, self.size, a)
+ for j in range(3):
+ for i in range(3):
+ self.P[j,i] = ncm[j, i]
+ self.mapx, self.mapy = cv2.initUndistortRectifyMap(self.intrinsics, self.distortion, self.R, ncm, self.size, cv2.CV_32FC1)
+
+ def remap(self, src):
+ """
+ :param src: source image
+ :type src: :class:`cvMat`
+
+ Apply the post-calibration undistortion to the source image
+ """
+ return cv2.remap(src, self.mapx, self.mapy, cv2.INTER_LINEAR)
+
+ def undistort_points(self, src):
+ """
+ :param src: N source pixel points (u,v) as an Nx2 matrix
+ :type src: :class:`cvMat`
+
+ Apply the post-calibration undistortion to the source points
+ """
+
+ return cv2.undistortPoints(src, self.intrinsics, self.distortion, R = self.R, P = self.P)
+
+ def as_message(self):
+ """ Return the camera calibration as a CameraInfo message """
+ return self.lrmsg(self.distortion, self.intrinsics, self.R, self.P)
+
+ def from_message(self, msg, alpha = 0.0):
+ """ Initialize the camera calibration from a CameraInfo message """
+
+ self.size = (msg.width, msg.height)
+ self.intrinsics = numpy.array(msg.k, dtype=numpy.float64, copy=True).reshape((3, 3))
+ self.distortion = numpy.array(msg.d, dtype=numpy.float64, copy=True).reshape((len(msg.d), 1))
+ self.R = numpy.array(msg.r, dtype=numpy.float64, copy=True).reshape((3, 3))
+ self.P = numpy.array(msg.p, dtype=numpy.float64, copy=True).reshape((3, 4))
+
+ self.set_alpha(0.0)
+
+ def report(self):
+ self.lrreport(self.distortion, self.intrinsics, self.R, self.P)
+
+ def ost(self):
+ return self.lrost(self.name, self.distortion, self.intrinsics, self.R, self.P)
+
+ def yaml(self):
+ return self.lryaml(self.name, self.distortion, self.intrinsics, self.R, self.P)
+
+ def linear_error_from_image(self, image):
+ """
+ Detect the checkerboard and compute the linear error.
+ Mainly for use in tests.
+ """
+ _, corners, _, board, _ = self.downsample_and_detect(image)
+ if corners is None:
+ return None
+
+ undistorted = self.undistort_points(corners)
+ return self.linear_error(undistorted, board)
+
+ @staticmethod
+ def linear_error(corners, b):
+
+ """
+ Returns the linear error for a set of corners detected in the unrectified image.
+ """
+
+ if corners is None:
+ return None
+
+ def pt2line(x0, y0, x1, y1, x2, y2):
+ """ point is (x0, y0), line is (x1, y1, x2, y2) """
+ return abs((x2 - x1) * (y1 - y0) - (x1 - x0) * (y2 - y1)) / math.sqrt((x2 - x1) ** 2 + (y2 - y1) ** 2)
+
+ cc = b.n_cols
+ cr = b.n_rows
+ errors = []
+ for r in range(cr):
+ (x1, y1) = corners[(cc * r) + 0, 0]
+ (x2, y2) = corners[(cc * r) + cc - 1, 0]
+ for i in range(1, cc - 1):
+ (x0, y0) = corners[(cc * r) + i, 0]
+ errors.append(pt2line(x0, y0, x1, y1, x2, y2))
+ if errors:
+ return math.sqrt(sum([e**2 for e in errors]) / len(errors))
+ else:
+ return None
+
+
+ def handle_msg(self, msg):
+ """
+ Detects the calibration target and, if found and provides enough new information,
+ adds it to the sample database.
+
+ Returns a MonoDrawable message with the display image and progress info.
+ """
+ gray = self.mkgray(msg)
+ linear_error = -1
+
+ # Get display-image-to-be (scrib) and detection of the calibration target
+ scrib_mono, corners, downsampled_corners, board, (x_scale, y_scale) = self.downsample_and_detect(gray)
+
+ if self.calibrated:
+ # Show rectified image
+ # TODO Pull out downsampling code into function
+ gray_remap = self.remap(gray)
+ gray_rect = gray_remap
+ if x_scale != 1.0 or y_scale != 1.0:
+ gray_rect = cv2.resize(gray_remap, (scrib_mono.shape[1], scrib_mono.shape[0]))
+
+ scrib = cv2.cvtColor(gray_rect, cv2.COLOR_GRAY2BGR)
+
+ if corners is not None:
+ # Report linear error
+ undistorted = self.undistort_points(corners)
+ linear_error = self.linear_error(undistorted, board)
+
+ # Draw rectified corners
+ scrib_src = undistorted.copy()
+ scrib_src[:,:,0] /= x_scale
+ scrib_src[:,:,1] /= y_scale
+ cv2.drawChessboardCorners(scrib, (board.n_cols, board.n_rows), scrib_src, True)
+
+ else:
+ scrib = cv2.cvtColor(scrib_mono, cv2.COLOR_GRAY2BGR)
+ if corners is not None:
+ # Draw (potentially downsampled) corners onto display image
+ cv2.drawChessboardCorners(scrib, (board.n_cols, board.n_rows), downsampled_corners, True)
+
+ # Add sample to database only if it's sufficiently different from any previous sample.
+ params = self.get_parameters(corners, board, (gray.shape[1], gray.shape[0]))
+ if self.is_good_sample(params):
+ self.db.append((params, gray))
+ self.good_corners.append((corners, board))
+ print(("*** Added sample %d, p_x = %.3f, p_y = %.3f, p_size = %.3f, skew = %.3f" % tuple([len(self.db)] + params)))
+
+ rv = MonoDrawable()
+ rv.scrib = scrib
+ rv.params = self.compute_goodenough()
+ rv.linear_error = linear_error
+ return rv
+
+ def do_calibration(self, dump = False):
+ if not self.good_corners:
+ print("**** Collecting corners for all images! ****") #DEBUG
+ images = [i for (p, i) in self.db]
+ self.good_corners = self.collect_corners(images)
+ # Dump should only occur if user wants it
+ if dump:
+ pickle.dump((self.is_mono, self.size, self.good_corners),
+ open("/tmp/camera_calibration_%08x.pickle" % random.getrandbits(32), "w"))
+ self.size = (self.db[0][1].shape[1], self.db[0][1].shape[0]) # TODO Needs to be set externally
+ self.cal_fromcorners(self.good_corners)
+ self.calibrated = True
+ # DEBUG
+ print((self.report()))
+ print((self.ost()))
+
+ def do_tarfile_save(self, tf):
+ """ Write images and calibration solution to a tarfile object """
+
+ def taradd(name, buf):
+ if isinstance(buf, str):
+ s = BytesIO(buf.encode('utf-8'))
+ else:
+ s = BytesIO(buf)
+ ti = tarfile.TarInfo(name)
+ ti.size = len(s.getvalue())
+ ti.uname = 'calibrator'
+ ti.mtime = int(time.time())
+ tf.addfile(tarinfo=ti, fileobj=s)
+
+ ims = [("left-%04d.png" % i, im) for i,(_, im) in enumerate(self.db)]
+ for (name, im) in ims:
+ taradd(name, cv2.imencode(".png", im)[1].tostring())
+ taradd('ost.yaml', self.yaml())
+ taradd('ost.txt', self.ost())
+
+ def do_tarfile_calibration(self, filename):
+ archive = tarfile.open(filename, 'r')
+
+ limages = [ image_from_archive(archive, f) for f in archive.getnames() if (f.startswith('left') and (f.endswith('.pgm') or f.endswith('png'))) ]
+
+ self.cal(limages)
+
+# TODO Replicate MonoCalibrator improvements in stereo
+class StereoCalibrator(Calibrator):
+ """
+ Calibration class for stereo cameras::
+
+ limages = [cv2.imread("left%d.png") for i in range(8)]
+ rimages = [cv2.imread("right%d.png") for i in range(8)]
+ sc = StereoCalibrator()
+ sc.cal(limages, rimages)
+ print sc.as_message()
+ """
+
+ is_mono = False
+
+ def __init__(self, *args, **kwargs):
+ if 'name' not in kwargs:
+ kwargs['name'] = 'narrow_stereo'
+ super(StereoCalibrator, self).__init__(*args, **kwargs)
+ self.l = MonoCalibrator(*args, **kwargs)
+ self.r = MonoCalibrator(*args, **kwargs)
+ # Collecting from two cameras in a horizontal stereo rig, can't get
+ # full X range in the left camera.
+ self.param_ranges[0] = 0.4
+
+ def cal(self, limages, rimages):
+ """
+ :param limages: source left images containing chessboards
+ :type limages: list of :class:`cvMat`
+ :param rimages: source right images containing chessboards
+ :type rimages: list of :class:`cvMat`
+
+ Find chessboards in images, and runs the OpenCV calibration solver.
+ """
+ goodcorners = self.collect_corners(limages, rimages)
+ self.size = (limages[0].shape[1], limages[0].shape[0])
+ self.l.size = self.size
+ self.r.size = self.size
+ self.cal_fromcorners(goodcorners)
+ self.calibrated = True
+
+ def collect_corners(self, limages, rimages):
+ """
+ For a sequence of left and right images, find pairs of images where both
+ left and right have a chessboard, and return their corners as a list of pairs.
+ """
+ # Pick out (corners, board) tuples
+ lcorners = [ self.downsample_and_detect(i)[1:4:2] for i in limages]
+ rcorners = [ self.downsample_and_detect(i)[1:4:2] for i in rimages]
+ good = [(lco, rco, b) for ((lco, b), (rco, br)) in zip( lcorners, rcorners)
+ if (lco is not None and rco is not None)]
+
+ if len(good) == 0:
+ raise CalibrationException("No corners found in images!")
+ return good
+
+ def cal_fromcorners(self, good):
+ # Perform monocular calibrations
+ lcorners = [(l, b) for (l, r, b) in good]
+ rcorners = [(r, b) for (l, r, b) in good]
+ self.l.cal_fromcorners(lcorners)
+ self.r.cal_fromcorners(rcorners)
+
+ lipts = [ l for (l, _, _) in good ]
+ ripts = [ r for (_, r, _) in good ]
+ boards = [ b for (_, _, b) in good ]
+
+ opts = self.mk_object_points(boards, True)
+
+ flags = cv2.CALIB_FIX_INTRINSIC
+
+ self.T = numpy.zeros((3, 1), dtype=numpy.float64)
+ self.R = numpy.eye(3, dtype=numpy.float64)
+ if LooseVersion(cv2.__version__).version[0] == 2:
+ cv2.stereoCalibrate(opts, lipts, ripts, self.size,
+ self.l.intrinsics, self.l.distortion,
+ self.r.intrinsics, self.r.distortion,
+ self.R, # R
+ self.T, # T
+ criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 1, 1e-5),
+ flags = flags)
+ else:
+ cv2.stereoCalibrate(opts, lipts, ripts,
+ self.l.intrinsics, self.l.distortion,
+ self.r.intrinsics, self.r.distortion,
+ self.size,
+ self.R, # R
+ self.T, # T
+ criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 1, 1e-5),
+ flags = flags)
+
+ self.set_alpha(0.0)
+
+ def set_alpha(self, a):
+ """
+ Set the alpha value for the calibrated camera solution. The
+ alpha value is a zoom, and ranges from 0 (zoomed in, all pixels
+ in calibrated image are valid) to 1 (zoomed out, all pixels in
+ original image are in calibrated image).
+ """
+
+ cv2.stereoRectify(self.l.intrinsics,
+ self.l.distortion,
+ self.r.intrinsics,
+ self.r.distortion,
+ self.size,
+ self.R,
+ self.T,
+ self.l.R, self.r.R, self.l.P, self.r.P,
+ alpha = a)
+
+ cv2.initUndistortRectifyMap(self.l.intrinsics, self.l.distortion, self.l.R, self.l.P, self.size, cv2.CV_32FC1,
+ self.l.mapx, self.l.mapy)
+ cv2.initUndistortRectifyMap(self.r.intrinsics, self.r.distortion, self.r.R, self.r.P, self.size, cv2.CV_32FC1,
+ self.r.mapx, self.r.mapy)
+
+ def as_message(self):
+ """
+ Return the camera calibration as a pair of CameraInfo messages, for left
+ and right cameras respectively.
+ """
+
+ return (self.lrmsg(self.l.distortion, self.l.intrinsics, self.l.R, self.l.P),
+ self.lrmsg(self.r.distortion, self.r.intrinsics, self.r.R, self.r.P))
+
+ def from_message(self, msgs, alpha = 0.0):
+ """ Initialize the camera calibration from a pair of CameraInfo messages. """
+ self.size = (msgs[0].width, msgs[0].height)
+
+ self.T = numpy.zeros((3, 1), dtype=numpy.float64)
+ self.R = numpy.eye(3, dtype=numpy.float64)
+
+ self.l.from_message(msgs[0])
+ self.r.from_message(msgs[1])
+ # Need to compute self.T and self.R here, using the monocular parameters above
+ if False:
+ self.set_alpha(0.0)
+
+ def report(self):
+ print("\nLeft:")
+ self.lrreport(self.l.distortion, self.l.intrinsics, self.l.R, self.l.P)
+ print("\nRight:")
+ self.lrreport(self.r.distortion, self.r.intrinsics, self.r.R, self.r.P)
+ print("self.T ", numpy.ravel(self.T).tolist())
+ print("self.R ", numpy.ravel(self.R).tolist())
+
+ def ost(self):
+ return (self.lrost(self.name + "/left", self.l.distortion, self.l.intrinsics, self.l.R, self.l.P) +
+ self.lrost(self.name + "/right", self.r.distortion, self.r.intrinsics, self.r.R, self.r.P))
+
+ def yaml(self, suffix, info):
+ return self.lryaml(self.name + suffix, info.distortion, info.intrinsics, info.R, info.P)
+
+ # TODO Get rid of "from_images" versions of these, instead have function to get undistorted corners
+ def epipolar_error_from_images(self, limage, rimage):
+ """
+ Detect the checkerboard in both images and compute the epipolar error.
+ Mainly for use in tests.
+ """
+ lcorners = self.downsample_and_detect(limage)[1]
+ rcorners = self.downsample_and_detect(rimage)[1]
+ if lcorners is None or rcorners is None:
+ return None
+
+ lundistorted = self.l.undistort_points(lcorners)
+ rundistorted = self.r.undistort_points(rcorners)
+
+ return self.epipolar_error(lundistorted, rundistorted)
+
+ def epipolar_error(self, lcorners, rcorners):
+ """
+ Compute the epipolar error from two sets of matching undistorted points
+ """
+ d = lcorners[:,:,1] - rcorners[:,:,1]
+ return numpy.sqrt(numpy.square(d).sum() / d.size)
+
+ def chessboard_size_from_images(self, limage, rimage):
+ _, lcorners, _, board, _ = self.downsample_and_detect(limage)
+ _, rcorners, _, board, _ = self.downsample_and_detect(rimage)
+ if lcorners is None or rcorners is None:
+ return None
+
+ lundistorted = self.l.undistort_points(lcorners)
+ rundistorted = self.r.undistort_points(rcorners)
+
+ return self.chessboard_size(lundistorted, rundistorted, board)
+
+ def chessboard_size(self, lcorners, rcorners, board, msg = None):
+ """
+ Compute the square edge length from two sets of matching undistorted points
+ given the current calibration.
+ :param msg: a tuple of (left_msg, right_msg)
+ """
+ # Project the points to 3d
+ cam = image_geometry.StereoCameraModel()
+ if msg == None:
+ msg = self.as_message()
+ cam.fromCameraInfo(*msg)
+ disparities = lcorners[:,:,0] - rcorners[:,:,0]
+ pt3d = [cam.projectPixelTo3d((lcorners[i,0,0], lcorners[i,0,1]), disparities[i,0]) for i in range(lcorners.shape[0]) ]
+ def l2(p0, p1):
+ return math.sqrt(sum([(c0 - c1) ** 2 for (c0, c1) in zip(p0, p1)]))
+
+ # Compute the length from each horizontal and vertical line, and return the mean
+ cc = board.n_cols
+ cr = board.n_rows
+ lengths = (
+ [l2(pt3d[cc * r + 0], pt3d[cc * r + (cc - 1)]) / (cc - 1) for r in range(cr)] +
+ [l2(pt3d[c + 0], pt3d[c + (cc * (cr - 1))]) / (cr - 1) for c in range(cc)])
+ return sum(lengths) / len(lengths)
+
+ def handle_msg(self, msg):
+ # TODO Various asserts that images have same dimension, same board detected...
+ (lmsg, rmsg) = msg
+ lgray = self.mkgray(lmsg)
+ rgray = self.mkgray(rmsg)
+ epierror = -1
+
+ # Get display-images-to-be and detections of the calibration target
+ lscrib_mono, lcorners, ldownsampled_corners, lboard, (x_scale, y_scale) = self.downsample_and_detect(lgray)
+ rscrib_mono, rcorners, rdownsampled_corners, rboard, _ = self.downsample_and_detect(rgray)
+
+ if self.calibrated:
+ # Show rectified images
+ lremap = self.l.remap(lgray)
+ rremap = self.r.remap(rgray)
+ lrect = lremap
+ rrect = rremap
+ if x_scale != 1.0 or y_scale != 1.0:
+ lrect = cv2.resize(lremap, (lscrib_mono.shape[1], lscrib_mono.shape[0]))
+ rrect = cv2.resize(rremap, (rscrib_mono.shape[1], rscrib_mono.shape[0]))
+
+ lscrib = cv2.cvtColor(lrect, cv2.COLOR_GRAY2BGR)
+ rscrib = cv2.cvtColor(rrect, cv2.COLOR_GRAY2BGR)
+
+ # Draw rectified corners
+ if lcorners is not None:
+ lundistorted = self.l.undistort_points(lcorners)
+ scrib_src = lundistorted.copy()
+ scrib_src[:,:,0] /= x_scale
+ scrib_src[:,:,1] /= y_scale
+ cv2.drawChessboardCorners(lscrib, (lboard.n_cols, lboard.n_rows), scrib_src, True)
+
+ if rcorners is not None:
+ rundistorted = self.r.undistort_points(rcorners)
+ scrib_src = rundistorted.copy()
+ scrib_src[:,:,0] /= x_scale
+ scrib_src[:,:,1] /= y_scale
+ cv2.drawChessboardCorners(rscrib, (rboard.n_cols, rboard.n_rows), scrib_src, True)
+
+ # Report epipolar error
+ if lcorners is not None and rcorners is not None and len(lcorners) == len(rcorners):
+ epierror = self.epipolar_error(lundistorted, rundistorted)
+
+ else:
+ lscrib = cv2.cvtColor(lscrib_mono, cv2.COLOR_GRAY2BGR)
+ rscrib = cv2.cvtColor(rscrib_mono, cv2.COLOR_GRAY2BGR)
+ # Draw any detected chessboards onto display (downsampled) images
+ if lcorners is not None:
+ cv2.drawChessboardCorners(lscrib, (lboard.n_cols, lboard.n_rows),
+ ldownsampled_corners, True)
+ if rcorners is not None:
+ cv2.drawChessboardCorners(rscrib, (rboard.n_cols, rboard.n_rows),
+ rdownsampled_corners, True)
+
+ # Add sample to database only if it's sufficiently different from any previous sample
+ if lcorners is not None and rcorners is not None and len(lcorners) == len(rcorners):
+ params = self.get_parameters(lcorners, lboard, (lgray.shape[1], lgray.shape[0]))
+ if self.is_good_sample(params):
+ self.db.append( (params, lgray, rgray) )
+ self.good_corners.append( (lcorners, rcorners, lboard) )
+ print(("*** Added sample %d, p_x = %.3f, p_y = %.3f, p_size = %.3f, skew = %.3f" % tuple([len(self.db)] + params)))
+
+ rv = StereoDrawable()
+ rv.lscrib = lscrib
+ rv.rscrib = rscrib
+ rv.params = self.compute_goodenough()
+ rv.epierror = epierror
+ return rv
+
+ def do_calibration(self, dump = False):
+ # TODO MonoCalibrator collects corners if needed here
+ # Dump should only occur if user wants it
+ if dump:
+ pickle.dump((self.is_mono, self.size, self.good_corners),
+ open("/tmp/camera_calibration_%08x.pickle" % random.getrandbits(32), "w"))
+ self.size = (self.db[0][1].shape[1], self.db[0][1].shape[0]) # TODO Needs to be set externally
+ self.l.size = self.size
+ self.r.size = self.size
+ self.cal_fromcorners(self.good_corners)
+ self.calibrated = True
+ # DEBUG
+ print((self.report()))
+ print((self.ost()))
+
+ def do_tarfile_save(self, tf):
+ """ Write images and calibration solution to a tarfile object """
+ ims = ([("left-%04d.png" % i, im) for i,(_, im, _) in enumerate(self.db)] +
+ [("right-%04d.png" % i, im) for i,(_, _, im) in enumerate(self.db)])
+
+ def taradd(name, buf):
+ if isinstance(buf, str):
+ s = BytesIO(buf.encode('utf-8'))
+ else:
+ s = BytesIO(buf)
+ ti = tarfile.TarInfo(name)
+ ti.size = len(s.getvalue())
+ ti.uname = 'calibrator'
+ ti.mtime = int(time.time())
+ tf.addfile(tarinfo=ti, fileobj=s)
+
+ for (name, im) in ims:
+ taradd(name, cv2.imencode(".png", im)[1].tostring())
+ taradd('left.yaml', self.yaml("/left", self.l))
+ taradd('right.yaml', self.yaml("/right", self.r))
+ taradd('ost.txt', self.ost())
+
+ def do_tarfile_calibration(self, filename):
+ archive = tarfile.open(filename, 'r')
+ limages = [ image_from_archive(archive, f) for f in archive.getnames() if (f.startswith('left') and (f.endswith('pgm') or f.endswith('png'))) ]
+ rimages = [ image_from_archive(archive, f) for f in archive.getnames() if (f.startswith('right') and (f.endswith('pgm') or f.endswith('png'))) ]
+
+ if not len(limages) == len(rimages):
+ raise CalibrationException("Left, right images don't match. %d left images, %d right" % (len(limages), len(rimages)))
+
+ ##\todo Check that the filenames match and stuff
+
+ self.cal(limages, rimages)
diff --git a/build/camera_calibration/build/lib/camera_calibration/camera_calibrator.py b/build/camera_calibration/build/lib/camera_calibration/camera_calibrator.py
new file mode 100755
index 0000000..98d0c72
--- /dev/null
+++ b/build/camera_calibration/build/lib/camera_calibration/camera_calibrator.py
@@ -0,0 +1,366 @@
+#!/usr/bin/python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import cv2
+import message_filters
+import numpy
+import os
+import rclpy
+from rclpy.node import Node
+import sensor_msgs.msg
+import sensor_msgs.srv
+import threading
+import time
+from camera_calibration.calibrator import MonoCalibrator, StereoCalibrator, ChessboardInfo, Patterns
+from collections import deque
+from message_filters import ApproximateTimeSynchronizer
+from std_msgs.msg import String
+from std_srvs.srv import Empty
+
+class SpinThread(threading.Thread):
+ """
+ Thread that spins the ros node, while imshow runs in the main thread
+ """
+
+ def __init__(self, node):
+ threading.Thread.__init__(self)
+ self.node = node
+
+ def run(self):
+ rclpy.spin(self.node)
+
+
+class ConsumerThread(threading.Thread):
+ def __init__(self, queue, function):
+ threading.Thread.__init__(self)
+ self.queue = queue
+ self.function = function
+
+ def run(self):
+ while True:
+ # wait for an image (could happen at the very beginning when the queue is still empty)
+ while len(self.queue) == 0:
+ time.sleep(0.1)
+ self.function(self.queue[0])
+
+
+class CalibrationNode(Node):
+ def __init__(self, name, boards, service_check = True, synchronizer = message_filters.TimeSynchronizer, flags = 0,
+ pattern=Patterns.Chessboard, camera_name='', checkerboard_flags = 0):
+ super().__init__(name)
+
+ self.set_camera_info_service = self.create_client(sensor_msgs.srv.SetCameraInfo,
+ "camera/set_camera_info")
+ self.set_left_camera_info_service = self.create_client(sensor_msgs.srv.SetCameraInfo,
+ "left_camera/set_camera_info")
+ self.set_right_camera_info_service = self.create_client(sensor_msgs.srv.SetCameraInfo,
+ "right_camera/set_camera_info")
+
+ if service_check:
+ # assume any non-default service names have been set. Wait for the service to become ready
+ for cli in [self.set_camera_info_service, self.set_left_camera_info_service, self.set_right_camera_info_service]:
+ #remapped = rclpy.remap_name(svcname)
+ #if remapped != svcname:
+ #fullservicename = "%s/set_camera_info" % remapped
+ print("Waiting for service", cli.srv_name, "...")
+ # check all services so they are ready.
+ try:
+ cli.wait_for_service(timeout_sec=5)
+ print("OK")
+ except Exception as e:
+ print("Service not found: %s".format(e))
+ rclpy.shutdown()
+
+ self._boards = boards
+ self._calib_flags = flags
+ self._checkerboard_flags = checkerboard_flags
+ self._pattern = pattern
+ self._camera_name = camera_name
+ lsub = message_filters.Subscriber(self, sensor_msgs.msg.Image, 'left')
+ rsub = message_filters.Subscriber(self, sensor_msgs.msg.Image, 'right')
+ ts = synchronizer([lsub, rsub], 4)
+ ts.registerCallback(self.queue_stereo)
+
+ msub = message_filters.Subscriber(self, sensor_msgs.msg.Image, 'image')
+ msub.registerCallback(self.queue_monocular)
+
+ self.q_mono = deque([], 1)
+ self.q_stereo = deque([], 1)
+
+ self.c = None
+
+ mth = ConsumerThread(self.q_mono, self.handle_monocular)
+ mth.setDaemon(True)
+ mth.start()
+
+ sth = ConsumerThread(self.q_stereo, self.handle_stereo)
+ sth.setDaemon(True)
+ sth.start()
+
+ def redraw_stereo(self, *args):
+ pass
+ def redraw_monocular(self, *args):
+ pass
+
+ def queue_monocular(self, msg):
+ self.q_mono.append(msg)
+
+ def queue_stereo(self, lmsg, rmsg):
+ self.q_stereo.append((lmsg, rmsg))
+
+ def handle_monocular(self, msg):
+ if self.c == None:
+ if self._camera_name:
+ self.c = MonoCalibrator(self._boards, self._calib_flags, self._pattern, name=self._camera_name,
+ checkerboard_flags=self._checkerboard_flags)
+ else:
+ self.c = MonoCalibrator(self._boards, self._calib_flags, self._pattern,
+ checkerboard_flags=self.checkerboard_flags)
+
+ # This should just call the MonoCalibrator
+ drawable = self.c.handle_msg(msg)
+ self.displaywidth = drawable.scrib.shape[1]
+ self.redraw_monocular(drawable)
+
+ def handle_stereo(self, msg):
+ if self.c == None:
+ if self._camera_name:
+ self.c = StereoCalibrator(self._boards, self._calib_flags, self._pattern, name=self._camera_name,
+ checkerboard_flags=self._checkerboard_flags)
+ else:
+ self.c = StereoCalibrator(self._boards, self._calib_flags, self._pattern,
+ checkerboard_flags=self._checkerboard_flags)
+
+ drawable = self.c.handle_msg(msg)
+ self.displaywidth = drawable.lscrib.shape[1] + drawable.rscrib.shape[1]
+ self.redraw_stereo(drawable)
+
+
+ def check_set_camera_info(self, response):
+ if response.done():
+ if response.result() is not None:
+ if response.result().success:
+ return True
+
+ for i in range(10):
+ print("!" * 80)
+ print()
+ print("Attempt to set camera info failed: " + response.result() if response.result() is not None else "Not available")
+ print()
+ for i in range(10):
+ print("!" * 80)
+ print()
+ self.get_logger().error('Unable to set camera info for calibration. Failure message: %s' % response.result() if response.result() is not None else "Not available")
+ return False
+
+ def do_upload(self):
+ self.c.report()
+ print(self.c.ost())
+ info = self.c.as_message()
+
+ req = sensor_msgs.srv.SetCameraInfo.Request()
+ rv = True
+ if self.c.is_mono:
+ req.camera_info = info
+ response = self.set_camera_info_service.call_async(req)
+ rv = self.check_set_camera_info(response)
+ else:
+ req.camera_info = info[0]
+ response = self.set_left_camera_info_service.call_async(req)
+ rv = rv and self.check_set_camera_info(response)
+ req.camera_info = info[1]
+ response = self.set_right_camera_info_service.call_async(req)
+ rv = rv and self.check_set_camera_info(response)
+ return rv
+
+
+class OpenCVCalibrationNode(CalibrationNode):
+ """ Calibration node with an OpenCV Gui """
+ FONT_FACE = cv2.FONT_HERSHEY_SIMPLEX
+ FONT_SCALE = 0.6
+ FONT_THICKNESS = 2
+
+ def __init__(self, *args, **kwargs):
+
+ CalibrationNode.__init__(self, *args, **kwargs)
+
+ self.queue_display = deque([], 1)
+ self.initWindow()
+
+ def spin(self):
+ sth = SpinThread(self)
+ sth.setDaemon(True)
+ sth.start()
+
+ while True:
+ # wait for an image (could happen at the very beginning when the queue is still empty)
+ while len(self.queue_display) == 0:
+ time.sleep(0.1)
+ im = self.queue_display[0]
+ cv2.imshow("display", im)
+ k = cv2.waitKey(6) & 0xFF
+ if k in [27, ord('q')]:
+ rclpy.shutdown()
+ elif k == ord('s'):
+ self.screendump(im)
+
+ def initWindow(self):
+ cv2.namedWindow("display", cv2.WINDOW_NORMAL)
+ cv2.setMouseCallback("display", self.on_mouse)
+ cv2.createTrackbar("scale", "display", 0, 100, self.on_scale)
+
+ @classmethod
+ def putText(cls, img, text, org, color = (0,0,0)):
+ cv2.putText(img, text, org, cls.FONT_FACE, cls.FONT_SCALE, color, thickness = cls.FONT_THICKNESS)
+
+ @classmethod
+ def getTextSize(cls, text):
+ return cv2.getTextSize(text, cls.FONT_FACE, cls.FONT_SCALE, cls.FONT_THICKNESS)[0]
+
+ def on_mouse(self, event, x, y, flags, param):
+ if event == cv2.EVENT_LBUTTONDOWN and self.displaywidth < x:
+ if self.c.goodenough:
+ if 180 <= y < 280:
+ self.c.do_calibration()
+ if self.c.calibrated:
+ if 280 <= y < 380:
+ self.c.do_save()
+ elif 380 <= y < 480:
+ # Only shut down if we set camera info correctly, #3993
+ if self.do_upload():
+ rclpy.shutdown()
+
+ def on_scale(self, scalevalue):
+ if self.c.calibrated:
+ self.c.set_alpha(scalevalue / 100.0)
+
+ def button(self, dst, label, enable):
+ dst.fill(255)
+ size = (dst.shape[1], dst.shape[0])
+ if enable:
+ color = (155, 155, 80)
+ else:
+ color = (224, 224, 224)
+ cv2.circle(dst, (size[0] // 2, size[1] // 2), min(size) // 2, color, -1)
+ (w, h) = self.getTextSize(label)
+ self.putText(dst, label, ((size[0] - w) // 2, (size[1] + h) // 2), (255,255,255))
+
+ def buttons(self, display):
+ x = self.displaywidth
+ self.button(display[180:280,x:x+100], "CALIBRATE", self.c.goodenough)
+ self.button(display[280:380,x:x+100], "SAVE", self.c.calibrated)
+ self.button(display[380:480,x:x+100], "COMMIT", self.c.calibrated)
+
+ def y(self, i):
+ """Set up right-size images"""
+ return 30 + 40 * i
+
+ def screendump(self, im):
+ i = 0
+ while os.access("/tmp/dump%d.png" % i, os.R_OK):
+ i += 1
+ cv2.imwrite("/tmp/dump%d.png" % i, im)
+
+ def redraw_monocular(self, drawable):
+ height = drawable.scrib.shape[0]
+ width = drawable.scrib.shape[1]
+
+ display = numpy.zeros((max(480, height), width + 100, 3), dtype=numpy.uint8)
+ display[0:height, 0:width,:] = drawable.scrib
+ display[0:height, width:width+100,:].fill(255)
+
+
+ self.buttons(display)
+ if not self.c.calibrated:
+ if drawable.params:
+ for i, (label, lo, hi, progress) in enumerate(drawable.params):
+ (w,_) = self.getTextSize(label)
+ self.putText(display, label, (width + (100 - w) // 2, self.y(i)))
+ color = (0,255,0)
+ if progress < 1.0:
+ color = (0, int(progress*255.), 255)
+ cv2.line(display,
+ (int(width + lo * 100), self.y(i) + 20),
+ (int(width + hi * 100), self.y(i) + 20),
+ color, 4)
+
+ else:
+ self.putText(display, "lin.", (width, self.y(0)))
+ linerror = drawable.linear_error
+ if linerror < 0:
+ msg = "?"
+ else:
+ msg = "%.2f" % linerror
+ #print "linear", linerror
+ self.putText(display, msg, (width, self.y(1)))
+
+ self.queue_display.append(display)
+
+ def redraw_stereo(self, drawable):
+ height = drawable.lscrib.shape[0]
+ width = drawable.lscrib.shape[1]
+
+ display = numpy.zeros((max(480, height), 2 * width + 100, 3), dtype=numpy.uint8)
+ display[0:height, 0:width,:] = drawable.lscrib
+ display[0:height, width:2*width,:] = drawable.rscrib
+ display[0:height, 2*width:2*width+100,:].fill(255)
+
+ self.buttons(display)
+
+ if not self.c.calibrated:
+ if drawable.params:
+ for i, (label, lo, hi, progress) in enumerate(drawable.params):
+ (w,_) = self.getTextSize(label)
+ self.putText(display, label, (2 * width + (100 - w) // 2, self.y(i)))
+ color = (0,255,0)
+ if progress < 1.0:
+ color = (0, int(progress*255.), 255)
+ cv2.line(display,
+ (int(2 * width + lo * 100), self.y(i) + 20),
+ (int(2 * width + hi * 100), self.y(i) + 20),
+ color, 4)
+
+ else:
+ self.putText(display, "epi.", (2 * width, self.y(0)))
+ if drawable.epierror == -1:
+ msg = "?"
+ else:
+ msg = "%.2f" % drawable.epierror
+ self.putText(display, msg, (2 * width, self.y(1)))
+ # TODO dim is never set anywhere. Supposed to be observed chessboard size?
+ if drawable.dim != -1:
+ self.putText(display, "dim", (2 * width, self.y(2)))
+ self.putText(display, "%.3f" % drawable.dim, (2 * width, self.y(3)))
+
+ self.queue_display.append(display)
diff --git a/build/camera_calibration/build/lib/camera_calibration/camera_checker.py b/build/camera_calibration/build/lib/camera_calibration/camera_checker.py
new file mode 100755
index 0000000..214e7e5
--- /dev/null
+++ b/build/camera_calibration/build/lib/camera_calibration/camera_checker.py
@@ -0,0 +1,201 @@
+#!/usr/bin/python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import cv2
+import cv_bridge
+import functools
+import message_filters
+import numpy
+import rclpy
+from rclpy.node import Node
+import sensor_msgs.msg
+import sensor_msgs.srv
+import threading
+
+from camera_calibration.calibrator import MonoCalibrator, StereoCalibrator, ChessboardInfo
+from message_filters import ApproximateTimeSynchronizer
+
+try:
+ from queue import Queue
+except ImportError:
+ from Queue import Queue
+
+
+def mean(seq):
+ return sum(seq) / len(seq)
+
+def lmin(seq1, seq2):
+ """ Pairwise minimum of two sequences """
+ return [min(a, b) for (a, b) in zip(seq1, seq2)]
+
+def lmax(seq1, seq2):
+ """ Pairwise maximum of two sequences """
+ return [max(a, b) for (a, b) in zip(seq1, seq2)]
+
+class ConsumerThread(threading.Thread):
+ def __init__(self, queue, function):
+ threading.Thread.__init__(self)
+ self.queue = queue
+ self.function = function
+
+ def run(self):
+ while rclpy.ok():
+ m = self.queue.get()
+ if self.queue.empty():
+ break
+ self.function(m)
+
+class CameraCheckerNode(Node):
+
+ def __init__(self, name, chess_size, dim, approximate=0):
+ super().__init__(name)
+ self.board = ChessboardInfo()
+ self.board.n_cols = chess_size[0]
+ self.board.n_rows = chess_size[1]
+ self.board.dim = dim
+
+ # make sure n_cols is not smaller than n_rows, otherwise error computation will be off
+ if self.board.n_cols < self.board.n_rows:
+ self.board.n_cols, self.board.n_rows = self.board.n_rows, self.board.n_cols
+
+ image_topic = "monocular/image_rect"
+ camera_topic = "monocular/camera_info"
+
+ tosync_mono = [
+ (image_topic, sensor_msgs.msg.Image),
+ (camera_topic, sensor_msgs.msg.CameraInfo),
+ ]
+
+ if approximate <= 0:
+ sync = message_filters.TimeSynchronizer
+ else:
+ sync = functools.partial(ApproximateTimeSynchronizer, slop=approximate)
+
+ tsm = sync([message_filters.Subscriber(self, type, topic) for (topic, type) in tosync_mono], 10)
+ tsm.registerCallback(self.queue_monocular)
+
+ left_topic = "stereo/left/image_rect"
+ left_camera_topic = "stereo/left/camera_info"
+ right_topic = "stereo/right/image_rect"
+ right_camera_topic = "stereo/right/camera_info"
+
+ tosync_stereo = [
+ (left_topic, sensor_msgs.msg.Image),
+ (left_camera_topic, sensor_msgs.msg.CameraInfo),
+ (right_topic, sensor_msgs.msg.Image),
+ (right_camera_topic, sensor_msgs.msg.CameraInfo)
+ ]
+
+ tss = sync([message_filters.Subscriber(self, type, topic) for (topic, type) in tosync_stereo], 10)
+ tss.registerCallback(self.queue_stereo)
+
+ self.br = cv_bridge.CvBridge()
+
+ self.q_mono = Queue()
+ self.q_stereo = Queue()
+
+ mth = ConsumerThread(self.q_mono, self.handle_monocular)
+ mth.setDaemon(True)
+ mth.start()
+
+ sth = ConsumerThread(self.q_stereo, self.handle_stereo)
+ sth.setDaemon(True)
+ sth.start()
+
+ self.mc = MonoCalibrator([self.board])
+ self.sc = StereoCalibrator([self.board])
+
+ def queue_monocular(self, msg, cmsg):
+ self.q_mono.put((msg, cmsg))
+
+ def queue_stereo(self, lmsg, lcmsg, rmsg, rcmsg):
+ self.q_stereo.put((lmsg, lcmsg, rmsg, rcmsg))
+
+ def mkgray(self, msg):
+ return self.mc.mkgray(msg)
+
+ def image_corners(self, im):
+ (ok, corners, b) = self.mc.get_corners(im)
+ if ok:
+ return corners
+ else:
+ return None
+
+ def handle_monocular(self, msg):
+
+ (image, camera) = msg
+ gray = self.mkgray(image)
+ C = self.image_corners(gray)
+ if C is not None:
+ linearity_rms = self.mc.linear_error(C, self.board)
+
+ # Add in reprojection check
+ image_points = C
+ object_points = self.mc.mk_object_points([self.board], use_board_size=True)[0]
+ dist_coeffs = numpy.zeros((4, 1))
+ camera_matrix = numpy.array( [ [ camera.P[0], camera.P[1], camera.P[2] ],
+ [ camera.P[4], camera.P[5], camera.P[6] ],
+ [ camera.P[8], camera.P[9], camera.P[10] ] ] )
+ ok, rot, trans = cv2.solvePnP(object_points, image_points, camera_matrix, dist_coeffs)
+ # Convert rotation into a 3x3 Rotation Matrix
+ rot3x3, _ = cv2.Rodrigues(rot)
+ # Reproject model points into image
+ object_points_world = numpy.asmatrix(rot3x3) * numpy.asmatrix(object_points.squeeze().T) + numpy.asmatrix(trans)
+ reprojected_h = camera_matrix * object_points_world
+ reprojected = (reprojected_h[0:2, :] / reprojected_h[2, :])
+ reprojection_errors = image_points.squeeze().T - reprojected
+
+ reprojection_rms = numpy.sqrt(numpy.sum(numpy.array(reprojection_errors) ** 2) / numpy.product(reprojection_errors.shape))
+
+ # Print the results
+ print("Linearity RMS Error: %.3f Pixels Reprojection RMS Error: %.3f Pixels" % (linearity_rms, reprojection_rms))
+ else:
+ print('no chessboard')
+
+ def handle_stereo(self, msg):
+
+ (lmsg, lcmsg, rmsg, rcmsg) = msg
+ lgray = self.mkgray(lmsg)
+ rgray = self.mkgray(rmsg)
+
+ L = self.image_corners(lgray)
+ R = self.image_corners(rgray)
+ if L is not None and R is not None:
+ epipolar = self.sc.epipolar_error(L, R)
+
+ dimension = self.sc.chessboard_size(L, R, self.board, msg=(lcmsg, rcmsg))
+
+ print("epipolar error: %f pixels dimension: %f m" % (epipolar, dimension))
+ else:
+ print("no chessboard")
diff --git a/build/camera_calibration/build/lib/camera_calibration/nodes/__init__.py b/build/camera_calibration/build/lib/camera_calibration/nodes/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/build/camera_calibration/build/lib/camera_calibration/nodes/cameracalibrator.py b/build/camera_calibration/build/lib/camera_calibration/nodes/cameracalibrator.py
new file mode 100755
index 0000000..aeacbf1
--- /dev/null
+++ b/build/camera_calibration/build/lib/camera_calibration/nodes/cameracalibrator.py
@@ -0,0 +1,153 @@
+#!/usr/bin/python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import cv2
+import functools
+import message_filters
+import rclpy
+from camera_calibration.camera_calibrator import OpenCVCalibrationNode
+from camera_calibration.calibrator import ChessboardInfo, Patterns
+from message_filters import ApproximateTimeSynchronizer
+
+
+def main():
+ from optparse import OptionParser, OptionGroup
+ parser = OptionParser("%prog --size SIZE1 --square SQUARE1 [ --size SIZE2 --square SQUARE2 ]",
+ description=None)
+ parser.add_option("-c", "--camera_name",
+ type="string", default='narrow_stereo',
+ help="name of the camera to appear in the calibration file")
+ group = OptionGroup(parser, "Chessboard Options",
+ "You must specify one or more chessboards as pairs of --size and --square options.")
+ group.add_option("-p", "--pattern",
+ type="string", default="chessboard",
+ help="calibration pattern to detect - 'chessboard', 'circles', 'acircles'")
+ group.add_option("-s", "--size",
+ action="append", default=[],
+ help="chessboard size as NxM, counting interior corners (e.g. a standard chessboard is 7x7)")
+ group.add_option("-q", "--square",
+ action="append", default=[],
+ help="chessboard square size in meters")
+ parser.add_option_group(group)
+ group = OptionGroup(parser, "ROS Communication Options")
+ group.add_option("--approximate",
+ type="float", default=0.0,
+ help="allow specified slop (in seconds) when pairing images from unsynchronized stereo cameras")
+ group.add_option("--no-service-check",
+ action="store_false", dest="service_check", default=True,
+ help="disable check for set_camera_info services at startup")
+ parser.add_option_group(group)
+ group = OptionGroup(parser, "Calibration Optimizer Options")
+ group.add_option("--fix-principal-point",
+ action="store_true", default=False,
+ help="fix the principal point at the image center")
+ group.add_option("--fix-aspect-ratio",
+ action="store_true", default=False,
+ help="enforce focal lengths (fx, fy) are equal")
+ group.add_option("--zero-tangent-dist",
+ action="store_true", default=False,
+ help="set tangential distortion coefficients (p1, p2) to zero")
+ group.add_option("-k", "--k-coefficients",
+ type="int", default=2, metavar="NUM_COEFFS",
+ help="number of radial distortion coefficients to use (up to 6, default %default)")
+ group.add_option("--disable_calib_cb_fast_check", action='store_true', default=False,
+ help="uses the CALIB_CB_FAST_CHECK flag for findChessboardCorners")
+ parser.add_option_group(group)
+ options, _ = parser.parse_args(rclpy.utilities.remove_ros_args())
+
+ if len(options.size) != len(options.square):
+ parser.error("Number of size and square inputs must be the same!")
+
+ if not options.square:
+ options.square.append("0.108")
+ options.size.append("8x6")
+
+ boards = []
+ for (sz, sq) in zip(options.size, options.square):
+ size = tuple([int(c) for c in sz.split('x')])
+ boards.append(ChessboardInfo(size[0], size[1], float(sq)))
+
+ if options.approximate == 0.0:
+ sync = message_filters.TimeSynchronizer
+ else:
+ sync = functools.partial(ApproximateTimeSynchronizer, slop=options.approximate)
+
+ num_ks = options.k_coefficients
+
+ calib_flags = 0
+ if options.fix_principal_point:
+ calib_flags |= cv2.CALIB_FIX_PRINCIPAL_POINT
+ if options.fix_aspect_ratio:
+ calib_flags |= cv2.CALIB_FIX_ASPECT_RATIO
+ if options.zero_tangent_dist:
+ calib_flags |= cv2.CALIB_ZERO_TANGENT_DIST
+ if (num_ks > 3):
+ calib_flags |= cv2.CALIB_RATIONAL_MODEL
+ if (num_ks < 6):
+ calib_flags |= cv2.CALIB_FIX_K6
+ if (num_ks < 5):
+ calib_flags |= cv2.CALIB_FIX_K5
+ if (num_ks < 4):
+ calib_flags |= cv2.CALIB_FIX_K4
+ if (num_ks < 3):
+ calib_flags |= cv2.CALIB_FIX_K3
+ if (num_ks < 2):
+ calib_flags |= cv2.CALIB_FIX_K2
+ if (num_ks < 1):
+ calib_flags |= cv2.CALIB_FIX_K1
+
+ pattern = Patterns.Chessboard
+ if options.pattern == 'circles':
+ pattern = Patterns.Circles
+ elif options.pattern == 'acircles':
+ pattern = Patterns.ACircles
+ elif options.pattern != 'chessboard':
+ print('Unrecognized pattern %s, defaulting to chessboard' % options.pattern)
+
+ if options.disable_calib_cb_fast_check:
+ checkerboard_flags = 0
+ else:
+ checkerboard_flags = cv2.CALIB_CB_FAST_CHECK
+
+ rclpy.init()
+ node = OpenCVCalibrationNode("cameracalibrator", boards, options.service_check, sync, calib_flags, pattern, options.camera_name,
+ checkerboard_flags=checkerboard_flags)
+ node.spin()
+
+if __name__ == "__main__":
+ try:
+ main()
+ except Exception as e:
+ import traceback
+ traceback.print_exc()
diff --git a/build/camera_calibration/build/lib/camera_calibration/nodes/cameracheck.py b/build/camera_calibration/build/lib/camera_calibration/nodes/cameracheck.py
new file mode 100755
index 0000000..a6831f6
--- /dev/null
+++ b/build/camera_calibration/build/lib/camera_calibration/nodes/cameracheck.py
@@ -0,0 +1,58 @@
+#!/usr/bin/python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import rclpy
+from camera_calibration.camera_checker import CameraCheckerNode
+
+
+def main():
+ from optparse import OptionParser
+ parser = OptionParser()
+ parser.add_option("-s", "--size", default="8x6", help="specify chessboard size as nxm [default: %default]")
+ parser.add_option("-q", "--square", default=".108", help="specify chessboard square size in meters [default: %default]")
+ parser.add_option("--approximate",
+ type="float", default=0.0,
+ help="allow specified slop (in seconds) when pairing images from unsynchronized stereo cameras")
+
+ options, _ = parser.parse_args(rclpy.utilities.remove_ros_args())
+ rclpy.init()
+
+ size = tuple([int(c) for c in options.size.split('x')])
+ dim = float(options.square)
+ approximate = float(options.approximate)
+ node = CameraCheckerNode("cameracheck", size, dim, approximate)
+ rclpy.spin(node)
+
+if __name__ == "__main__":
+ main()
diff --git a/build/camera_calibration/camera_calibration.egg-info/PKG-INFO b/build/camera_calibration/camera_calibration.egg-info/PKG-INFO
new file mode 100755
index 0000000..0b50efe
--- /dev/null
+++ b/build/camera_calibration/camera_calibration.egg-info/PKG-INFO
@@ -0,0 +1,12 @@
+Metadata-Version: 1.2
+Name: camera-calibration
+Version: 2.2.0
+Summary: Camera_calibration allows easy calibration of monocular or stereo cameras using a checkerboard calibration target .
+Home-page: UNKNOWN
+Author: James Bowman, Patrick Mihelich
+Maintainer: Vincent Rabaud, Steven Macenski, Joshua Whitley
+Maintainer-email: vincent.rabaud@gmail.com, stevenmacenski@gmail.com, whitleysoftwareservices@gmail.com
+License: BSD
+Description: UNKNOWN
+Keywords: ROS2
+Platform: UNKNOWN
diff --git a/build/camera_calibration/camera_calibration.egg-info/SOURCES.txt b/build/camera_calibration/camera_calibration.egg-info/SOURCES.txt
new file mode 100755
index 0000000..362ea84
--- /dev/null
+++ b/build/camera_calibration/camera_calibration.egg-info/SOURCES.txt
@@ -0,0 +1,20 @@
+package.xml
+setup.cfg
+setup.py
+../../build/camera_calibration/camera_calibration.egg-info/PKG-INFO
+../../build/camera_calibration/camera_calibration.egg-info/SOURCES.txt
+../../build/camera_calibration/camera_calibration.egg-info/dependency_links.txt
+../../build/camera_calibration/camera_calibration.egg-info/entry_points.txt
+../../build/camera_calibration/camera_calibration.egg-info/requires.txt
+../../build/camera_calibration/camera_calibration.egg-info/top_level.txt
+../../build/camera_calibration/camera_calibration.egg-info/zip-safe
+resource/camera_calibration
+src/camera_calibration/__init__.py
+src/camera_calibration/calibrator.py
+src/camera_calibration/camera_calibrator.py
+src/camera_calibration/camera_checker.py
+src/camera_calibration/nodes/__init__.py
+src/camera_calibration/nodes/cameracalibrator.py
+src/camera_calibration/nodes/cameracheck.py
+test/test_directed.py
+test/test_multiple_boards.py
\ No newline at end of file
diff --git a/build/camera_calibration/camera_calibration.egg-info/dependency_links.txt b/build/camera_calibration/camera_calibration.egg-info/dependency_links.txt
new file mode 100755
index 0000000..8b13789
--- /dev/null
+++ b/build/camera_calibration/camera_calibration.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/build/camera_calibration/camera_calibration.egg-info/entry_points.txt b/build/camera_calibration/camera_calibration.egg-info/entry_points.txt
new file mode 100755
index 0000000..519f9b0
--- /dev/null
+++ b/build/camera_calibration/camera_calibration.egg-info/entry_points.txt
@@ -0,0 +1,4 @@
+[console_scripts]
+cameracalibrator = camera_calibration.nodes.cameracalibrator:main
+cameracheck = camera_calibration.nodes.cameracheck:main
+
diff --git a/build/camera_calibration/camera_calibration.egg-info/requires.txt b/build/camera_calibration/camera_calibration.egg-info/requires.txt
new file mode 100755
index 0000000..49fe098
--- /dev/null
+++ b/build/camera_calibration/camera_calibration.egg-info/requires.txt
@@ -0,0 +1 @@
+setuptools
diff --git a/build/camera_calibration/camera_calibration.egg-info/top_level.txt b/build/camera_calibration/camera_calibration.egg-info/top_level.txt
new file mode 100755
index 0000000..72757c4
--- /dev/null
+++ b/build/camera_calibration/camera_calibration.egg-info/top_level.txt
@@ -0,0 +1 @@
+camera_calibration
diff --git a/build/camera_calibration/camera_calibration.egg-info/zip-safe b/build/camera_calibration/camera_calibration.egg-info/zip-safe
new file mode 100755
index 0000000..8b13789
--- /dev/null
+++ b/build/camera_calibration/camera_calibration.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/build/camera_calibration/colcon_build.rc b/build/camera_calibration/colcon_build.rc
new file mode 100755
index 0000000..573541a
--- /dev/null
+++ b/build/camera_calibration/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/build/camera_calibration/colcon_command_prefix_setup_py.sh b/build/camera_calibration/colcon_command_prefix_setup_py.sh
new file mode 100755
index 0000000..f9867d5
--- /dev/null
+++ b/build/camera_calibration/colcon_command_prefix_setup_py.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/build/camera_calibration/colcon_command_prefix_setup_py.sh.env b/build/camera_calibration/colcon_command_prefix_setup_py.sh.env
new file mode 100755
index 0000000..14e728e
--- /dev/null
+++ b/build/camera_calibration/colcon_command_prefix_setup_py.sh.env
@@ -0,0 +1,70 @@
+AMENT_PREFIX_PATH=/home/ros2/dev2_ws/install/v4l2_camera:/home/ros2/dev2_ws/install/turtle_follower_py:/home/ros2/dev2_ws/install/camera_calibration:/home/ros2/dev2_ws/install/aruco_interfaces:/home/ros2/dev2_ws/install/aruco_detector:/opt/ros/foxy
+CMAKE_PREFIX_PATH=/home/ros2/dev2_ws/install/v4l2_camera:/home/ros2/dev2_ws/install/aruco_interfaces
+COLCON=1
+COLCON_PREFIX_PATH=/home/ros2/dev2_ws/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
+DESKTOP_SESSION=ubuntu
+DISPLAY=:0
+GDMSESSION=ubuntu
+GJS_DEBUG_OUTPUT=stderr
+GJS_DEBUG_TOPICS=JS ERROR;JS LOG
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SHELL_SESSION_MODE=ubuntu
+GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/ed9a88cb_996e_4783_90fb_206aa627c957
+GNOME_TERMINAL_SERVICE=:1.166
+GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1
+GTK_MODULES=gail:atk-bridge
+HOME=/home/ros2
+IM_CONFIG_PHASE=1
+INVOCATION_ID=331653316740409188736b6261a239d2
+JOURNAL_STREAM=8:183562
+LANG=en_US.UTF-8
+LC_ADDRESS=de_DE.UTF-8
+LC_ALL=en_US.UTF-8
+LC_IDENTIFICATION=de_DE.UTF-8
+LC_MEASUREMENT=de_DE.UTF-8
+LC_MONETARY=de_DE.UTF-8
+LC_NAME=de_DE.UTF-8
+LC_NUMERIC=de_DE.UTF-8
+LC_PAPER=de_DE.UTF-8
+LC_TELEPHONE=de_DE.UTF-8
+LC_TIME=de_DE.UTF-8
+LD_LIBRARY_PATH=/home/ros2/dev2_ws/install/v4l2_camera/lib:/home/ros2/dev2_ws/install/aruco_interfaces/lib:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=ros2
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
+MANAGERPID=7832
+OLDPWD=/home/ros2/dev2_ws/launch
+PAPERSIZE=a4
+PATH=/opt/ros/foxy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
+PWD=/home/ros2/dev2_ws/build/camera_calibration
+PYTHONPATH=/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/aruco_interfaces/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages:/opt/ros/foxy/lib/python3.8/site-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+ROS_DISTRO=foxy
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/ubuntu:@/tmp/.ICE-unix/8042,unix/ubuntu:/tmp/.ICE-unix/8042
+SHELL=/bin/bash
+SHLVL=1
+SSH_AGENT_PID=8007
+SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
+TERM=xterm-256color
+USER=ros2
+USERNAME=ros2
+VTE_VERSION=6003
+WINDOWPATH=2
+XAUTHORITY=/run/user/1000/gdm/Xauthority
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=ubuntu:GNOME
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1000
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=x11
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon
diff --git a/build/camera_calibration/install.log b/build/camera_calibration/install.log
new file mode 100755
index 0000000..a0487ea
--- /dev/null
+++ b/build/camera_calibration/install.log
@@ -0,0 +1,25 @@
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/__init__.py
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/camera_calibrator.py
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/camera_checker.py
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/calibrator.py
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/nodes/cameracheck.py
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/nodes/__init__.py
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/nodes/cameracalibrator.py
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/__pycache__/__init__.cpython-38.pyc
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/__pycache__/camera_calibrator.cpython-38.pyc
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/__pycache__/camera_checker.cpython-38.pyc
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/__pycache__/calibrator.cpython-38.pyc
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/nodes/__pycache__/cameracheck.cpython-38.pyc
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/nodes/__pycache__/__init__.cpython-38.pyc
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration/nodes/__pycache__/cameracalibrator.cpython-38.pyc
+/home/ros2/dev2_ws/install/camera_calibration/share/ament_index/resource_index/packages/camera_calibration
+/home/ros2/dev2_ws/install/camera_calibration/share/camera_calibration/package.xml
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration-2.2.0-py3.8.egg-info/requires.txt
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration-2.2.0-py3.8.egg-info/top_level.txt
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration-2.2.0-py3.8.egg-info/dependency_links.txt
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration-2.2.0-py3.8.egg-info/PKG-INFO
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration-2.2.0-py3.8.egg-info/entry_points.txt
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration-2.2.0-py3.8.egg-info/zip-safe
+/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages/camera_calibration-2.2.0-py3.8.egg-info/SOURCES.txt
+/home/ros2/dev2_ws/install/camera_calibration/lib/camera_calibration/cameracalibrator
+/home/ros2/dev2_ws/install/camera_calibration/lib/camera_calibration/cameracheck
diff --git a/build/turtle_follower_py/build/lib/turtle_follower_py/__init__.py b/build/turtle_follower_py/build/lib/turtle_follower_py/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/build/turtle_follower_py/build/lib/turtle_follower_py/turtle_follower_py.py b/build/turtle_follower_py/build/lib/turtle_follower_py/turtle_follower_py.py
new file mode 100755
index 0000000..50d6866
--- /dev/null
+++ b/build/turtle_follower_py/build/lib/turtle_follower_py/turtle_follower_py.py
@@ -0,0 +1,153 @@
+from distutils.log import error
+from matplotlib.pyplot import twinx
+import rclpy
+from rclpy.node import Node
+import math
+
+from turtlesim.srv import Spawn
+from std_srvs.srv import Empty
+from turtlesim.srv import TeleportAbsolute
+
+from aruco_interfaces.msg import ArucoMarkerPose
+from turtlesim.msg import Pose
+from geometry_msgs.msg import Twist
+
+class TurtleFollowerPy(Node):
+
+ def __init__(self):
+ super().__init__('turtle_follower_node')
+
+
+ #Create client for reset service
+ self.cli_turtlesim_reset = self.create_client(srv_type = Empty, srv_name = "/reset")
+ while not self.cli_turtlesim_reset.wait_for_service(timeout_sec=1.0):
+ self.get_logger().info('/reset service not available, waiting again...')
+ self.req_turtlesim_reset = Empty.Request()
+
+ #Create client for spawn service
+ self.cli_turtlesim_spawn = self.create_client(srv_type = Spawn, srv_name = "/spawn")
+ while not self.cli_turtlesim_spawn.wait_for_service(timeout_sec=1.0):
+ self.get_logger().info('/spawn service not available, waiting again...')
+ self.req_turtlesim_spawn = Spawn.Request()
+
+ #Create client for clear service
+ self.cli_turtlesim_clear = self.create_client(srv_type = Empty, srv_name = "/clear")
+ while not self.cli_turtlesim_clear.wait_for_service(timeout_sec=1.0):
+ self.get_logger().info('/clear service not available, waiting again...')
+ self.req_turtlesim_clear = Empty.Request()
+
+ #Create subscriber to get the current positions
+ self.sub_marker_pose = self.create_subscription(ArucoMarkerPose, "/aruco/aruco_poses", self.cbk_aruco_poses, 10)
+ self.sub_turtle1_pose = self.create_subscription(Pose, "/turtle1/pose", self.cbk_turtle1_pose ,10)
+ self.sub_turtle2_pose = self.create_subscription(Pose, "/turtle2/pose", self.cbk_turtle2_pose ,10)
+
+ #Create publisher to control turtle2 (follower)
+ self.pub_turtle2_motion = self.create_publisher(Twist, "/cmd_vel", 10)
+
+ #reset turtlesim and spawn second turtle
+ self.get_logger().info('resetting turtlesim ...')
+ self.reset_turtlesim()
+ self.target_pose = Pose()
+ self.current_pose = Pose()
+ self.target_posex = 1.0
+ self.target_posey = 1.0
+ self.target_pose.theta = math.pi
+ self.current_pose.x = 1.0
+ self.current_pose.y = 1.0
+ self.current_pose.theta = math.pi
+ self.spawn_turtle("turtle2", self.target_pose.x, self.target_pose.y, self.target_pose.theta)
+ self.spawn_turtle("turtle2", self.current_pose.x, self.current_pose.y, self.current_pose.theta)
+
+ #Start timer for the follower controler
+ self.timer = self.create_timer(0.1, self.turtle2_follower_controler)
+
+ def spawn_turtle(self, name, x, y, theta):
+ self.req_turtlesim_spawn.x = x
+ self.req_turtlesim_spawn.y = y
+ self.req_turtlesim_spawn.theta = theta
+ self.req_turtlesim_spawn.name = name
+ future = self.cli_turtlesim_spawn.call_async(self.req_turtlesim_spawn)
+
+ def reset_turtlesim(self):
+ future = self.cli_turtlesim_reset.call_async(self.req_turtlesim_reset)
+
+ def cbk_aruco_poses(self, msg_pose):
+
+ #Create client for clear service
+ self.cli_turlesim_teleport = self.create_client(srv_type = TeleportAbsolute, srv_name = "turtle2/teleport_absolute")
+
+ #get the current coordinates and transform it to Turtlesim coordination system
+ self.req_turtlesim_teleport = TeleportAbsolute.Request()
+ self.req_turtlesim_teleport.x = (msg_pose.poses[0].position.x * 5) + 5.5
+ self.req_turtlesim_teleport.y = ((msg_pose.poses[0].position.y * -5) + 5.5)
+ self.req_turtlesim_teleport.theta = (math.asin(msg_pose.poses[0].orientation.z)*(-2) + math.pi/2) # calculation of angle theta by asin, because of cosinus axis symmetry
+ future = self.cli_turlesim_teleport.call_async(self.req_turtlesim_teleport)
+
+ def cbk_turtle1_pose(self, msg_pose):
+ self.target_pose.x = msg_pose.x
+ self.target_pose.y = msg_pose.y
+ self.target_pose.theta = msg_pose.theta
+
+
+ def cbk_turtle2_pose(self, msg_pose):
+ self.current_pose.x = msg_pose.x
+ self.current_pose.y = msg_pose.y
+ self.current_pose.theta = msg_pose.theta
+
+ def turtle2_follower_controler(self):
+ tolerance = 0.5
+ dist = math.sqrt(math.pow((self.target_pose.x - self.current_pose.x),2) + math.pow((self.target_pose.y - self.current_pose.y),2))
+ target_theta = math.atan2(self.target_pose.y - self.current_pose.y, self.target_pose.x - self.current_pose.x)
+ angle = target_theta - self.current_pose.theta
+
+ Ta = 0.1
+ kp_lin = 1.6/25
+ ki_lin = 1.1/25
+ kp_ang = 4*2/3
+ esum = 0
+ esum = esum + dist
+
+ #AntiWindup
+ esum_max = 2.0
+ if (esum > esum_max): esum = esum_max
+
+ #faster direction of rotation
+ if (angle > math.pi): angle = angle - (2*math.pi)
+ if (angle < -math.pi): angle = angle + (2*math.pi)
+
+ msg = Twist()
+ msg.linear.x = kp_lin * dist + ki_lin * Ta * esum;#dist
+ msg.linear.y = 0.0
+ msg.linear.z = 0.0
+ msg.angular.x = 0.0
+ msg.angular.y = 0.0
+ msg.angular.z = kp_ang*angle
+
+ if (abs(self.target_pose.x - self.current_pose.x) < tolerance and abs(self.target_pose.y - self.current_pose.y) < tolerance):
+ msg.linear.x = 0.0
+ msg.angular.z = 2 * (self.target_pose.theta - self.current_pose.theta)
+
+ if (abs(self.target_pose.x - self.current_pose.x) < tolerance and abs(self.target_pose.y - self.current_pose.y) < tolerance and abs(self.target_pose.theta - self.current_pose.theta)):
+ msg.linear.x = 0.0
+ msg.angular.z = 0.0
+ esum = 0.0
+
+ self.pub_turtle2_motion.publish(msg)
+ self.get_logger().info("publishing")
+
+def main(args=None):
+ rclpy.init(args=args)
+
+ turtle_follower = TurtleFollowerPy()
+
+ rclpy.spin(turtle_follower)
+
+ # Destroy the node explicitly
+ # (optional - otherwise it will be done automatically
+ # when the garbage collector destroys the node object)
+ turtle_follower.destroy_node()
+ rclpy.shutdown()
+
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/build/turtle_follower_py/colcon_build.rc b/build/turtle_follower_py/colcon_build.rc
new file mode 100755
index 0000000..573541a
--- /dev/null
+++ b/build/turtle_follower_py/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/build/turtle_follower_py/colcon_command_prefix_setup_py.sh b/build/turtle_follower_py/colcon_command_prefix_setup_py.sh
new file mode 100755
index 0000000..ecb4e03
--- /dev/null
+++ b/build/turtle_follower_py/colcon_command_prefix_setup_py.sh
@@ -0,0 +1,2 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
+. "/home/ros2/dev2_ws/install/aruco_interfaces/share/aruco_interfaces/package.sh"
diff --git a/build/turtle_follower_py/colcon_command_prefix_setup_py.sh.env b/build/turtle_follower_py/colcon_command_prefix_setup_py.sh.env
new file mode 100755
index 0000000..a25d033
--- /dev/null
+++ b/build/turtle_follower_py/colcon_command_prefix_setup_py.sh.env
@@ -0,0 +1,70 @@
+AMENT_PREFIX_PATH=/home/ros2/dev2_ws/install/v4l2_camera:/home/ros2/dev2_ws/install/turtle_follower_py:/home/ros2/dev2_ws/install/camera_calibration:/home/ros2/dev2_ws/install/aruco_interfaces:/home/ros2/dev2_ws/install/aruco_detector:/opt/ros/foxy
+CMAKE_PREFIX_PATH=/home/ros2/dev2_ws/install/aruco_interfaces:/home/ros2/dev2_ws/install/v4l2_camera
+COLCON=1
+COLCON_PREFIX_PATH=/home/ros2/dev2_ws/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
+DESKTOP_SESSION=ubuntu
+DISPLAY=:0
+GDMSESSION=ubuntu
+GJS_DEBUG_OUTPUT=stderr
+GJS_DEBUG_TOPICS=JS ERROR;JS LOG
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SHELL_SESSION_MODE=ubuntu
+GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/ed9a88cb_996e_4783_90fb_206aa627c957
+GNOME_TERMINAL_SERVICE=:1.166
+GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1
+GTK_MODULES=gail:atk-bridge
+HOME=/home/ros2
+IM_CONFIG_PHASE=1
+INVOCATION_ID=331653316740409188736b6261a239d2
+JOURNAL_STREAM=8:183562
+LANG=en_US.UTF-8
+LC_ADDRESS=de_DE.UTF-8
+LC_ALL=en_US.UTF-8
+LC_IDENTIFICATION=de_DE.UTF-8
+LC_MEASUREMENT=de_DE.UTF-8
+LC_MONETARY=de_DE.UTF-8
+LC_NAME=de_DE.UTF-8
+LC_NUMERIC=de_DE.UTF-8
+LC_PAPER=de_DE.UTF-8
+LC_TELEPHONE=de_DE.UTF-8
+LC_TIME=de_DE.UTF-8
+LD_LIBRARY_PATH=/home/ros2/dev2_ws/install/aruco_interfaces/lib:/home/ros2/dev2_ws/install/v4l2_camera/lib:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=ros2
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
+MANAGERPID=7832
+OLDPWD=/home/ros2/dev2_ws/launch
+PAPERSIZE=a4
+PATH=/opt/ros/foxy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
+PWD=/home/ros2/dev2_ws/build/turtle_follower_py
+PYTHONPATH=/home/ros2/dev2_ws/install/aruco_interfaces/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages:/opt/ros/foxy/lib/python3.8/site-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+ROS_DISTRO=foxy
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/ubuntu:@/tmp/.ICE-unix/8042,unix/ubuntu:/tmp/.ICE-unix/8042
+SHELL=/bin/bash
+SHLVL=1
+SSH_AGENT_PID=8007
+SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
+TERM=xterm-256color
+USER=ros2
+USERNAME=ros2
+VTE_VERSION=6003
+WINDOWPATH=2
+XAUTHORITY=/run/user/1000/gdm/Xauthority
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=ubuntu:GNOME
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1000
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=x11
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon
diff --git a/build/turtle_follower_py/install.log b/build/turtle_follower_py/install.log
new file mode 100755
index 0000000..9cfafce
--- /dev/null
+++ b/build/turtle_follower_py/install.log
@@ -0,0 +1,14 @@
+/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages/turtle_follower_py/__init__.py
+/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages/turtle_follower_py/turtle_follower_py.py
+/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages/turtle_follower_py/__pycache__/__init__.cpython-38.pyc
+/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages/turtle_follower_py/__pycache__/turtle_follower_py.cpython-38.pyc
+/home/ros2/dev2_ws/install/turtle_follower_py/share/ament_index/resource_index/packages/turtle_follower_py
+/home/ros2/dev2_ws/install/turtle_follower_py/share/turtle_follower_py/package.xml
+/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages/turtle_follower_py-0.0.0-py3.8.egg-info/requires.txt
+/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages/turtle_follower_py-0.0.0-py3.8.egg-info/top_level.txt
+/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages/turtle_follower_py-0.0.0-py3.8.egg-info/dependency_links.txt
+/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages/turtle_follower_py-0.0.0-py3.8.egg-info/PKG-INFO
+/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages/turtle_follower_py-0.0.0-py3.8.egg-info/entry_points.txt
+/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages/turtle_follower_py-0.0.0-py3.8.egg-info/zip-safe
+/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages/turtle_follower_py-0.0.0-py3.8.egg-info/SOURCES.txt
+/home/ros2/dev2_ws/install/turtle_follower_py/lib/turtle_follower_py/turtle_follower_node
diff --git a/build/turtle_follower_py/turtle_follower_py.egg-info/PKG-INFO b/build/turtle_follower_py/turtle_follower_py.egg-info/PKG-INFO
new file mode 100755
index 0000000..f292fae
--- /dev/null
+++ b/build/turtle_follower_py/turtle_follower_py.egg-info/PKG-INFO
@@ -0,0 +1,10 @@
+Metadata-Version: 1.2
+Name: turtle-follower-py
+Version: 0.0.0
+Summary: TODO: Package description
+Home-page: UNKNOWN
+Maintainer: ros2
+Maintainer-email: ros2@todo.todo
+License: TODO: License declaration
+Description: UNKNOWN
+Platform: UNKNOWN
diff --git a/build/turtle_follower_py/turtle_follower_py.egg-info/SOURCES.txt b/build/turtle_follower_py/turtle_follower_py.egg-info/SOURCES.txt
new file mode 100755
index 0000000..20bfaf3
--- /dev/null
+++ b/build/turtle_follower_py/turtle_follower_py.egg-info/SOURCES.txt
@@ -0,0 +1,16 @@
+package.xml
+setup.cfg
+setup.py
+../../build/turtle_follower_py/turtle_follower_py.egg-info/PKG-INFO
+../../build/turtle_follower_py/turtle_follower_py.egg-info/SOURCES.txt
+../../build/turtle_follower_py/turtle_follower_py.egg-info/dependency_links.txt
+../../build/turtle_follower_py/turtle_follower_py.egg-info/entry_points.txt
+../../build/turtle_follower_py/turtle_follower_py.egg-info/requires.txt
+../../build/turtle_follower_py/turtle_follower_py.egg-info/top_level.txt
+../../build/turtle_follower_py/turtle_follower_py.egg-info/zip-safe
+resource/turtle_follower_py
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
+turtle_follower_py/__init__.py
+turtle_follower_py/turtle_follower_py.py
\ No newline at end of file
diff --git a/build/turtle_follower_py/turtle_follower_py.egg-info/dependency_links.txt b/build/turtle_follower_py/turtle_follower_py.egg-info/dependency_links.txt
new file mode 100755
index 0000000..8b13789
--- /dev/null
+++ b/build/turtle_follower_py/turtle_follower_py.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/build/turtle_follower_py/turtle_follower_py.egg-info/entry_points.txt b/build/turtle_follower_py/turtle_follower_py.egg-info/entry_points.txt
new file mode 100755
index 0000000..0c9cbe8
--- /dev/null
+++ b/build/turtle_follower_py/turtle_follower_py.egg-info/entry_points.txt
@@ -0,0 +1,3 @@
+[console_scripts]
+turtle_follower_node = turtle_follower_py.turtle_follower_py:main
+
diff --git a/build/turtle_follower_py/turtle_follower_py.egg-info/requires.txt b/build/turtle_follower_py/turtle_follower_py.egg-info/requires.txt
new file mode 100755
index 0000000..49fe098
--- /dev/null
+++ b/build/turtle_follower_py/turtle_follower_py.egg-info/requires.txt
@@ -0,0 +1 @@
+setuptools
diff --git a/build/turtle_follower_py/turtle_follower_py.egg-info/top_level.txt b/build/turtle_follower_py/turtle_follower_py.egg-info/top_level.txt
new file mode 100755
index 0000000..a78a6ed
--- /dev/null
+++ b/build/turtle_follower_py/turtle_follower_py.egg-info/top_level.txt
@@ -0,0 +1 @@
+turtle_follower_py
diff --git a/build/turtle_follower_py/turtle_follower_py.egg-info/zip-safe b/build/turtle_follower_py/turtle_follower_py.egg-info/zip-safe
new file mode 100755
index 0000000..8b13789
--- /dev/null
+++ b/build/turtle_follower_py/turtle_follower_py.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/build/v4l2_camera/CMakeCache.txt b/build/v4l2_camera/CMakeCache.txt
new file mode 100755
index 0000000..0a0c3ad
--- /dev/null
+++ b/build/v4l2_camera/CMakeCache.txt
@@ -0,0 +1,781 @@
+# This is the CMakeCache file.
+# For build in directory: /home/ros2/dev2_ws/build/v4l2_camera
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Generate environment files in the CMAKE_INSTALL_PREFIX
+AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF
+
+//Generate environment files in the package share folder
+AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON
+
+//Generate marker file containing the parent prefix path
+AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON
+
+//Replace the CMake install command with a custom implementation
+// using symlinks instead of copying resources
+AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF
+
+//Generate an uninstall target to revert the effects of the install
+// step
+AMENT_CMAKE_UNINSTALL_TARGET:BOOL=ON
+
+//The path where test results are generated
+AMENT_TEST_RESULTS_DIR:PATH=/home/ros2/dev2_ws/build/v4l2_camera/test_results
+
+//Global flag to cause add_library() to create shared libraries
+// if on. If set to true, this will cause all libraries to be built
+// shared unless the library was explicitly added as a static library.
+BUILD_SHARED_LIBS:BOOL=ON
+
+//Build the testing tree.
+BUILD_TESTING:BOOL=ON
+
+//Path to a program.
+CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
+
+//Path to a program.
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+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the CXX compiler during DEBUG builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the CXX compiler during MINSIZEREL builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the CXX compiler during RELEASE builds.
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
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+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the C compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the C compiler during DEBUG builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the C compiler during MINSIZEREL builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the C compiler during RELEASE builds.
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the C compiler during RELWITHDEBINFO builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Path to a program.
+CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
+
+//Flags used by the linker during all build types.
+CMAKE_EXE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during DEBUG builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during MINSIZEREL builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during RELEASE builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during RELWITHDEBINFO builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/home/ros2/dev2_ws/install/v4l2_camera
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules during
+// all build types.
+CMAKE_MODULE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of modules during
+// DEBUG builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of modules during
+// MINSIZEREL builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELEASE builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELWITHDEBINFO builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_DESCRIPTION:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=v4l2_camera
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Path to a program.
+CMAKE_READELF:FILEPATH=/usr/bin/readelf
+
+//Flags used by the linker during the creation of shared libraries
+// during all build types.
+CMAKE_SHARED_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during DEBUG builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during MINSIZEREL builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELEASE builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELWITHDEBINFO builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries
+// during all build types.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during DEBUG builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during MINSIZEREL builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELEASE builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELWITHDEBINFO builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make. This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a library.
+FastCDR_LIBRARY_DEBUG:FILEPATH=FastCDR_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+FastCDR_LIBRARY_RELEASE:FILEPATH=/opt/ros/foxy/lib/libfastcdr.so
+
+//Path to a file.
+FastRTPS_INCLUDE_DIR:PATH=/opt/ros/foxy/include
+
+//Path to a library.
+FastRTPS_LIBRARY_DEBUG:FILEPATH=FastRTPS_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+FastRTPS_LIBRARY_RELEASE:FILEPATH=/opt/ros/foxy/lib/libfastrtps.so
+
+//Path to a library.
+OPENSSL_CRYPTO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so
+
+//Path to a file.
+OPENSSL_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+OPENSSL_SSL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so
+
+//pkg-config executable
+PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config
+
+//Path to a program.
+PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3
+
+//Specify specific Python version to use ('major.minor' or 'major')
+PYTHON_VERSION:STRING=
+
+//Name of the computer/site where compile is being run
+SITE:STRING=ubuntu
+
+//Path to a file.
+TINYXML2_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+TINYXML2_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libtinyxml2.so
+
+//The directory containing a CMake configuration file for TinyXML2.
+TinyXML2_DIR:PATH=TinyXML2_DIR-NOTFOUND
+
+//Path to a library.
+_lib:FILEPATH=/opt/ros/foxy/lib/libcamera_info_manager.so
+
+//The directory containing a CMake configuration file for ament_cmake.
+ament_cmake_DIR:PATH=/opt/ros/foxy/share/ament_cmake/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_core.
+ament_cmake_core_DIR:PATH=/opt/ros/foxy/share/ament_cmake_core/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_cppcheck.
+ament_cmake_cppcheck_DIR:PATH=/opt/ros/foxy/share/ament_cmake_cppcheck/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_cpplint.
+ament_cmake_cpplint_DIR:PATH=/opt/ros/foxy/share/ament_cmake_cpplint/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_definitions.
+ament_cmake_export_definitions_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_definitions/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_dependencies.
+ament_cmake_export_dependencies_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_dependencies/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_include_directories.
+ament_cmake_export_include_directories_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_include_directories/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_interfaces.
+ament_cmake_export_interfaces_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_interfaces/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_libraries.
+ament_cmake_export_libraries_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_libraries/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_link_flags.
+ament_cmake_export_link_flags_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_link_flags/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_targets.
+ament_cmake_export_targets_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_targets/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_flake8.
+ament_cmake_flake8_DIR:PATH=/opt/ros/foxy/share/ament_cmake_flake8/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_gmock.
+ament_cmake_gmock_DIR:PATH=/opt/ros/foxy/share/ament_cmake_gmock/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_gtest.
+ament_cmake_gtest_DIR:PATH=/opt/ros/foxy/share/ament_cmake_gtest/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_include_directories.
+ament_cmake_include_directories_DIR:PATH=/opt/ros/foxy/share/ament_cmake_include_directories/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_libraries.
+ament_cmake_libraries_DIR:PATH=/opt/ros/foxy/share/ament_cmake_libraries/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_lint_cmake.
+ament_cmake_lint_cmake_DIR:PATH=/opt/ros/foxy/share/ament_cmake_lint_cmake/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_pep257.
+ament_cmake_pep257_DIR:PATH=/opt/ros/foxy/share/ament_cmake_pep257/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_pytest.
+ament_cmake_pytest_DIR:PATH=/opt/ros/foxy/share/ament_cmake_pytest/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_python.
+ament_cmake_python_DIR:PATH=/opt/ros/foxy/share/ament_cmake_python/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_ros.
+ament_cmake_ros_DIR:PATH=/opt/ros/foxy/share/ament_cmake_ros/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_target_dependencies.
+ament_cmake_target_dependencies_DIR:PATH=/opt/ros/foxy/share/ament_cmake_target_dependencies/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_test.
+ament_cmake_test_DIR:PATH=/opt/ros/foxy/share/ament_cmake_test/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_uncrustify.
+ament_cmake_uncrustify_DIR:PATH=/opt/ros/foxy/share/ament_cmake_uncrustify/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_version.
+ament_cmake_version_DIR:PATH=/opt/ros/foxy/share/ament_cmake_version/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_xmllint.
+ament_cmake_xmllint_DIR:PATH=/opt/ros/foxy/share/ament_cmake_xmllint/cmake
+
+//Path to a program.
+ament_cppcheck_BIN:FILEPATH=/opt/ros/foxy/bin/ament_cppcheck
+
+//Path to a program.
+ament_cpplint_BIN:FILEPATH=/opt/ros/foxy/bin/ament_cpplint
+
+//The directory containing a CMake configuration file for ament_index_cpp.
+ament_index_cpp_DIR:PATH=/opt/ros/foxy/share/ament_index_cpp/cmake
+
+//The directory containing a CMake configuration file for ament_lint_auto.
+ament_lint_auto_DIR:PATH=/opt/ros/foxy/share/ament_lint_auto/cmake
+
+//Path to a program.
+ament_lint_cmake_BIN:FILEPATH=/opt/ros/foxy/bin/ament_lint_cmake
+
+//The directory containing a CMake configuration file for ament_lint_common.
+ament_lint_common_DIR:PATH=/opt/ros/foxy/share/ament_lint_common/cmake
+
+//Path to a program.
+ament_uncrustify_BIN:FILEPATH=/opt/ros/foxy/bin/ament_uncrustify
+
+//Path to a program.
+ament_xmllint_BIN:FILEPATH=/opt/ros/foxy/bin/ament_xmllint
+
+//The directory containing a CMake configuration file for builtin_interfaces.
+builtin_interfaces_DIR:PATH=/opt/ros/foxy/share/builtin_interfaces/cmake
+
+//The directory containing a CMake configuration file for camera_calibration_parsers.
+camera_calibration_parsers_DIR:PATH=/opt/ros/foxy/share/camera_calibration_parsers/cmake
+
+//The directory containing a CMake configuration file for camera_info_manager.
+camera_info_manager_DIR:PATH=/opt/ros/foxy/share/camera_info_manager/cmake
+
+//The directory containing a CMake configuration file for class_loader.
+class_loader_DIR:PATH=/opt/ros/foxy/share/class_loader/cmake
+
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+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
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+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
+# endif
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
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+# define COMPILER_ID "ARMCC"
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+ /* __ARMCC_VERSION = VRRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
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+ /* __ARMCC_VERSION = VRPPPP */
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+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
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+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
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+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
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+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
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+ # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
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+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
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+# endif
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+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
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+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+ /* SDCC = VRP */
+# define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(SDCC % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+# define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+# define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+# define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+# if _M_ARM == 4
+# define ARCHITECTURE_ID "ARMV4I"
+# elif _M_ARM == 5
+# define ARCHITECTURE_ID "ARMV5I"
+# else
+# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+# endif
+
+# elif defined(_M_MIPS)
+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+# define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+# define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+# define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+# define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+# define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+# define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+# define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+# define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+# define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+#else
+# define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
+ '.', SIMULATE_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+ || (defined(__ibmxl__) || defined(__IBMC__))
+# define C_DIALECT "90"
+# else
+# define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+ "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+ require += info_cray[argc];
+#endif
+ require += info_language_dialect_default[argc];
+ (void)argv;
+ return require;
+}
+#endif
diff --git a/build/v4l2_camera/CMakeFiles/3.16.3/CompilerIdC/a.out b/build/v4l2_camera/CMakeFiles/3.16.3/CompilerIdC/a.out
new file mode 100755
index 0000000..46f1233
Binary files /dev/null and b/build/v4l2_camera/CMakeFiles/3.16.3/CompilerIdC/a.out differ
diff --git a/build/v4l2_camera/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/v4l2_camera/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100755
index 0000000..69cfdba
--- /dev/null
+++ b/build/v4l2_camera/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,660 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+ recognize the extension without flags. Borland does not know .cxx for
+ example. */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+ Version date components: YYYY=Year, MM=Month, DD=Day */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+ /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+# endif
+ /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+ /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+ /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+ /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+ /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+ /* __SUNPRO_CC = 0xVRRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
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+ require += info_version[argc];
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+#ifdef SIMULATE_VERSION_MAJOR
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+
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+ INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+)
+
+# Create imported target v4l2_camera::v4l2_camera_compose_test
+add_executable(v4l2_camera::v4l2_camera_compose_test IMPORTED)
+
+set_target_properties(v4l2_camera::v4l2_camera_compose_test PROPERTIES
+ INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
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+
+.PHONY : src/v4l2_camera_node.s
+
+# target to generate assembly for a file
+src/v4l2_camera_node.cpp.s:
+ $(MAKE) -f CMakeFiles/v4l2_camera_node.dir/build.make CMakeFiles/v4l2_camera_node.dir/src/v4l2_camera_node.cpp.s
+.PHONY : src/v4l2_camera_node.cpp.s
+
+# Help Target
+help:
+ @echo "The following are some of the valid targets for this Makefile:"
+ @echo "... all (the default if no target is provided)"
+ @echo "... clean"
+ @echo "... depend"
+ @echo "... install/strip"
+ @echo "... install/local"
+ @echo "... install"
+ @echo "... list_install_components"
+ @echo "... rebuild_cache"
+ @echo "... edit_cache"
+ @echo "... test"
+ @echo "... v4l2_camera_compose_test"
+ @echo "... v4l2_camera_node"
+ @echo "... v4l2_camera"
+ @echo "... v4l2_camera_uninstall"
+ @echo "... uninstall"
+ @echo "... src/v4l2_camera.o"
+ @echo "... src/v4l2_camera.i"
+ @echo "... src/v4l2_camera.s"
+ @echo "... src/v4l2_camera_compose_test.o"
+ @echo "... src/v4l2_camera_compose_test.i"
+ @echo "... src/v4l2_camera_compose_test.s"
+ @echo "... src/v4l2_camera_device.o"
+ @echo "... src/v4l2_camera_device.i"
+ @echo "... src/v4l2_camera_device.s"
+ @echo "... src/v4l2_camera_node.o"
+ @echo "... src/v4l2_camera_node.i"
+ @echo "... src/v4l2_camera_node.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+ $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/build/v4l2_camera/ament_cmake_core/package.cmake b/build/v4l2_camera/ament_cmake_core/package.cmake
new file mode 100755
index 0000000..0285512
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/package.cmake
@@ -0,0 +1,14 @@
+set(_AMENT_PACKAGE_NAME "v4l2_camera")
+set(v4l2_camera_VERSION "0.4.0")
+set(v4l2_camera_MAINTAINER "Sander G. van Dijk ")
+set(v4l2_camera_BUILD_DEPENDS "rclcpp" "rclcpp_components" "sensor_msgs" "image_transport" "camera_info_manager")
+set(v4l2_camera_BUILDTOOL_DEPENDS "ament_cmake_ros")
+set(v4l2_camera_BUILD_EXPORT_DEPENDS "sensor_msgs" "image_transport" "camera_info_manager")
+set(v4l2_camera_BUILDTOOL_EXPORT_DEPENDS )
+set(v4l2_camera_EXEC_DEPENDS "rclcpp" "rclcpp_components" "sensor_msgs" "image_transport" "camera_info_manager")
+set(v4l2_camera_TEST_DEPENDS "ament_lint_auto" "ament_lint_common")
+set(v4l2_camera_GROUP_DEPENDS )
+set(v4l2_camera_MEMBER_OF_GROUPS )
+set(v4l2_camera_DEPRECATED "")
+set(v4l2_camera_EXPORT_TAGS)
+list(APPEND v4l2_camera_EXPORT_TAGS "ament_cmake")
diff --git a/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp b/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp
new file mode 100755
index 0000000..42d17f1
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp
@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "camera_info_manager")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to v4l2_camera_DEFINITIONS, v4l2_camera_INCLUDE_DIRS,
+# v4l2_camera_LIBRARIES, and v4l2_camera_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# v4l2_camera_DEPENDENCIES as well as the recursive dependency names
+# in v4l2_camera_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+ find_package(ament_cmake_core QUIET REQUIRED)
+ set(v4l2_camera_DEPENDENCIES ${_exported_dependencies})
+ set(v4l2_camera_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+ set(_libraries)
+ foreach(_dep ${_exported_dependencies})
+ if(NOT ${_dep}_FOUND)
+ find_package("${_dep}" QUIET REQUIRED)
+ endif()
+ # if a package provides modern CMake interface targets use them
+ # exclusively assuming the classic CMake variables only exist for
+ # backward compatibility
+ set(use_modern_cmake FALSE)
+ if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+ foreach(_target ${${_dep}_TARGETS})
+ # only use actual targets
+ # in case a package uses this variable for other content
+ if(TARGET "${_target}")
+ get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+ if(_include_dirs)
+ list_append_unique(v4l2_camera_INCLUDE_DIRS "${_include_dirs}")
+ endif()
+
+ get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+ if(_imported_configurations)
+ string(TOUPPER "${_imported_configurations}" _imported_configurations)
+ if(DEBUG_CONFIGURATIONS)
+ string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+ else()
+ set(_debug_configurations_uppercase "DEBUG")
+ endif()
+ foreach(_imported_config ${_imported_configurations})
+ get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+ if(_imported_implib)
+ set(_imported_implib_config "optimized")
+ if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+ set(_imported_implib_config "debug")
+ endif()
+ list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+ else()
+ get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+ if(_imported_location)
+ list(APPEND _libraries "${_imported_location}")
+ endif()
+ endif()
+ endforeach()
+ endif()
+
+ get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+ if(_link_libraries)
+ list(APPEND _libraries "${_link_libraries}")
+ endif()
+ set(use_modern_cmake TRUE)
+ endif()
+ endforeach()
+ endif()
+ if(NOT use_modern_cmake)
+ if(${_dep}_DEFINITIONS)
+ list_append_unique(v4l2_camera_DEFINITIONS "${${_dep}_DEFINITIONS}")
+ endif()
+ if(${_dep}_INCLUDE_DIRS)
+ list_append_unique(v4l2_camera_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+ endif()
+ if(${_dep}_LIBRARIES)
+ list(APPEND _libraries "${${_dep}_LIBRARIES}")
+ endif()
+ if(${_dep}_LINK_FLAGS)
+ list_append_unique(v4l2_camera_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+ endif()
+ if(${_dep}_RECURSIVE_DEPENDENCIES)
+ list_append_unique(v4l2_camera_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+ endif()
+ endif()
+ if(_libraries)
+ ament_libraries_deduplicate(_libraries "${_libraries}")
+ list(APPEND v4l2_camera_LIBRARIES "${_libraries}")
+ endif()
+ endforeach()
+endif()
diff --git a/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp b/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp
new file mode 100755
index 0000000..0cb444e
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp
@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${v4l2_camera_DIR}/../../../include")
+
+# append include directories to v4l2_camera_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+ find_package(ament_cmake_core QUIET REQUIRED)
+ foreach(_exported_include_dir ${_exported_include_dirs})
+ if(NOT IS_DIRECTORY "${_exported_include_dir}")
+ message(WARNING "Package 'v4l2_camera' exports the include directory '${_exported_include_dir}' which doesn't exist")
+ endif()
+ normalize_path(_exported_include_dir "${_exported_include_dir}")
+ list(APPEND v4l2_camera_INCLUDE_DIRS "${_exported_include_dir}")
+ endforeach()
+endif()
diff --git a/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp b/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp
new file mode 100755
index 0000000..31dec03
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp
@@ -0,0 +1,140 @@
+# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in
+
+set(_exported_libraries "v4l2_camera")
+set(_exported_library_names "")
+
+# populate v4l2_camera_LIBRARIES
+if(NOT _exported_libraries STREQUAL "")
+ # loop over libraries, either target names or absolute paths
+ list(LENGTH _exported_libraries _length)
+ set(_i 0)
+ while(_i LESS _length)
+ list(GET _exported_libraries ${_i} _arg)
+
+ # pass linker flags along
+ if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+ list(APPEND v4l2_camera_LIBRARIES "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ continue()
+ endif()
+
+ if("${_arg}" MATCHES "^(debug|optimized|general)$")
+ # remember build configuration keyword
+ # and get following library
+ set(_cfg "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ if(_i EQUAL _length)
+ message(FATAL_ERROR "Package 'v4l2_camera' passes the build configuration keyword '${_cfg}' as the last exported library")
+ endif()
+ list(GET _exported_libraries ${_i} _library)
+ else()
+ # the value is a library without a build configuration keyword
+ set(_cfg "")
+ set(_library "${_arg}")
+ endif()
+ math(EXPR _i "${_i} + 1")
+
+ if(NOT IS_ABSOLUTE "${_library}")
+ # search for library target relative to this CMake file
+ set(_lib "NOTFOUND")
+ find_library(
+ _lib NAMES "${_library}"
+ PATHS "${v4l2_camera_DIR}/../../../lib"
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+ )
+
+ if(NOT _lib)
+ # warn about not existing library and ignore it
+ message(FATAL_ERROR "Package 'v4l2_camera' exports the library '${_library}' which couldn't be found")
+ elseif(NOT IS_ABSOLUTE "${_lib}")
+ # the found library must be an absolute path
+ message(FATAL_ERROR "Package 'v4l2_camera' found the library '${_library}' at '${_lib}' which is not an absolute path")
+ elseif(NOT EXISTS "${_lib}")
+ # the found library must exist
+ message(FATAL_ERROR "Package 'v4l2_camera' found the library '${_lib}' which doesn't exist")
+ else()
+ list(APPEND v4l2_camera_LIBRARIES ${_cfg} "${_lib}")
+ endif()
+
+ else()
+ if(NOT EXISTS "${_library}")
+ # the found library must exist
+ message(WARNING "Package 'v4l2_camera' exports the library '${_library}' which doesn't exist")
+ else()
+ list(APPEND v4l2_camera_LIBRARIES ${_cfg} "${_library}")
+ endif()
+ endif()
+ endwhile()
+endif()
+
+# find_library() library names with optional LIBRARY_DIRS
+# and add the libraries to v4l2_camera_LIBRARIES
+if(NOT _exported_library_names STREQUAL "")
+ # loop over library names
+ # but remember related build configuration keyword if available
+ list(LENGTH _exported_library_names _length)
+ set(_i 0)
+ while(_i LESS _length)
+ list(GET _exported_library_names ${_i} _arg)
+ # pass linker flags along
+ if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+ list(APPEND v4l2_camera_LIBRARIES "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ continue()
+ endif()
+
+ if("${_arg}" MATCHES "^(debug|optimized|general)$")
+ # remember build configuration keyword
+ # and get following library name
+ set(_cfg "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ if(_i EQUAL _length)
+ message(FATAL_ERROR "Package 'v4l2_camera' passes the build configuration keyword '${_cfg}' as the last exported target")
+ endif()
+ list(GET _exported_library_names ${_i} _library)
+ else()
+ # the value is a library target without a build configuration keyword
+ set(_cfg "")
+ set(_library "${_arg}")
+ endif()
+ math(EXPR _i "${_i} + 1")
+
+ # extract optional LIBRARY_DIRS from library name
+ string(REPLACE ":" ";" _library_dirs "${_library}")
+ list(GET _library_dirs 0 _library_name)
+ list(REMOVE_AT _library_dirs 0)
+
+ set(_lib "NOTFOUND")
+ if(NOT _library_dirs)
+ # search for library in the common locations
+ find_library(
+ _lib
+ NAMES "${_library_name}"
+ )
+ if(NOT _lib)
+ # warn about not existing library and later ignore it
+ message(WARNING "Package 'v4l2_camera' exports library '${_library_name}' which couldn't be found")
+ endif()
+ else()
+ # search for library in the specified directories
+ find_library(
+ _lib
+ NAMES "${_library_name}"
+ PATHS ${_library_dirs}
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+ )
+ if(NOT _lib)
+ # warn about not existing library and later ignore it
+ message(WARNING "Package 'v4l2_camera' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found")
+ endif()
+ endif()
+ if(_lib)
+ list(APPEND v4l2_camera_LIBRARIES ${_cfg} "${_lib}")
+ endif()
+ endwhile()
+endif()
+
+# TODO(dirk-thomas) deduplicate v4l2_camera_LIBRARIES
+# while maintaining library order
+# as well as build configuration keywords
+# as well as linker flags
diff --git a/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_targets-extras.cmake.stamp b/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_targets-extras.cmake.stamp
new file mode 100755
index 0000000..4725d85
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_targets-extras.cmake.stamp
@@ -0,0 +1,27 @@
+# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in
+
+set(_exported_targets "export_v4l2_camera")
+
+# include all exported targets
+if(NOT _exported_targets STREQUAL "")
+ foreach(_target ${_exported_targets})
+ set(_export_file "${v4l2_camera_DIR}/${_target}Export.cmake")
+ include("${_export_file}")
+
+ # extract the target names associated with the export
+ set(_regex "foreach\\(_expectedTarget (.+)\\)")
+ file(
+ STRINGS "${_export_file}" _foreach_targets
+ REGEX "${_regex}")
+ list(LENGTH _foreach_targets _matches)
+ if(NOT _matches EQUAL 1)
+ message(FATAL_ERROR
+ "Failed to find exported target names in '${_export_file}'")
+ endif()
+ string(REGEX REPLACE "${_regex}" "\\1" _targets "${_foreach_targets}")
+ string(REPLACE " " ";" _targets "${_targets}")
+ list(LENGTH _targets _length)
+
+ list(APPEND v4l2_camera_TARGETS ${_targets})
+ endforeach()
+endif()
diff --git a/build/v4l2_camera/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/v4l2_camera/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
new file mode 100755
index 0000000..02e441b
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/build/v4l2_camera/ament_cmake_core/stamps/library_path.sh.stamp b/build/v4l2_camera/ament_cmake_core/stamps/library_path.sh.stamp
new file mode 100755
index 0000000..292e518
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/stamps/library_path.sh.stamp
@@ -0,0 +1,16 @@
+# copied from ament_package/template/environment_hook/library_path.sh
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+ _IS_DARWIN=1
+fi
+unset _UNAME
+
+if [ $_IS_DARWIN -eq 0 ]; then
+ ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+else
+ ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+fi
+unset _IS_DARWIN
diff --git a/build/v4l2_camera/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/v4l2_camera/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
new file mode 100755
index 0000000..ee49c9f
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "@PACKAGE_VERSION@")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_EXACT True)
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/build/v4l2_camera/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/v4l2_camera/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
new file mode 100755
index 0000000..6fb3fe7
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_@PROJECT_NAME@_CONFIG_INCLUDED)
+ # ensure to keep the found flag the same
+ if(NOT DEFINED @PROJECT_NAME@_FOUND)
+ # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+ set(@PROJECT_NAME@_FOUND FALSE)
+ elseif(NOT @PROJECT_NAME@_FOUND)
+ # use separate condition to avoid uninitialized variable warning
+ set(@PROJECT_NAME@_FOUND FALSE)
+ endif()
+ return()
+endif()
+set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT @PROJECT_NAME@_FIND_QUIETLY)
+ message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "")
+ set(_msg "Package '@PROJECT_NAME@' is deprecated")
+ # append custom deprecation text if available
+ if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE")
+ set(_msg "${_msg} (@PACKAGE_DEPRECATED@)")
+ endif()
+ # optionally quiet the deprecation message
+ if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET})
+ message(DEPRECATION "${_msg}")
+ endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@")
+foreach(_extra ${_extras})
+ include("${@PROJECT_NAME@_DIR}/${_extra}")
+endforeach()
diff --git a/build/v4l2_camera/ament_cmake_core/stamps/package.xml.stamp b/build/v4l2_camera/ament_cmake_core/stamps/package.xml.stamp
new file mode 100755
index 0000000..6bf2ddd
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/stamps/package.xml.stamp
@@ -0,0 +1,30 @@
+
+
+
+ v4l2_camera
+ 0.4.0
+ A ROS 2 camera driver using Video4Linux2
+ Sander G. van Dijk
+ Apache License 2.0
+
+ Sander G. van Dijk
+
+ ament_cmake_ros
+
+ rclcpp
+ rclcpp_components
+
+ rclcpp
+ rclcpp_components
+
+ sensor_msgs
+ image_transport
+ camera_info_manager
+
+ ament_lint_auto
+ ament_lint_common
+
+
+ ament_cmake
+
+
diff --git a/build/v4l2_camera/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/v4l2_camera/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
new file mode 100755
index 0000000..6f82f12
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
@@ -0,0 +1,143 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+from collections import OrderedDict
+import sys
+
+from catkin_pkg.package import parse_package_string
+
+
+def main(argv=sys.argv[1:]):
+ """
+ Extract the information from package.xml and make them accessible to CMake.
+
+ Parse the given package.xml file and
+ print CMake code defining several variables containing the content.
+ """
+ parser = argparse.ArgumentParser(
+ description='Parse package.xml file and print CMake code defining '
+ 'several variables',
+ )
+ parser.add_argument(
+ 'package_xml',
+ type=argparse.FileType('r', encoding='utf-8'),
+ help='The path to a package.xml file',
+ )
+ parser.add_argument(
+ 'outfile',
+ nargs='?',
+ help='The filename where the output should be written to',
+ )
+ args = parser.parse_args(argv)
+
+ try:
+ package = parse_package_string(
+ args.package_xml.read(), filename=args.package_xml.name)
+ except Exception as e:
+ print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr)
+ raise e
+ finally:
+ args.package_xml.close()
+
+ lines = generate_cmake_code(package)
+ if args.outfile:
+ with open(args.outfile, 'w', encoding='utf-8') as f:
+ for line in lines:
+ f.write('%s\n' % line)
+ else:
+ for line in lines:
+ print(line)
+
+
+def get_dependency_values(key, depends):
+ dependencies = []
+ dependencies.append((key, ' '.join(['"%s"' % str(d) for d in depends])))
+ for d in depends:
+ comparisons = [
+ 'version_lt',
+ 'version_lte',
+ 'version_eq',
+ 'version_gte',
+ 'version_gt']
+ for comp in comparisons:
+ value = getattr(d, comp, None)
+ if value is not None:
+ dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()),
+ '"%s"' % value))
+ return dependencies
+
+
+def generate_cmake_code(package):
+ """
+ Return a list of CMake set() commands containing the manifest information.
+
+ :param package: catkin_pkg.package.Package
+ :returns: list of str
+ """
+ variables = []
+ variables.append(('VERSION', '"%s"' % package.version))
+
+ variables.append((
+ 'MAINTAINER',
+ '"%s"' % (', '.join([str(m) for m in package.maintainers]))))
+
+ variables.extend(get_dependency_values('BUILD_DEPENDS',
+ package.build_depends))
+ variables.extend(get_dependency_values('BUILDTOOL_DEPENDS',
+ package.buildtool_depends))
+ variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS',
+ package.build_export_depends))
+ variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS',
+ package.buildtool_export_depends))
+ variables.extend(get_dependency_values('EXEC_DEPENDS',
+ package.exec_depends))
+ variables.extend(get_dependency_values('TEST_DEPENDS',
+ package.test_depends))
+ variables.extend(get_dependency_values('GROUP_DEPENDS',
+ package.group_depends))
+ variables.extend(get_dependency_values('MEMBER_OF_GROUPS',
+ package.member_of_groups))
+
+ deprecated = [e.content for e in package.exports
+ if e.tagname == 'deprecated']
+ variables.append(('DEPRECATED',
+ '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE')
+ if deprecated
+ else '')))
+
+ lines = []
+ lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
+ for (k, v) in variables:
+ lines.append('set(%s_%s %s)' % (package.name, k, v))
+
+ lines.append('set(%s_EXPORT_TAGS)' % package.name)
+ replaces = OrderedDict()
+ replaces['${prefix}/'] = ''
+ replaces['\\'] = '\\\\' # escape backslashes
+ replaces['"'] = '\\"' # prevent double quotes to end the CMake string
+ replaces[';'] = '\\;' # prevent semicolons to be interpreted as list separators
+ for export in package.exports:
+ export = str(export)
+ for k, v in replaces.items():
+ export = export.replace(k, v)
+ lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export))
+
+ return lines
+
+
+if __name__ == '__main__':
+ main()
diff --git a/build/v4l2_camera/ament_cmake_core/stamps/path.sh.stamp b/build/v4l2_camera/ament_cmake_core/stamps/path.sh.stamp
new file mode 100755
index 0000000..e59b749
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/stamps/path.sh.stamp
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+ ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
diff --git a/build/v4l2_camera/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/v4l2_camera/ament_cmake_core/stamps/templates_2_cmake.py.stamp
new file mode 100755
index 0000000..b7c0faf
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/stamps/templates_2_cmake.py.stamp
@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import os
+import sys
+
+from ament_package.templates import get_environment_hook_template_path
+from ament_package.templates import get_package_level_template_names
+from ament_package.templates import get_package_level_template_path
+from ament_package.templates import get_prefix_level_template_names
+from ament_package.templates import get_prefix_level_template_path
+
+IS_WINDOWS = os.name == 'nt'
+
+
+def main(argv=sys.argv[1:]):
+ """
+ Extract the information about templates provided by ament_package.
+
+ Call the API provided by ament_package and
+ print CMake code defining several variables containing information about
+ the available templates.
+ """
+ parser = argparse.ArgumentParser(
+ description='Extract information about templates provided by '
+ 'ament_package and print CMake code defining several '
+ 'variables',
+ )
+ parser.add_argument(
+ 'outfile',
+ nargs='?',
+ help='The filename where the output should be written to',
+ )
+ args = parser.parse_args(argv)
+
+ lines = generate_cmake_code()
+ if args.outfile:
+ basepath = os.path.dirname(args.outfile)
+ if not os.path.exists(basepath):
+ os.makedirs(basepath)
+ with open(args.outfile, 'w') as f:
+ for line in lines:
+ f.write('%s\n' % line)
+ else:
+ for line in lines:
+ print(line)
+
+
+def generate_cmake_code():
+ """
+ Return a list of CMake set() commands containing the template information.
+
+ :returns: list of str
+ """
+ variables = []
+
+ if not IS_WINDOWS:
+ variables.append((
+ 'ENVIRONMENT_HOOK_LIBRARY_PATH',
+ '"%s"' % get_environment_hook_template_path('library_path.sh')))
+ else:
+ variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
+
+ ext = '.bat.in' if IS_WINDOWS else '.sh.in'
+ variables.append((
+ 'ENVIRONMENT_HOOK_PYTHONPATH',
+ '"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
+
+ templates = []
+ for name in get_package_level_template_names():
+ templates.append('"%s"' % get_package_level_template_path(name))
+ variables.append((
+ 'PACKAGE_LEVEL',
+ templates))
+
+ templates = []
+ for name in get_prefix_level_template_names():
+ templates.append('"%s"' % get_prefix_level_template_path(name))
+ variables.append((
+ 'PREFIX_LEVEL',
+ templates))
+
+ lines = []
+ for (k, v) in variables:
+ if isinstance(v, list):
+ lines.append('set(ament_cmake_package_templates_%s "")' % k)
+ for vv in v:
+ lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
+ % (k, vv))
+ else:
+ lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
+ # Ensure backslashes are replaced with forward slashes because CMake cannot
+ # parse files with backslashes in it.
+ return [l.replace('\\', '/') for l in lines]
+
+
+if __name__ == '__main__':
+ main()
diff --git a/build/v4l2_camera/ament_cmake_core/v4l2_cameraConfig-version.cmake b/build/v4l2_camera/ament_cmake_core/v4l2_cameraConfig-version.cmake
new file mode 100644
index 0000000..e2fcea4
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/v4l2_cameraConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.4.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_EXACT True)
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/build/v4l2_camera/ament_cmake_core/v4l2_cameraConfig.cmake b/build/v4l2_camera/ament_cmake_core/v4l2_cameraConfig.cmake
new file mode 100644
index 0000000..2deb2b6
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_core/v4l2_cameraConfig.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_v4l2_camera_CONFIG_INCLUDED)
+ # ensure to keep the found flag the same
+ if(NOT DEFINED v4l2_camera_FOUND)
+ # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+ set(v4l2_camera_FOUND FALSE)
+ elseif(NOT v4l2_camera_FOUND)
+ # use separate condition to avoid uninitialized variable warning
+ set(v4l2_camera_FOUND FALSE)
+ endif()
+ return()
+endif()
+set(_v4l2_camera_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT v4l2_camera_FIND_QUIETLY)
+ message(STATUS "Found v4l2_camera: 0.4.0 (${v4l2_camera_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+ set(_msg "Package 'v4l2_camera' is deprecated")
+ # append custom deprecation text if available
+ if(NOT "" STREQUAL "TRUE")
+ set(_msg "${_msg} ()")
+ endif()
+ # optionally quiet the deprecation message
+ if(NOT ${v4l2_camera_DEPRECATED_QUIET})
+ message(DEPRECATION "${_msg}")
+ endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(v4l2_camera_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "ament_cmake_export_include_directories-extras.cmake;ament_cmake_export_targets-extras.cmake;ament_cmake_export_libraries-extras.cmake;ament_cmake_export_dependencies-extras.cmake")
+foreach(_extra ${_extras})
+ include("${v4l2_camera_DIR}/${_extra}")
+endforeach()
diff --git a/build/v4l2_camera/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/v4l2_camera/ament_cmake_environment_hooks/ament_prefix_path.dsv
new file mode 100755
index 0000000..79d4c95
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_environment_hooks/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/build/v4l2_camera/ament_cmake_environment_hooks/library_path.dsv b/build/v4l2_camera/ament_cmake_environment_hooks/library_path.dsv
new file mode 100755
index 0000000..89bec93
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_environment_hooks/library_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;LD_LIBRARY_PATH;lib
diff --git a/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.bash b/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.bash
new file mode 100644
index 0000000..49782f2
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+ echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ _package_local_setup_IFS=$IFS
+ IFS=":"
+ for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+ # restore AMENT_CURRENT_PREFIX for each environment hook
+ AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+ # restore IFS before sourcing other files
+ IFS=$_package_local_setup_IFS
+ . "$_hook"
+ done
+ unset _hook
+ IFS=$_package_local_setup_IFS
+ unset _package_local_setup_IFS
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.dsv b/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.dsv
new file mode 100755
index 0000000..faf99b9
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.dsv
@@ -0,0 +1,3 @@
+source;share/v4l2_camera/environment/ament_prefix_path.sh
+source;share/v4l2_camera/environment/library_path.sh
+source;share/v4l2_camera/environment/path.sh
diff --git a/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.sh b/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.sh
new file mode 100644
index 0000000..688607f
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.sh
@@ -0,0 +1,134 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/home/ros2/dev2_ws/install/v4l2_camera"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+ if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+ "exist. Consider sourcing a different extension than '.sh'." 1>&2
+ else
+ AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+ fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+ #echo "listname $_listname"
+ #eval echo "list value \$$_listname"
+ #echo "value $_value"
+
+ # avoid leading separator
+ eval _values=\"\$$_listname\"
+ if [ -z "$_values" ]; then
+ eval export $_listname=\"$_value\"
+ #eval echo "set list \$$_listname"
+ else
+ # field separator must not be a colon
+ _ament_append_value_IFS=$IFS
+ unset IFS
+ eval export $_listname=\"\$$_listname:$_value\"
+ #eval echo "append list \$$_listname"
+ IFS=$_ament_append_value_IFS
+ unset _ament_append_value_IFS
+ fi
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+ #echo "listname $_listname"
+ #eval echo "list value \$$_listname"
+ #echo "value $_value"
+
+ # check if the list contains the value
+ eval _values=\"\$$_listname\"
+ _duplicate=
+ _ament_prepend_unique_value_IFS=$IFS
+ IFS=":"
+ if [ "$AMENT_SHELL" = "zsh" ]; then
+ ament_zsh_to_array _values
+ fi
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ if [ "$_item" = "$_value" ]; then
+ _duplicate=1
+ fi
+ done
+ unset _item
+
+ # prepend only non-duplicates
+ if [ -z "$_duplicate" ]; then
+ # avoid trailing separator
+ if [ -z "$_values" ]; then
+ eval export $_listname=\"$_value\"
+ #eval echo "set list \$$_listname"
+ else
+ # field separator must not be a colon
+ unset IFS
+ eval export $_listname=\"$_value:\$$_listname\"
+ #eval echo "prepend list \$$_listname"
+ fi
+ fi
+ IFS=$_ament_prepend_unique_value_IFS
+ unset _ament_prepend_unique_value_IFS
+ unset _duplicate
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/v4l2_camera/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/v4l2_camera/environment/library_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/v4l2_camera/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ _package_local_setup_IFS=$IFS
+ IFS=":"
+ if [ "$AMENT_SHELL" = "zsh" ]; then
+ ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+ fi
+ for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+ if [ -f "$_hook" ]; then
+ # restore IFS before sourcing other files
+ IFS=$_package_local_setup_IFS
+ # trace output
+ if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+ echo "# . \"$_hook\""
+ fi
+ . "$_hook"
+ fi
+ done
+ unset _hook
+ IFS=$_package_local_setup_IFS
+ unset _package_local_setup_IFS
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.zsh b/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.zsh
new file mode 100644
index 0000000..fe161be
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+ local _listname=$1
+ local _dollar="$"
+ local _split="{="
+ local _to_array="(\"$_dollar$_split$_listname}\")"
+ eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+ echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ _package_local_setup_IFS=$IFS
+ IFS=":"
+ for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+ # restore AMENT_CURRENT_PREFIX for each environment hook
+ AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+ # restore IFS before sourcing other files
+ IFS=$_package_local_setup_IFS
+ . "$_hook"
+ done
+ unset _hook
+ IFS=$_package_local_setup_IFS
+ unset _package_local_setup_IFS
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/build/v4l2_camera/ament_cmake_environment_hooks/package.dsv b/build/v4l2_camera/ament_cmake_environment_hooks/package.dsv
new file mode 100755
index 0000000..39322cb
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_environment_hooks/package.dsv
@@ -0,0 +1,4 @@
+source;share/v4l2_camera/local_setup.bash
+source;share/v4l2_camera/local_setup.dsv
+source;share/v4l2_camera/local_setup.sh
+source;share/v4l2_camera/local_setup.zsh
diff --git a/build/v4l2_camera/ament_cmake_environment_hooks/path.dsv b/build/v4l2_camera/ament_cmake_environment_hooks/path.dsv
new file mode 100755
index 0000000..b94426a
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_environment_hooks/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/build/v4l2_camera/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake b/build/v4l2_camera/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
new file mode 100644
index 0000000..42d17f1
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "camera_info_manager")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to v4l2_camera_DEFINITIONS, v4l2_camera_INCLUDE_DIRS,
+# v4l2_camera_LIBRARIES, and v4l2_camera_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# v4l2_camera_DEPENDENCIES as well as the recursive dependency names
+# in v4l2_camera_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+ find_package(ament_cmake_core QUIET REQUIRED)
+ set(v4l2_camera_DEPENDENCIES ${_exported_dependencies})
+ set(v4l2_camera_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+ set(_libraries)
+ foreach(_dep ${_exported_dependencies})
+ if(NOT ${_dep}_FOUND)
+ find_package("${_dep}" QUIET REQUIRED)
+ endif()
+ # if a package provides modern CMake interface targets use them
+ # exclusively assuming the classic CMake variables only exist for
+ # backward compatibility
+ set(use_modern_cmake FALSE)
+ if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+ foreach(_target ${${_dep}_TARGETS})
+ # only use actual targets
+ # in case a package uses this variable for other content
+ if(TARGET "${_target}")
+ get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+ if(_include_dirs)
+ list_append_unique(v4l2_camera_INCLUDE_DIRS "${_include_dirs}")
+ endif()
+
+ get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+ if(_imported_configurations)
+ string(TOUPPER "${_imported_configurations}" _imported_configurations)
+ if(DEBUG_CONFIGURATIONS)
+ string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+ else()
+ set(_debug_configurations_uppercase "DEBUG")
+ endif()
+ foreach(_imported_config ${_imported_configurations})
+ get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+ if(_imported_implib)
+ set(_imported_implib_config "optimized")
+ if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+ set(_imported_implib_config "debug")
+ endif()
+ list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+ else()
+ get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+ if(_imported_location)
+ list(APPEND _libraries "${_imported_location}")
+ endif()
+ endif()
+ endforeach()
+ endif()
+
+ get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+ if(_link_libraries)
+ list(APPEND _libraries "${_link_libraries}")
+ endif()
+ set(use_modern_cmake TRUE)
+ endif()
+ endforeach()
+ endif()
+ if(NOT use_modern_cmake)
+ if(${_dep}_DEFINITIONS)
+ list_append_unique(v4l2_camera_DEFINITIONS "${${_dep}_DEFINITIONS}")
+ endif()
+ if(${_dep}_INCLUDE_DIRS)
+ list_append_unique(v4l2_camera_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+ endif()
+ if(${_dep}_LIBRARIES)
+ list(APPEND _libraries "${${_dep}_LIBRARIES}")
+ endif()
+ if(${_dep}_LINK_FLAGS)
+ list_append_unique(v4l2_camera_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+ endif()
+ if(${_dep}_RECURSIVE_DEPENDENCIES)
+ list_append_unique(v4l2_camera_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+ endif()
+ endif()
+ if(_libraries)
+ ament_libraries_deduplicate(_libraries "${_libraries}")
+ list(APPEND v4l2_camera_LIBRARIES "${_libraries}")
+ endif()
+ endforeach()
+endif()
diff --git a/build/v4l2_camera/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake b/build/v4l2_camera/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
new file mode 100644
index 0000000..0cb444e
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${v4l2_camera_DIR}/../../../include")
+
+# append include directories to v4l2_camera_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+ find_package(ament_cmake_core QUIET REQUIRED)
+ foreach(_exported_include_dir ${_exported_include_dirs})
+ if(NOT IS_DIRECTORY "${_exported_include_dir}")
+ message(WARNING "Package 'v4l2_camera' exports the include directory '${_exported_include_dir}' which doesn't exist")
+ endif()
+ normalize_path(_exported_include_dir "${_exported_include_dir}")
+ list(APPEND v4l2_camera_INCLUDE_DIRS "${_exported_include_dir}")
+ endforeach()
+endif()
diff --git a/build/v4l2_camera/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake b/build/v4l2_camera/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake
new file mode 100644
index 0000000..31dec03
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake
@@ -0,0 +1,140 @@
+# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in
+
+set(_exported_libraries "v4l2_camera")
+set(_exported_library_names "")
+
+# populate v4l2_camera_LIBRARIES
+if(NOT _exported_libraries STREQUAL "")
+ # loop over libraries, either target names or absolute paths
+ list(LENGTH _exported_libraries _length)
+ set(_i 0)
+ while(_i LESS _length)
+ list(GET _exported_libraries ${_i} _arg)
+
+ # pass linker flags along
+ if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+ list(APPEND v4l2_camera_LIBRARIES "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ continue()
+ endif()
+
+ if("${_arg}" MATCHES "^(debug|optimized|general)$")
+ # remember build configuration keyword
+ # and get following library
+ set(_cfg "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ if(_i EQUAL _length)
+ message(FATAL_ERROR "Package 'v4l2_camera' passes the build configuration keyword '${_cfg}' as the last exported library")
+ endif()
+ list(GET _exported_libraries ${_i} _library)
+ else()
+ # the value is a library without a build configuration keyword
+ set(_cfg "")
+ set(_library "${_arg}")
+ endif()
+ math(EXPR _i "${_i} + 1")
+
+ if(NOT IS_ABSOLUTE "${_library}")
+ # search for library target relative to this CMake file
+ set(_lib "NOTFOUND")
+ find_library(
+ _lib NAMES "${_library}"
+ PATHS "${v4l2_camera_DIR}/../../../lib"
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+ )
+
+ if(NOT _lib)
+ # warn about not existing library and ignore it
+ message(FATAL_ERROR "Package 'v4l2_camera' exports the library '${_library}' which couldn't be found")
+ elseif(NOT IS_ABSOLUTE "${_lib}")
+ # the found library must be an absolute path
+ message(FATAL_ERROR "Package 'v4l2_camera' found the library '${_library}' at '${_lib}' which is not an absolute path")
+ elseif(NOT EXISTS "${_lib}")
+ # the found library must exist
+ message(FATAL_ERROR "Package 'v4l2_camera' found the library '${_lib}' which doesn't exist")
+ else()
+ list(APPEND v4l2_camera_LIBRARIES ${_cfg} "${_lib}")
+ endif()
+
+ else()
+ if(NOT EXISTS "${_library}")
+ # the found library must exist
+ message(WARNING "Package 'v4l2_camera' exports the library '${_library}' which doesn't exist")
+ else()
+ list(APPEND v4l2_camera_LIBRARIES ${_cfg} "${_library}")
+ endif()
+ endif()
+ endwhile()
+endif()
+
+# find_library() library names with optional LIBRARY_DIRS
+# and add the libraries to v4l2_camera_LIBRARIES
+if(NOT _exported_library_names STREQUAL "")
+ # loop over library names
+ # but remember related build configuration keyword if available
+ list(LENGTH _exported_library_names _length)
+ set(_i 0)
+ while(_i LESS _length)
+ list(GET _exported_library_names ${_i} _arg)
+ # pass linker flags along
+ if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+ list(APPEND v4l2_camera_LIBRARIES "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ continue()
+ endif()
+
+ if("${_arg}" MATCHES "^(debug|optimized|general)$")
+ # remember build configuration keyword
+ # and get following library name
+ set(_cfg "${_arg}")
+ math(EXPR _i "${_i} + 1")
+ if(_i EQUAL _length)
+ message(FATAL_ERROR "Package 'v4l2_camera' passes the build configuration keyword '${_cfg}' as the last exported target")
+ endif()
+ list(GET _exported_library_names ${_i} _library)
+ else()
+ # the value is a library target without a build configuration keyword
+ set(_cfg "")
+ set(_library "${_arg}")
+ endif()
+ math(EXPR _i "${_i} + 1")
+
+ # extract optional LIBRARY_DIRS from library name
+ string(REPLACE ":" ";" _library_dirs "${_library}")
+ list(GET _library_dirs 0 _library_name)
+ list(REMOVE_AT _library_dirs 0)
+
+ set(_lib "NOTFOUND")
+ if(NOT _library_dirs)
+ # search for library in the common locations
+ find_library(
+ _lib
+ NAMES "${_library_name}"
+ )
+ if(NOT _lib)
+ # warn about not existing library and later ignore it
+ message(WARNING "Package 'v4l2_camera' exports library '${_library_name}' which couldn't be found")
+ endif()
+ else()
+ # search for library in the specified directories
+ find_library(
+ _lib
+ NAMES "${_library_name}"
+ PATHS ${_library_dirs}
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+ )
+ if(NOT _lib)
+ # warn about not existing library and later ignore it
+ message(WARNING "Package 'v4l2_camera' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found")
+ endif()
+ endif()
+ if(_lib)
+ list(APPEND v4l2_camera_LIBRARIES ${_cfg} "${_lib}")
+ endif()
+ endwhile()
+endif()
+
+# TODO(dirk-thomas) deduplicate v4l2_camera_LIBRARIES
+# while maintaining library order
+# as well as build configuration keywords
+# as well as linker flags
diff --git a/build/v4l2_camera/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake b/build/v4l2_camera/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake
new file mode 100644
index 0000000..4725d85
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake
@@ -0,0 +1,27 @@
+# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in
+
+set(_exported_targets "export_v4l2_camera")
+
+# include all exported targets
+if(NOT _exported_targets STREQUAL "")
+ foreach(_target ${_exported_targets})
+ set(_export_file "${v4l2_camera_DIR}/${_target}Export.cmake")
+ include("${_export_file}")
+
+ # extract the target names associated with the export
+ set(_regex "foreach\\(_expectedTarget (.+)\\)")
+ file(
+ STRINGS "${_export_file}" _foreach_targets
+ REGEX "${_regex}")
+ list(LENGTH _foreach_targets _matches)
+ if(NOT _matches EQUAL 1)
+ message(FATAL_ERROR
+ "Failed to find exported target names in '${_export_file}'")
+ endif()
+ string(REGEX REPLACE "${_regex}" "\\1" _targets "${_foreach_targets}")
+ string(REPLACE " " ";" _targets "${_targets}")
+ list(LENGTH _targets _length)
+
+ list(APPEND v4l2_camera_TARGETS ${_targets})
+ endforeach()
+endif()
diff --git a/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/v4l2_camera b/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/v4l2_camera
new file mode 100755
index 0000000..0e4836c
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/v4l2_camera
@@ -0,0 +1 @@
+sensor_msgs;image_transport;camera_info_manager;rclcpp;rclcpp_components;ament_lint_auto;ament_lint_common
\ No newline at end of file
diff --git a/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/packages/v4l2_camera b/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/packages/v4l2_camera
new file mode 100755
index 0000000..e69de29
diff --git a/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/v4l2_camera b/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/v4l2_camera
new file mode 100644
index 0000000..f590790
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/v4l2_camera
@@ -0,0 +1 @@
+/home/ros2/dev2_ws/install/v4l2_camera:/home/ros2/dev2_ws/install/turtle_follower_py:/home/ros2/dev2_ws/install/camera_calibration:/home/ros2/dev2_ws/install/aruco_interfaces:/home/ros2/dev2_ws/install/aruco_detector:/opt/ros/foxy
\ No newline at end of file
diff --git a/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/rclcpp_components/v4l2_camera b/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/rclcpp_components/v4l2_camera
new file mode 100755
index 0000000..e7d8db6
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/rclcpp_components/v4l2_camera
@@ -0,0 +1 @@
+v4l2_camera::V4L2Camera;lib/libv4l2_camera.so
diff --git a/build/v4l2_camera/ament_cmake_package_templates/templates.cmake b/build/v4l2_camera/ament_cmake_package_templates/templates.cmake
new file mode 100755
index 0000000..028c16d
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_package_templates/templates.cmake
@@ -0,0 +1,14 @@
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/environment_hook/library_path.sh")
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/environment_hook/pythonpath.sh.in")
+set(ament_cmake_package_templates_PACKAGE_LEVEL "")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.bash.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.zsh.in")
+set(ament_cmake_package_templates_PREFIX_LEVEL "")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/_local_setup_util.py")
diff --git a/build/v4l2_camera/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/v4l2_camera/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
new file mode 100644
index 0000000..41552c8
--- /dev/null
+++ b/build/v4l2_camera/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
@@ -0,0 +1,57 @@
+# generated from
+# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in
+
+function(ament_cmake_uninstall_target_remove_empty_directories path)
+ set(install_space "/home/ros2/dev2_ws/install/v4l2_camera")
+ if(install_space STREQUAL "")
+ message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty")
+ endif()
+
+ string(LENGTH "${install_space}" length)
+ string(SUBSTRING "${path}" 0 ${length} path_prefix)
+ if(NOT path_prefix STREQUAL install_space)
+ message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'")
+ endif()
+ if(path STREQUAL install_space)
+ return()
+ endif()
+
+ # check if directory is empty
+ file(GLOB files "${path}/*")
+ list(LENGTH files length)
+ if(length EQUAL 0)
+ message(STATUS "Uninstalling: ${path}/")
+ execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}")
+ # recursively try to remove parent directories
+ get_filename_component(parent_path "${path}" PATH)
+ ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+ endif()
+endfunction()
+
+# uninstall files installed using the standard install() function
+set(install_manifest "/home/ros2/dev2_ws/build/v4l2_camera/install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+ message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+ if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+ message(STATUS "Uninstalling: ${installed_file}")
+ file(REMOVE "${installed_file}")
+ if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+ message(FATAL_ERROR "Failed to remove '${installed_file}'")
+ endif()
+
+ # remove empty parent folders
+ get_filename_component(parent_path "${installed_file}" PATH)
+ ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+ endif()
+endforeach()
+
+# end of template
+
+message(STATUS "Execute custom uninstall script")
+
+# begin of custom uninstall code
diff --git a/build/v4l2_camera/cmake_args.last b/build/v4l2_camera/cmake_args.last
new file mode 100755
index 0000000..4af1832
--- /dev/null
+++ b/build/v4l2_camera/cmake_args.last
@@ -0,0 +1 @@
+None
\ No newline at end of file
diff --git a/build/v4l2_camera/cmake_install.cmake b/build/v4l2_camera/cmake_install.cmake
new file mode 100755
index 0000000..b59efe8
--- /dev/null
+++ b/build/v4l2_camera/cmake_install.cmake
@@ -0,0 +1,222 @@
+# Install script for directory: /home/ros2/dev2_ws/src/v4l2_camera
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+ set(CMAKE_INSTALL_PREFIX "/home/ros2/dev2_ws/install/v4l2_camera")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+ if(BUILD_TYPE)
+ string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+ CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+ else()
+ set(CMAKE_INSTALL_CONFIG_NAME "")
+ endif()
+ message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+ if(COMPONENT)
+ message(STATUS "Install component: \"${COMPONENT}\"")
+ set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+ else()
+ set(CMAKE_INSTALL_COMPONENT)
+ endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+ set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+ set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/home/ros2/dev2_ws/src/v4l2_camera/include/")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libv4l2_camera.so" AND
+ NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libv4l2_camera.so")
+ file(RPATH_CHECK
+ FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libv4l2_camera.so"
+ RPATH "")
+ endif()
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/ros2/dev2_ws/build/v4l2_camera/libv4l2_camera.so")
+ if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libv4l2_camera.so" AND
+ NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libv4l2_camera.so")
+ file(RPATH_CHANGE
+ FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libv4l2_camera.so"
+ OLD_RPATH "/opt/ros/foxy/lib:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:"
+ NEW_RPATH "")
+ if(CMAKE_INSTALL_DO_STRIP)
+ execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libv4l2_camera.so")
+ endif()
+ endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_node" AND
+ NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_node")
+ file(RPATH_CHECK
+ FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_node"
+ RPATH "")
+ endif()
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera" TYPE EXECUTABLE FILES "/home/ros2/dev2_ws/build/v4l2_camera/v4l2_camera_node")
+ if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_node" AND
+ NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_node")
+ file(RPATH_CHANGE
+ FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_node"
+ OLD_RPATH "/home/ros2/dev2_ws/build/v4l2_camera:/opt/ros/foxy/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:"
+ NEW_RPATH "")
+ if(CMAKE_INSTALL_DO_STRIP)
+ execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_node")
+ endif()
+ endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_compose_test" AND
+ NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_compose_test")
+ file(RPATH_CHECK
+ FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_compose_test"
+ RPATH "")
+ endif()
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera" TYPE EXECUTABLE FILES "/home/ros2/dev2_ws/build/v4l2_camera/v4l2_camera_compose_test")
+ if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_compose_test" AND
+ NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_compose_test")
+ file(RPATH_CHANGE
+ FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_compose_test"
+ OLD_RPATH "/home/ros2/dev2_ws/build/v4l2_camera:/opt/ros/foxy/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:"
+ NEW_RPATH "")
+ if(CMAKE_INSTALL_DO_STRIP)
+ execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/v4l2_camera/v4l2_camera_compose_test")
+ endif()
+ endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/environment" TYPE FILE FILES "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/environment_hook/library_path.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/environment" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_environment_hooks/library_path.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/v4l2_camera")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/v4l2_camera")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/environment" TYPE FILE FILES "/opt/ros/foxy/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/environment" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_environment_hooks/ament_prefix_path.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/environment" TYPE FILE FILES "/opt/ros/foxy/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/environment" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_environment_hooks/path.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.bash")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.zsh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_environment_hooks/package.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/packages/v4l2_camera")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/rclcpp_components" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/rclcpp_components/v4l2_camera")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/cmake/export_v4l2_cameraExport.cmake")
+ file(DIFFERENT EXPORT_FILE_CHANGED FILES
+ "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/cmake/export_v4l2_cameraExport.cmake"
+ "/home/ros2/dev2_ws/build/v4l2_camera/CMakeFiles/Export/share/v4l2_camera/cmake/export_v4l2_cameraExport.cmake")
+ if(EXPORT_FILE_CHANGED)
+ file(GLOB OLD_CONFIG_FILES "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/cmake/export_v4l2_cameraExport-*.cmake")
+ if(OLD_CONFIG_FILES)
+ message(STATUS "Old export file \"$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/cmake/export_v4l2_cameraExport.cmake\" will be replaced. Removing files [${OLD_CONFIG_FILES}].")
+ file(REMOVE ${OLD_CONFIG_FILES})
+ endif()
+ endif()
+ endif()
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/cmake" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/CMakeFiles/Export/share/v4l2_camera/cmake/export_v4l2_cameraExport.cmake")
+ if("${CMAKE_INSTALL_CONFIG_NAME}" MATCHES "^()$")
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/cmake" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/CMakeFiles/Export/share/v4l2_camera/cmake/export_v4l2_cameraExport-noconfig.cmake")
+ endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/cmake" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/cmake" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/cmake" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/cmake" TYPE FILE FILES "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera/cmake" TYPE FILE FILES
+ "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_core/v4l2_cameraConfig.cmake"
+ "/home/ros2/dev2_ws/build/v4l2_camera/ament_cmake_core/v4l2_cameraConfig-version.cmake"
+ )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+ file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/v4l2_camera" TYPE FILE FILES "/home/ros2/dev2_ws/src/v4l2_camera/package.xml")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+ set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+ set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+ "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/home/ros2/dev2_ws/build/v4l2_camera/${CMAKE_INSTALL_MANIFEST}"
+ "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/build/v4l2_camera/colcon_build.rc b/build/v4l2_camera/colcon_build.rc
new file mode 100755
index 0000000..573541a
--- /dev/null
+++ b/build/v4l2_camera/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/build/v4l2_camera/colcon_command_prefix_build.sh b/build/v4l2_camera/colcon_command_prefix_build.sh
new file mode 100755
index 0000000..f9867d5
--- /dev/null
+++ b/build/v4l2_camera/colcon_command_prefix_build.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/build/v4l2_camera/colcon_command_prefix_build.sh.env b/build/v4l2_camera/colcon_command_prefix_build.sh.env
new file mode 100755
index 0000000..0050193
--- /dev/null
+++ b/build/v4l2_camera/colcon_command_prefix_build.sh.env
@@ -0,0 +1,70 @@
+AMENT_PREFIX_PATH=/home/ros2/dev2_ws/install/v4l2_camera:/home/ros2/dev2_ws/install/turtle_follower_py:/home/ros2/dev2_ws/install/camera_calibration:/home/ros2/dev2_ws/install/aruco_interfaces:/home/ros2/dev2_ws/install/aruco_detector:/opt/ros/foxy
+CMAKE_PREFIX_PATH=/home/ros2/dev2_ws/install/v4l2_camera:/home/ros2/dev2_ws/install/aruco_interfaces
+COLCON=1
+COLCON_PREFIX_PATH=/home/ros2/dev2_ws/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
+DESKTOP_SESSION=ubuntu
+DISPLAY=:0
+GDMSESSION=ubuntu
+GJS_DEBUG_OUTPUT=stderr
+GJS_DEBUG_TOPICS=JS ERROR;JS LOG
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SHELL_SESSION_MODE=ubuntu
+GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/ed9a88cb_996e_4783_90fb_206aa627c957
+GNOME_TERMINAL_SERVICE=:1.166
+GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1
+GTK_MODULES=gail:atk-bridge
+HOME=/home/ros2
+IM_CONFIG_PHASE=1
+INVOCATION_ID=331653316740409188736b6261a239d2
+JOURNAL_STREAM=8:183562
+LANG=en_US.UTF-8
+LC_ADDRESS=de_DE.UTF-8
+LC_ALL=en_US.UTF-8
+LC_IDENTIFICATION=de_DE.UTF-8
+LC_MEASUREMENT=de_DE.UTF-8
+LC_MONETARY=de_DE.UTF-8
+LC_NAME=de_DE.UTF-8
+LC_NUMERIC=de_DE.UTF-8
+LC_PAPER=de_DE.UTF-8
+LC_TELEPHONE=de_DE.UTF-8
+LC_TIME=de_DE.UTF-8
+LD_LIBRARY_PATH=/home/ros2/dev2_ws/install/v4l2_camera/lib:/home/ros2/dev2_ws/install/aruco_interfaces/lib:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=ros2
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
+MANAGERPID=7832
+OLDPWD=/home/ros2/dev2_ws/launch
+PAPERSIZE=a4
+PATH=/opt/ros/foxy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
+PWD=/home/ros2/dev2_ws/build/v4l2_camera
+PYTHONPATH=/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/aruco_interfaces/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages:/opt/ros/foxy/lib/python3.8/site-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+ROS_DISTRO=foxy
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/ubuntu:@/tmp/.ICE-unix/8042,unix/ubuntu:/tmp/.ICE-unix/8042
+SHELL=/bin/bash
+SHLVL=1
+SSH_AGENT_PID=8007
+SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
+TERM=xterm-256color
+USER=ros2
+USERNAME=ros2
+VTE_VERSION=6003
+WINDOWPATH=2
+XAUTHORITY=/run/user/1000/gdm/Xauthority
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=ubuntu:GNOME
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1000
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=x11
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon
diff --git a/build/v4l2_camera/install_manifest.txt b/build/v4l2_camera/install_manifest.txt
new file mode 100755
index 0000000..ce9d0c5
--- /dev/null
+++ b/build/v4l2_camera/install_manifest.txt
@@ -0,0 +1,34 @@
+/home/ros2/dev2_ws/install/v4l2_camera/include/v4l2_camera/image_format.hpp
+/home/ros2/dev2_ws/install/v4l2_camera/include/v4l2_camera/pixel_format.hpp
+/home/ros2/dev2_ws/install/v4l2_camera/include/v4l2_camera/v4l2_camera_device.hpp
+/home/ros2/dev2_ws/install/v4l2_camera/include/v4l2_camera/visibility_control.h
+/home/ros2/dev2_ws/install/v4l2_camera/include/v4l2_camera/control.hpp
+/home/ros2/dev2_ws/install/v4l2_camera/include/v4l2_camera/v4l2_camera.hpp
+/home/ros2/dev2_ws/install/v4l2_camera/include/v4l2_camera/fourcc.hpp
+/home/ros2/dev2_ws/install/v4l2_camera/lib/libv4l2_camera.so
+/home/ros2/dev2_ws/install/v4l2_camera/lib/v4l2_camera/v4l2_camera_node
+/home/ros2/dev2_ws/install/v4l2_camera/lib/v4l2_camera/v4l2_camera_compose_test
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/environment/library_path.sh
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/environment/library_path.dsv
+/home/ros2/dev2_ws/install/v4l2_camera/share/ament_index/resource_index/package_run_dependencies/v4l2_camera
+/home/ros2/dev2_ws/install/v4l2_camera/share/ament_index/resource_index/parent_prefix_path/v4l2_camera
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/environment/ament_prefix_path.sh
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/environment/ament_prefix_path.dsv
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/environment/path.sh
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/environment/path.dsv
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/local_setup.bash
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/local_setup.sh
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/local_setup.zsh
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/local_setup.dsv
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/package.dsv
+/home/ros2/dev2_ws/install/v4l2_camera/share/ament_index/resource_index/packages/v4l2_camera
+/home/ros2/dev2_ws/install/v4l2_camera/share/ament_index/resource_index/rclcpp_components/v4l2_camera
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/cmake/export_v4l2_cameraExport.cmake
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/cmake/export_v4l2_cameraExport-noconfig.cmake
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/cmake/ament_cmake_export_include_directories-extras.cmake
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/cmake/ament_cmake_export_targets-extras.cmake
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/cmake/ament_cmake_export_libraries-extras.cmake
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/cmake/ament_cmake_export_dependencies-extras.cmake
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/cmake/v4l2_cameraConfig.cmake
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/cmake/v4l2_cameraConfig-version.cmake
+/home/ros2/dev2_ws/install/v4l2_camera/share/v4l2_camera/package.xml
\ No newline at end of file
diff --git a/build/v4l2_camera/libv4l2_camera.so b/build/v4l2_camera/libv4l2_camera.so
new file mode 100755
index 0000000..360b032
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diff --git a/build/v4l2_camera/v4l2_camera_compose_test b/build/v4l2_camera/v4l2_camera_compose_test
new file mode 100755
index 0000000..6ade456
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diff --git a/build/v4l2_camera/v4l2_camera_node b/build/v4l2_camera/v4l2_camera_node
new file mode 100755
index 0000000..73cb66b
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diff --git a/launch/__pycache__/aruco_launch.cpython-38.pyc b/launch/__pycache__/aruco_launch.cpython-38.pyc
new file mode 100644
index 0000000..22097ca
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diff --git a/launch/__pycache__/turtle_launch.cpython-38.pyc b/launch/__pycache__/turtle_launch.cpython-38.pyc
new file mode 100755
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diff --git a/launch/aruco_launch.py b/launch/aruco_launch.py
new file mode 100755
index 0000000..f36cad0
--- /dev/null
+++ b/launch/aruco_launch.py
@@ -0,0 +1,39 @@
+from os import wait
+from typing_extensions import ParamSpecKwargs
+from launch import LaunchDescription
+from launch.actions import execute_process
+from launch_ros.actions import Node
+
+def generate_launch_description():
+ return LaunchDescription([
+
+ Node(
+ package='aruco_detector',
+ executable='aruco_detector_node',
+ parameters=[
+ {'url_yaml_file' : "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml"},
+ ]
+ ),
+ Node(
+ package='usb_cam',
+ executable='usb_cam_node_exe',
+ parameters=[
+ {'framerate' : 30.0},
+ {'camera_name' : 'hd_pro_webcam_c920'},
+ {'autofocus' : True},
+ {'camera_info_url' : "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml"},
+
+ #uncomment for Full_HD
+ #{'image_width' : 1920},
+ #{'image_height' : 1080},
+
+ #uncomment for HD
+ {'image_width' : 1280},
+ {'image_height' : 720},
+ ]
+ ),
+ Node(
+ package='rqt_image_view',
+ executable='rqt_image_view',
+ ),
+ ])
\ No newline at end of file
diff --git a/launch/turtle_launch.py b/launch/turtle_launch.py
new file mode 100755
index 0000000..b3e7b97
--- /dev/null
+++ b/launch/turtle_launch.py
@@ -0,0 +1,14 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+ return LaunchDescription([
+ Node(
+ package='turtlesim',
+ executable='turtlesim_node',
+ ),
+ Node(
+ package='turtlesim',
+ executable='turtle_teleop_key',
+ ),
+ ])
diff --git a/src/aruco_detector/aruco_detector/__init__.py b/src/aruco_detector/aruco_detector/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/aruco_detector/aruco_detector/aruco_detector_node.py b/src/aruco_detector/aruco_detector/aruco_detector_node.py
new file mode 100644
index 0000000..e714344
--- /dev/null
+++ b/src/aruco_detector/aruco_detector/aruco_detector_node.py
@@ -0,0 +1,181 @@
+from numpy.lib.function_base import _angle_dispatcher
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import qos_profile_sensor_data
+from cv_bridge import CvBridge
+
+import numpy as np
+import cv2
+
+from transforms3d.quaternions import mat2quat
+from transforms3d.euler import mat2euler
+
+from aruco_detector import yaml_handling
+
+from sensor_msgs.msg import CompressedImage
+from geometry_msgs.msg import Pose
+from aruco_interfaces.msg import ArucoMarkerPose
+
+
+class ArucoDetectorNode(rclpy.node.Node):
+ def __init__(self):
+ super().__init__('aruco_detector_node')
+
+ ########################################################
+ # Declare parameters
+ # - marker_size:
+ # size of the marker in meters
+ # default: 0.1m (10cm)
+ #
+ # - aruco_dictionary_id:
+ # Kind of ArUco Marker which is used. For instance DICT_4X4_50, DICT4X4_100, ...
+ # For furhter information take a look into https://docs.opencv.org/3.4/d9/d6a/group__aruco.html
+ # default: DICT_6X6_100
+ #
+ # - input_image_topic
+ # Topic with the pictures. It must be a compressed Image.
+ # default: "/image_raw/compressed"
+ #
+ # - url_yaml_file
+ # Url where the yaml_file is stored. You get a yaml-file after camera calibration.
+ # default: "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml"
+ #
+ # Declare parameters
+ self.declare_parameter("marker_size", .1)
+ self.declare_parameter("aruco_dictionary_id", "DICT_6X6_100")
+ self.declare_parameter("input_image_topic", "/image_raw/compressed")
+ self.declare_parameter("url_yaml_file", "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml") # url to yaml file (calibration file)
+ # Read parameters
+ self.marker_size = self.get_parameter("marker_size").get_parameter_value().double_value
+ dictionary_id_name = self.get_parameter("aruco_dictionary_id").get_parameter_value().string_value
+ input_image_topic = self.get_parameter("input_image_topic").get_parameter_value().string_value
+ url_yaml_file = self.get_parameter("url_yaml_file").get_parameter_value().string_value
+
+ # check dictionary_id
+ try:
+ dictionary_id = cv2.aruco.__getattribute__(dictionary_id_name)
+ if type(dictionary_id) != type(cv2.aruco.DICT_5X5_100):
+ raise AttributeError
+ except AttributeError:
+ self.get_logger().error("bad aruco_dictionary_id: {}".format(dictionary_id_name))
+ options = "\n".join([s for s in dir(cv2.aruco) if s.startswith("DICT")])
+ self.get_logger().error("valid options: {}".format(options))
+
+ # Set up subscriber
+ # (images from the camera in wich the ArUco Marker will be detected)
+ self.create_subscription(CompressedImage, input_image_topic, self.image_callback, qos_profile_sensor_data)
+
+ # Set up publishers
+ # - current poses
+ # - images with the detected and highlighted ArUco-Tags
+ self.publisher_marker_poses = self.create_publisher(ArucoMarkerPose, '/aruco/aruco_poses', 10)
+ self.publisher_output_images = self.create_publisher(CompressedImage, '/aruco/aruco_output_images/compressed', 10)
+
+ # Load the camera parameters from yaml-file
+ camera_info_msg = yaml_handling.yaml_to_CameraInfo(url_yaml_file)
+ if camera_info_msg is None:
+ self.get_logger().warn("No valid camera info inside the yaml_file!")
+ return
+
+
+ self.intrinsic_mat = np.reshape(np.array(camera_info_msg.k), (3, 3))
+ self.distortion = np.array(camera_info_msg.d)
+
+ self.aruco_dictionary = cv2.aruco.Dictionary_get(dictionary_id)
+ self.aruco_parameters = cv2.aruco.DetectorParameters_create()
+ self.bridge = CvBridge()
+
+ def image_callback(self, img_msg):
+ """
+ image_callback(self, img_msg)
+ Callback function from the image-subscriber.
+ Is called if a new compressed image will be received.
+ """
+
+ # Convert the compressed input image into cv_image
+ # This is done, because the folling functions needs the cv_image-type.
+ cv_image = self.bridge.compressed_imgmsg_to_cv2(img_msg,desired_encoding='passthrough')
+
+
+ # Basic marker detection
+ # -corners: vector of detected marker corners
+ # -marker_ids: ids read from the ArUco Marker
+ corners, marker_ids, rejected = cv2.aruco.detectMarkers(cv_image,
+ self.aruco_dictionary,
+ parameters=self.aruco_parameters)
+
+ #check if marker is detected, then estimate pose an publish
+ if marker_ids is not None:
+
+ # Pose estimation for single markers
+ # -rvecs: array of output rotation vectors
+ # -tvecs: array of output translation vectors
+ rvecs, tvecs, _objPoints = cv2.aruco.estimatePoseSingleMarkers(corners,
+ self.marker_size,
+ self.intrinsic_mat,
+ self.distortion)
+
+ # Create the variable in which all poses and marker_ids are stored.
+ # ArucoMarkerPose is an custom ros2 message, which is found inside the folder "aruco_interfaces"
+ pose_array = ArucoMarkerPose()
+
+ # iterate through all founded marker_ids and compute their poses
+ for i, marker_id in enumerate(marker_ids):
+ pose = Pose()
+ pose.position.x = tvecs[i][0][0]
+ pose.position.y = tvecs[i][0][1]
+ pose.position.z = tvecs[i][0][2]
+
+ rot_matrix = np.eye(4)
+ rot_matrix[0:3, 0:3] = cv2.Rodrigues(np.array(rvecs[i][0]))[0]
+
+
+ import math
+ angle = math.acos(rot_matrix[0][0])*(180/math.pi)
+
+ angle_psi, angle_theta, angle_phi = mat2euler(rot_matrix)
+
+ self.get_logger().error("angle_theta: \n{}\n\n".format(angle_theta*(180/math.pi)))
+ self.get_logger().error("angle_phi: \n{}\n\n".format(angle_phi*(180/math.pi)))
+ self.get_logger().error("angle_psi: \n{}\n\n".format(angle_psi*(180/math.pi)))
+
+ pose.orientation.x = 0.0
+ pose.orientation.y = 0.0
+ pose.orientation.z = math.sin((angle_phi) / 2)
+ pose.orientation.w = math.cos((angle_phi) / 2)
+
+ pose_array.poses.append(pose)
+ pose_array.marker_ids.append(marker_id[0])
+
+ # publish the pose array when all markers are detected
+ self.publisher_marker_poses.publish(pose_array)
+
+ # Draw the Axis into the output picture
+ output_img = cv2.aruco.drawAxis(cv_image,
+ self.intrinsic_mat,
+ self.distortion,
+ rvecs,
+ tvecs,
+ 0.5
+ )
+
+ # Draw a rectangle around the detected markers to highlight them.
+ output_img = cv2.aruco.drawDetectedMarkers(cv_image, corners, marker_ids)
+ output_img_compressed = self.bridge.cv2_to_compressed_imgmsg(output_img, dst_format='jpg')
+
+ # Publish the finished picture with the highlighted Markers and Axis
+ self.publisher_output_images.publish(output_img_compressed)
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ minimal_publisher = ArucoDetectorNode()
+ rclpy.spin(minimal_publisher)
+ minimal_publisher.destroy_node()
+ rclpy.shutdown()
+
+
+if __name__ == '__main__':
+ main()
+
+
diff --git a/src/aruco_detector/aruco_detector/transformations.py b/src/aruco_detector/aruco_detector/transformations.py
new file mode 100644
index 0000000..b7a0f1a
--- /dev/null
+++ b/src/aruco_detector/aruco_detector/transformations.py
@@ -0,0 +1,1706 @@
+# -*- coding: utf-8 -*-
+# transformations.py
+
+# Copyright (c) 2006, Christoph Gohlke
+# Copyright (c) 2006-2009, The Regents of the University of California
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+# * Neither the name of the copyright holders nor the names of any
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""Homogeneous Transformation Matrices and Quaternions.
+
+A library for calculating 4x4 matrices for translating, rotating, reflecting,
+scaling, shearing, projecting, orthogonalizing, and superimposing arrays of
+3D homogeneous coordinates as well as for converting between rotation matrices,
+Euler angles, and quaternions. Also includes an Arcball control object and
+functions to decompose transformation matrices.
+
+:Authors:
+ `Christoph Gohlke `__,
+ Laboratory for Fluorescence Dynamics, University of California, Irvine
+
+:Version: 20090418
+
+Requirements
+------------
+
+* `Python 2.6 `__
+* `Numpy 1.3 `__
+* `transformations.c 20090418 `__
+ (optional implementation of some functions in C)
+
+Notes
+-----
+
+Matrices (M) can be inverted using numpy.linalg.inv(M), concatenated using
+numpy.dot(M0, M1), or used to transform homogeneous coordinates (v) using
+numpy.dot(M, v) for shape (4, \*) "point of arrays", respectively
+numpy.dot(v, M.T) for shape (\*, 4) "array of points".
+
+Calculations are carried out with numpy.float64 precision.
+
+This Python implementation is not optimized for speed.
+
+Vector, point, quaternion, and matrix function arguments are expected to be
+"array like", i.e. tuple, list, or numpy arrays.
+
+Return types are numpy arrays unless specified otherwise.
+
+Angles are in radians unless specified otherwise.
+
+Quaternions ix+jy+kz+w are represented as [x, y, z, w].
+
+Use the transpose of transformation matrices for OpenGL glMultMatrixd().
+
+A triple of Euler angles can be applied/interpreted in 24 ways, which can
+be specified using a 4 character string or encoded 4-tuple:
+
+ *Axes 4-string*: e.g. 'sxyz' or 'ryxy'
+
+ - first character : rotations are applied to 's'tatic or 'r'otating frame
+ - remaining characters : successive rotation axis 'x', 'y', or 'z'
+
+ *Axes 4-tuple*: e.g. (0, 0, 0, 0) or (1, 1, 1, 1)
+
+ - inner axis: code of axis ('x':0, 'y':1, 'z':2) of rightmost matrix.
+ - parity : even (0) if inner axis 'x' is followed by 'y', 'y' is followed
+ by 'z', or 'z' is followed by 'x'. Otherwise odd (1).
+ - repetition : first and last axis are same (1) or different (0).
+ - frame : rotations are applied to static (0) or rotating (1) frame.
+
+References
+----------
+
+(1) Matrices and transformations. Ronald Goldman.
+ In "Graphics Gems I", pp 472-475. Morgan Kaufmann, 1990.
+(2) More matrices and transformations: shear and pseudo-perspective.
+ Ronald Goldman. In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991.
+(3) Decomposing a matrix into simple transformations. Spencer Thomas.
+ In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991.
+(4) Recovering the data from the transformation matrix. Ronald Goldman.
+ In "Graphics Gems II", pp 324-331. Morgan Kaufmann, 1991.
+(5) Euler angle conversion. Ken Shoemake.
+ In "Graphics Gems IV", pp 222-229. Morgan Kaufmann, 1994.
+(6) Arcball rotation control. Ken Shoemake.
+ In "Graphics Gems IV", pp 175-192. Morgan Kaufmann, 1994.
+(7) Representing attitude: Euler angles, unit quaternions, and rotation
+ vectors. James Diebel. 2006.
+(8) A discussion of the solution for the best rotation to relate two sets
+ of vectors. W Kabsch. Acta Cryst. 1978. A34, 827-828.
+(9) Closed-form solution of absolute orientation using unit quaternions.
+ BKP Horn. J Opt Soc Am A. 1987. 4(4), 629-642.
+(10) Quaternions. Ken Shoemake.
+ http://www.sfu.ca/~jwa3/cmpt461/files/quatut.pdf
+(11) From quaternion to matrix and back. JMP van Waveren. 2005.
+ http://www.intel.com/cd/ids/developer/asmo-na/eng/293748.htm
+(12) Uniform random rotations. Ken Shoemake.
+ In "Graphics Gems III", pp 124-132. Morgan Kaufmann, 1992.
+
+
+Examples
+--------
+
+>>> alpha, beta, gamma = 0.123, -1.234, 2.345
+>>> origin, xaxis, yaxis, zaxis = (0, 0, 0), (1, 0, 0), (0, 1, 0), (0, 0, 1)
+>>> I = identity_matrix()
+>>> Rx = rotation_matrix(alpha, xaxis)
+>>> Ry = rotation_matrix(beta, yaxis)
+>>> Rz = rotation_matrix(gamma, zaxis)
+>>> R = concatenate_matrices(Rx, Ry, Rz)
+>>> euler = euler_from_matrix(R, 'rxyz')
+>>> numpy.allclose([alpha, beta, gamma], euler)
+True
+>>> Re = euler_matrix(alpha, beta, gamma, 'rxyz')
+>>> is_same_transform(R, Re)
+True
+>>> al, be, ga = euler_from_matrix(Re, 'rxyz')
+>>> is_same_transform(Re, euler_matrix(al, be, ga, 'rxyz'))
+True
+>>> qx = quaternion_about_axis(alpha, xaxis)
+>>> qy = quaternion_about_axis(beta, yaxis)
+>>> qz = quaternion_about_axis(gamma, zaxis)
+>>> q = quaternion_multiply(qx, qy)
+>>> q = quaternion_multiply(q, qz)
+>>> Rq = quaternion_matrix(q)
+>>> is_same_transform(R, Rq)
+True
+>>> S = scale_matrix(1.23, origin)
+>>> T = translation_matrix((1, 2, 3))
+>>> Z = shear_matrix(beta, xaxis, origin, zaxis)
+>>> R = random_rotation_matrix(numpy.random.rand(3))
+>>> M = concatenate_matrices(T, R, Z, S)
+>>> scale, shear, angles, trans, persp = decompose_matrix(M)
+>>> numpy.allclose(scale, 1.23)
+True
+>>> numpy.allclose(trans, (1, 2, 3))
+True
+>>> numpy.allclose(shear, (0, math.tan(beta), 0))
+True
+>>> is_same_transform(R, euler_matrix(axes='sxyz', *angles))
+True
+>>> M1 = compose_matrix(scale, shear, angles, trans, persp)
+>>> is_same_transform(M, M1)
+True
+
+"""
+
+from __future__ import division
+
+import warnings
+import math
+
+import numpy
+
+# Documentation in HTML format can be generated with Epydoc
+__docformat__ = "restructuredtext en"
+
+
+def identity_matrix():
+ """Return 4x4 identity/unit matrix.
+
+ >>> I = identity_matrix()
+ >>> numpy.allclose(I, numpy.dot(I, I))
+ True
+ >>> numpy.sum(I), numpy.trace(I)
+ (4.0, 4.0)
+ >>> numpy.allclose(I, numpy.identity(4, dtype=numpy.float64))
+ True
+
+ """
+ return numpy.identity(4, dtype=numpy.float64)
+
+
+def translation_matrix(direction):
+ """Return matrix to translate by direction vector.
+
+ >>> v = numpy.random.random(3) - 0.5
+ >>> numpy.allclose(v, translation_matrix(v)[:3, 3])
+ True
+
+ """
+ M = numpy.identity(4)
+ M[:3, 3] = direction[:3]
+ return M
+
+
+def translation_from_matrix(matrix):
+ """Return translation vector from translation matrix.
+
+ >>> v0 = numpy.random.random(3) - 0.5
+ >>> v1 = translation_from_matrix(translation_matrix(v0))
+ >>> numpy.allclose(v0, v1)
+ True
+
+ """
+ return numpy.array(matrix, copy=False)[:3, 3].copy()
+
+
+def reflection_matrix(point, normal):
+ """Return matrix to mirror at plane defined by point and normal vector.
+
+ >>> v0 = numpy.random.random(4) - 0.5
+ >>> v0[3] = 1.0
+ >>> v1 = numpy.random.random(3) - 0.5
+ >>> R = reflection_matrix(v0, v1)
+ >>> numpy.allclose(2., numpy.trace(R))
+ True
+ >>> numpy.allclose(v0, numpy.dot(R, v0))
+ True
+ >>> v2 = v0.copy()
+ >>> v2[:3] += v1
+ >>> v3 = v0.copy()
+ >>> v2[:3] -= v1
+ >>> numpy.allclose(v2, numpy.dot(R, v3))
+ True
+
+ """
+ normal = unit_vector(normal[:3])
+ M = numpy.identity(4)
+ M[:3, :3] -= 2.0 * numpy.outer(normal, normal)
+ M[:3, 3] = (2.0 * numpy.dot(point[:3], normal)) * normal
+ return M
+
+
+def reflection_from_matrix(matrix):
+ """Return mirror plane point and normal vector from reflection matrix.
+
+ >>> v0 = numpy.random.random(3) - 0.5
+ >>> v1 = numpy.random.random(3) - 0.5
+ >>> M0 = reflection_matrix(v0, v1)
+ >>> point, normal = reflection_from_matrix(M0)
+ >>> M1 = reflection_matrix(point, normal)
+ >>> is_same_transform(M0, M1)
+ True
+
+ """
+ M = numpy.array(matrix, dtype=numpy.float64, copy=False)
+ # normal: unit eigenvector corresponding to eigenvalue -1
+ l, V = numpy.linalg.eig(M[:3, :3])
+ i = numpy.where(abs(numpy.real(l) + 1.0) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no unit eigenvector corresponding to eigenvalue -1")
+ normal = numpy.real(V[:, i[0]]).squeeze()
+ # point: any unit eigenvector corresponding to eigenvalue 1
+ l, V = numpy.linalg.eig(M)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no unit eigenvector corresponding to eigenvalue 1")
+ point = numpy.real(V[:, i[-1]]).squeeze()
+ point /= point[3]
+ return point, normal
+
+
+def rotation_matrix(angle, direction, point=None):
+ """Return matrix to rotate about axis defined by point and direction.
+
+ >>> angle = (random.random() - 0.5) * (2*math.pi)
+ >>> direc = numpy.random.random(3) - 0.5
+ >>> point = numpy.random.random(3) - 0.5
+ >>> R0 = rotation_matrix(angle, direc, point)
+ >>> R1 = rotation_matrix(angle-2*math.pi, direc, point)
+ >>> is_same_transform(R0, R1)
+ True
+ >>> R0 = rotation_matrix(angle, direc, point)
+ >>> R1 = rotation_matrix(-angle, -direc, point)
+ >>> is_same_transform(R0, R1)
+ True
+ >>> I = numpy.identity(4, numpy.float64)
+ >>> numpy.allclose(I, rotation_matrix(math.pi*2, direc))
+ True
+ >>> numpy.allclose(2., numpy.trace(rotation_matrix(math.pi/2,
+ ... direc, point)))
+ True
+
+ """
+ sina = math.sin(angle)
+ cosa = math.cos(angle)
+ direction = unit_vector(direction[:3])
+ # rotation matrix around unit vector
+ R = numpy.array(((cosa, 0.0, 0.0),
+ (0.0, cosa, 0.0),
+ (0.0, 0.0, cosa)), dtype=numpy.float64)
+ R += numpy.outer(direction, direction) * (1.0 - cosa)
+ direction *= sina
+ R += numpy.array(((0.0, -direction[2], direction[1]),
+ (direction[2], 0.0, -direction[0]),
+ (-direction[1], direction[0], 0.0)),
+ dtype=numpy.float64)
+ M = numpy.identity(4)
+ M[:3, :3] = R
+ if point is not None:
+ # rotation not around origin
+ point = numpy.array(point[:3], dtype=numpy.float64, copy=False)
+ M[:3, 3] = point - numpy.dot(R, point)
+ return M
+
+
+def rotation_from_matrix(matrix):
+ """Return rotation angle and axis from rotation matrix.
+
+ >>> angle = (random.random() - 0.5) * (2*math.pi)
+ >>> direc = numpy.random.random(3) - 0.5
+ >>> point = numpy.random.random(3) - 0.5
+ >>> R0 = rotation_matrix(angle, direc, point)
+ >>> angle, direc, point = rotation_from_matrix(R0)
+ >>> R1 = rotation_matrix(angle, direc, point)
+ >>> is_same_transform(R0, R1)
+ True
+
+ """
+ R = numpy.array(matrix, dtype=numpy.float64, copy=False)
+ R33 = R[:3, :3]
+ # direction: unit eigenvector of R33 corresponding to eigenvalue of 1
+ l, W = numpy.linalg.eig(R33.T)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no unit eigenvector corresponding to eigenvalue 1")
+ direction = numpy.real(W[:, i[-1]]).squeeze()
+ # point: unit eigenvector of R33 corresponding to eigenvalue of 1
+ l, Q = numpy.linalg.eig(R)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no unit eigenvector corresponding to eigenvalue 1")
+ point = numpy.real(Q[:, i[-1]]).squeeze()
+ point /= point[3]
+ # rotation angle depending on direction
+ cosa = (numpy.trace(R33) - 1.0) / 2.0
+ if abs(direction[2]) > 1e-8:
+ sina = (R[1, 0] + (cosa-1.0)*direction[0]*direction[1]) / direction[2]
+ elif abs(direction[1]) > 1e-8:
+ sina = (R[0, 2] + (cosa-1.0)*direction[0]*direction[2]) / direction[1]
+ else:
+ sina = (R[2, 1] + (cosa-1.0)*direction[1]*direction[2]) / direction[0]
+ angle = math.atan2(sina, cosa)
+ return angle, direction, point
+
+
+def scale_matrix(factor, origin=None, direction=None):
+ """Return matrix to scale by factor around origin in direction.
+
+ Use factor -1 for point symmetry.
+
+ >>> v = (numpy.random.rand(4, 5) - 0.5) * 20.0
+ >>> v[3] = 1.0
+ >>> S = scale_matrix(-1.234)
+ >>> numpy.allclose(numpy.dot(S, v)[:3], -1.234*v[:3])
+ True
+ >>> factor = random.random() * 10 - 5
+ >>> origin = numpy.random.random(3) - 0.5
+ >>> direct = numpy.random.random(3) - 0.5
+ >>> S = scale_matrix(factor, origin)
+ >>> S = scale_matrix(factor, origin, direct)
+
+ """
+ if direction is None:
+ # uniform scaling
+ M = numpy.array(((factor, 0.0, 0.0, 0.0),
+ (0.0, factor, 0.0, 0.0),
+ (0.0, 0.0, factor, 0.0),
+ (0.0, 0.0, 0.0, 1.0)), dtype=numpy.float64)
+ if origin is not None:
+ M[:3, 3] = origin[:3]
+ M[:3, 3] *= 1.0 - factor
+ else:
+ # nonuniform scaling
+ direction = unit_vector(direction[:3])
+ factor = 1.0 - factor
+ M = numpy.identity(4)
+ M[:3, :3] -= factor * numpy.outer(direction, direction)
+ if origin is not None:
+ M[:3, 3] = (factor * numpy.dot(origin[:3], direction)) * direction
+ return M
+
+
+def scale_from_matrix(matrix):
+ """Return scaling factor, origin and direction from scaling matrix.
+
+ >>> factor = random.random() * 10 - 5
+ >>> origin = numpy.random.random(3) - 0.5
+ >>> direct = numpy.random.random(3) - 0.5
+ >>> S0 = scale_matrix(factor, origin)
+ >>> factor, origin, direction = scale_from_matrix(S0)
+ >>> S1 = scale_matrix(factor, origin, direction)
+ >>> is_same_transform(S0, S1)
+ True
+ >>> S0 = scale_matrix(factor, origin, direct)
+ >>> factor, origin, direction = scale_from_matrix(S0)
+ >>> S1 = scale_matrix(factor, origin, direction)
+ >>> is_same_transform(S0, S1)
+ True
+
+ """
+ M = numpy.array(matrix, dtype=numpy.float64, copy=False)
+ M33 = M[:3, :3]
+ factor = numpy.trace(M33) - 2.0
+ try:
+ # direction: unit eigenvector corresponding to eigenvalue factor
+ l, V = numpy.linalg.eig(M33)
+ i = numpy.where(abs(numpy.real(l) - factor) < 1e-8)[0][0]
+ direction = numpy.real(V[:, i]).squeeze()
+ direction /= vector_norm(direction)
+ except IndexError:
+ # uniform scaling
+ factor = (factor + 2.0) / 3.0
+ direction = None
+ # origin: any eigenvector corresponding to eigenvalue 1
+ l, V = numpy.linalg.eig(M)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no eigenvector corresponding to eigenvalue 1")
+ origin = numpy.real(V[:, i[-1]]).squeeze()
+ origin /= origin[3]
+ return factor, origin, direction
+
+
+def projection_matrix(point, normal, direction=None,
+ perspective=None, pseudo=False):
+ """Return matrix to project onto plane defined by point and normal.
+
+ Using either perspective point, projection direction, or none of both.
+
+ If pseudo is True, perspective projections will preserve relative depth
+ such that Perspective = dot(Orthogonal, PseudoPerspective).
+
+ >>> P = projection_matrix((0, 0, 0), (1, 0, 0))
+ >>> numpy.allclose(P[1:, 1:], numpy.identity(4)[1:, 1:])
+ True
+ >>> point = numpy.random.random(3) - 0.5
+ >>> normal = numpy.random.random(3) - 0.5
+ >>> direct = numpy.random.random(3) - 0.5
+ >>> persp = numpy.random.random(3) - 0.5
+ >>> P0 = projection_matrix(point, normal)
+ >>> P1 = projection_matrix(point, normal, direction=direct)
+ >>> P2 = projection_matrix(point, normal, perspective=persp)
+ >>> P3 = projection_matrix(point, normal, perspective=persp, pseudo=True)
+ >>> is_same_transform(P2, numpy.dot(P0, P3))
+ True
+ >>> P = projection_matrix((3, 0, 0), (1, 1, 0), (1, 0, 0))
+ >>> v0 = (numpy.random.rand(4, 5) - 0.5) * 20.0
+ >>> v0[3] = 1.0
+ >>> v1 = numpy.dot(P, v0)
+ >>> numpy.allclose(v1[1], v0[1])
+ True
+ >>> numpy.allclose(v1[0], 3.0-v1[1])
+ True
+
+ """
+ M = numpy.identity(4)
+ point = numpy.array(point[:3], dtype=numpy.float64, copy=False)
+ normal = unit_vector(normal[:3])
+ if perspective is not None:
+ # perspective projection
+ perspective = numpy.array(perspective[:3], dtype=numpy.float64,
+ copy=False)
+ M[0, 0] = M[1, 1] = M[2, 2] = numpy.dot(perspective-point, normal)
+ M[:3, :3] -= numpy.outer(perspective, normal)
+ if pseudo:
+ # preserve relative depth
+ M[:3, :3] -= numpy.outer(normal, normal)
+ M[:3, 3] = numpy.dot(point, normal) * (perspective+normal)
+ else:
+ M[:3, 3] = numpy.dot(point, normal) * perspective
+ M[3, :3] = -normal
+ M[3, 3] = numpy.dot(perspective, normal)
+ elif direction is not None:
+ # parallel projection
+ direction = numpy.array(direction[:3], dtype=numpy.float64, copy=False)
+ scale = numpy.dot(direction, normal)
+ M[:3, :3] -= numpy.outer(direction, normal) / scale
+ M[:3, 3] = direction * (numpy.dot(point, normal) / scale)
+ else:
+ # orthogonal projection
+ M[:3, :3] -= numpy.outer(normal, normal)
+ M[:3, 3] = numpy.dot(point, normal) * normal
+ return M
+
+
+def projection_from_matrix(matrix, pseudo=False):
+ """Return projection plane and perspective point from projection matrix.
+
+ Return values are same as arguments for projection_matrix function:
+ point, normal, direction, perspective, and pseudo.
+
+ >>> point = numpy.random.random(3) - 0.5
+ >>> normal = numpy.random.random(3) - 0.5
+ >>> direct = numpy.random.random(3) - 0.5
+ >>> persp = numpy.random.random(3) - 0.5
+ >>> P0 = projection_matrix(point, normal)
+ >>> result = projection_from_matrix(P0)
+ >>> P1 = projection_matrix(*result)
+ >>> is_same_transform(P0, P1)
+ True
+ >>> P0 = projection_matrix(point, normal, direct)
+ >>> result = projection_from_matrix(P0)
+ >>> P1 = projection_matrix(*result)
+ >>> is_same_transform(P0, P1)
+ True
+ >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=False)
+ >>> result = projection_from_matrix(P0, pseudo=False)
+ >>> P1 = projection_matrix(*result)
+ >>> is_same_transform(P0, P1)
+ True
+ >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=True)
+ >>> result = projection_from_matrix(P0, pseudo=True)
+ >>> P1 = projection_matrix(*result)
+ >>> is_same_transform(P0, P1)
+ True
+
+ """
+ M = numpy.array(matrix, dtype=numpy.float64, copy=False)
+ M33 = M[:3, :3]
+ l, V = numpy.linalg.eig(M)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]
+ if not pseudo and len(i):
+ # point: any eigenvector corresponding to eigenvalue 1
+ point = numpy.real(V[:, i[-1]]).squeeze()
+ point /= point[3]
+ # direction: unit eigenvector corresponding to eigenvalue 0
+ l, V = numpy.linalg.eig(M33)
+ i = numpy.where(abs(numpy.real(l)) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no eigenvector corresponding to eigenvalue 0")
+ direction = numpy.real(V[:, i[0]]).squeeze()
+ direction /= vector_norm(direction)
+ # normal: unit eigenvector of M33.T corresponding to eigenvalue 0
+ l, V = numpy.linalg.eig(M33.T)
+ i = numpy.where(abs(numpy.real(l)) < 1e-8)[0]
+ if len(i):
+ # parallel projection
+ normal = numpy.real(V[:, i[0]]).squeeze()
+ normal /= vector_norm(normal)
+ return point, normal, direction, None, False
+ else:
+ # orthogonal projection, where normal equals direction vector
+ return point, direction, None, None, False
+ else:
+ # perspective projection
+ i = numpy.where(abs(numpy.real(l)) > 1e-8)[0]
+ if not len(i):
+ raise ValueError(
+ "no eigenvector not corresponding to eigenvalue 0")
+ point = numpy.real(V[:, i[-1]]).squeeze()
+ point /= point[3]
+ normal = - M[3, :3]
+ perspective = M[:3, 3] / numpy.dot(point[:3], normal)
+ if pseudo:
+ perspective -= normal
+ return point, normal, None, perspective, pseudo
+
+
+def clip_matrix(left, right, bottom, top, near, far, perspective=False):
+ """Return matrix to obtain normalized device coordinates from frustrum.
+
+ The frustrum bounds are axis-aligned along x (left, right),
+ y (bottom, top) and z (near, far).
+
+ Normalized device coordinates are in range [-1, 1] if coordinates are
+ inside the frustrum.
+
+ If perspective is True the frustrum is a truncated pyramid with the
+ perspective point at origin and direction along z axis, otherwise an
+ orthographic canonical view volume (a box).
+
+ Homogeneous coordinates transformed by the perspective clip matrix
+ need to be dehomogenized (devided by w coordinate).
+
+ >>> frustrum = numpy.random.rand(6)
+ >>> frustrum[1] += frustrum[0]
+ >>> frustrum[3] += frustrum[2]
+ >>> frustrum[5] += frustrum[4]
+ >>> M = clip_matrix(*frustrum, perspective=False)
+ >>> numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0])
+ array([-1., -1., -1., 1.])
+ >>> numpy.dot(M, [frustrum[1], frustrum[3], frustrum[5], 1.0])
+ array([ 1., 1., 1., 1.])
+ >>> M = clip_matrix(*frustrum, perspective=True)
+ >>> v = numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0])
+ >>> v / v[3]
+ array([-1., -1., -1., 1.])
+ >>> v = numpy.dot(M, [frustrum[1], frustrum[3], frustrum[4], 1.0])
+ >>> v / v[3]
+ array([ 1., 1., -1., 1.])
+
+ """
+ if left >= right or bottom >= top or near >= far:
+ raise ValueError("invalid frustrum")
+ if perspective:
+ if near <= _EPS:
+ raise ValueError("invalid frustrum: near <= 0")
+ t = 2.0 * near
+ M = ((-t/(right-left), 0.0, (right+left)/(right-left), 0.0),
+ (0.0, -t/(top-bottom), (top+bottom)/(top-bottom), 0.0),
+ (0.0, 0.0, -(far+near)/(far-near), t*far/(far-near)),
+ (0.0, 0.0, -1.0, 0.0))
+ else:
+ M = ((2.0/(right-left), 0.0, 0.0, (right+left)/(left-right)),
+ (0.0, 2.0/(top-bottom), 0.0, (top+bottom)/(bottom-top)),
+ (0.0, 0.0, 2.0/(far-near), (far+near)/(near-far)),
+ (0.0, 0.0, 0.0, 1.0))
+ return numpy.array(M, dtype=numpy.float64)
+
+
+def shear_matrix(angle, direction, point, normal):
+ """Return matrix to shear by angle along direction vector on shear plane.
+
+ The shear plane is defined by a point and normal vector. The direction
+ vector must be orthogonal to the plane's normal vector.
+
+ A point P is transformed by the shear matrix into P" such that
+ the vector P-P" is parallel to the direction vector and its extent is
+ given by the angle of P-P'-P", where P' is the orthogonal projection
+ of P onto the shear plane.
+
+ >>> angle = (random.random() - 0.5) * 4*math.pi
+ >>> direct = numpy.random.random(3) - 0.5
+ >>> point = numpy.random.random(3) - 0.5
+ >>> normal = numpy.cross(direct, numpy.random.random(3))
+ >>> S = shear_matrix(angle, direct, point, normal)
+ >>> numpy.allclose(1.0, numpy.linalg.det(S))
+ True
+
+ """
+ normal = unit_vector(normal[:3])
+ direction = unit_vector(direction[:3])
+ if abs(numpy.dot(normal, direction)) > 1e-6:
+ raise ValueError("direction and normal vectors are not orthogonal")
+ angle = math.tan(angle)
+ M = numpy.identity(4)
+ M[:3, :3] += angle * numpy.outer(direction, normal)
+ M[:3, 3] = -angle * numpy.dot(point[:3], normal) * direction
+ return M
+
+
+def shear_from_matrix(matrix):
+ """Return shear angle, direction and plane from shear matrix.
+
+ >>> angle = (random.random() - 0.5) * 4*math.pi
+ >>> direct = numpy.random.random(3) - 0.5
+ >>> point = numpy.random.random(3) - 0.5
+ >>> normal = numpy.cross(direct, numpy.random.random(3))
+ >>> S0 = shear_matrix(angle, direct, point, normal)
+ >>> angle, direct, point, normal = shear_from_matrix(S0)
+ >>> S1 = shear_matrix(angle, direct, point, normal)
+ >>> is_same_transform(S0, S1)
+ True
+
+ """
+ M = numpy.array(matrix, dtype=numpy.float64, copy=False)
+ M33 = M[:3, :3]
+ # normal: cross independent eigenvectors corresponding to the eigenvalue 1
+ l, V = numpy.linalg.eig(M33)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-4)[0]
+ if len(i) < 2:
+ raise ValueError("No two linear independent eigenvectors found %s" % l)
+ V = numpy.real(V[:, i]).squeeze().T
+ lenorm = -1.0
+ for i0, i1 in ((0, 1), (0, 2), (1, 2)):
+ n = numpy.cross(V[i0], V[i1])
+ l = vector_norm(n)
+ if l > lenorm:
+ lenorm = l
+ normal = n
+ normal /= lenorm
+ # direction and angle
+ direction = numpy.dot(M33 - numpy.identity(3), normal)
+ angle = vector_norm(direction)
+ direction /= angle
+ angle = math.atan(angle)
+ # point: eigenvector corresponding to eigenvalue 1
+ l, V = numpy.linalg.eig(M)
+ i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]
+ if not len(i):
+ raise ValueError("no eigenvector corresponding to eigenvalue 1")
+ point = numpy.real(V[:, i[-1]]).squeeze()
+ point /= point[3]
+ return angle, direction, point, normal
+
+
+def decompose_matrix(matrix):
+ """Return sequence of transformations from transformation matrix.
+
+ matrix : array_like
+ Non-degenerative homogeneous transformation matrix
+
+ Return tuple of:
+ scale : vector of 3 scaling factors
+ shear : list of shear factors for x-y, x-z, y-z axes
+ angles : list of Euler angles about static x, y, z axes
+ translate : translation vector along x, y, z axes
+ perspective : perspective partition of matrix
+
+ Raise ValueError if matrix is of wrong type or degenerative.
+
+ >>> T0 = translation_matrix((1, 2, 3))
+ >>> scale, shear, angles, trans, persp = decompose_matrix(T0)
+ >>> T1 = translation_matrix(trans)
+ >>> numpy.allclose(T0, T1)
+ True
+ >>> S = scale_matrix(0.123)
+ >>> scale, shear, angles, trans, persp = decompose_matrix(S)
+ >>> scale[0]
+ 0.123
+ >>> R0 = euler_matrix(1, 2, 3)
+ >>> scale, shear, angles, trans, persp = decompose_matrix(R0)
+ >>> R1 = euler_matrix(*angles)
+ >>> numpy.allclose(R0, R1)
+ True
+
+ """
+ M = numpy.array(matrix, dtype=numpy.float64, copy=True).T
+ if abs(M[3, 3]) < _EPS:
+ raise ValueError("M[3, 3] is zero")
+ M /= M[3, 3]
+ P = M.copy()
+ P[:, 3] = 0, 0, 0, 1
+ if not numpy.linalg.det(P):
+ raise ValueError("Matrix is singular")
+
+ scale = numpy.zeros((3, ), dtype=numpy.float64)
+ shear = [0, 0, 0]
+ angles = [0, 0, 0]
+
+ if any(abs(M[:3, 3]) > _EPS):
+ perspective = numpy.dot(M[:, 3], numpy.linalg.inv(P.T))
+ M[:, 3] = 0, 0, 0, 1
+ else:
+ perspective = numpy.array((0, 0, 0, 1), dtype=numpy.float64)
+
+ translate = M[3, :3].copy()
+ M[3, :3] = 0
+
+ row = M[:3, :3].copy()
+ scale[0] = vector_norm(row[0])
+ row[0] /= scale[0]
+ shear[0] = numpy.dot(row[0], row[1])
+ row[1] -= row[0] * shear[0]
+ scale[1] = vector_norm(row[1])
+ row[1] /= scale[1]
+ shear[0] /= scale[1]
+ shear[1] = numpy.dot(row[0], row[2])
+ row[2] -= row[0] * shear[1]
+ shear[2] = numpy.dot(row[1], row[2])
+ row[2] -= row[1] * shear[2]
+ scale[2] = vector_norm(row[2])
+ row[2] /= scale[2]
+ shear[1:] /= scale[2]
+
+ if numpy.dot(row[0], numpy.cross(row[1], row[2])) < 0:
+ scale *= -1
+ row *= -1
+
+ angles[1] = math.asin(-row[0, 2])
+ if math.cos(angles[1]):
+ angles[0] = math.atan2(row[1, 2], row[2, 2])
+ angles[2] = math.atan2(row[0, 1], row[0, 0])
+ else:
+ #angles[0] = math.atan2(row[1, 0], row[1, 1])
+ angles[0] = math.atan2(-row[2, 1], row[1, 1])
+ angles[2] = 0.0
+
+ return scale, shear, angles, translate, perspective
+
+
+def compose_matrix(scale=None, shear=None, angles=None, translate=None,
+ perspective=None):
+ """Return transformation matrix from sequence of transformations.
+
+ This is the inverse of the decompose_matrix function.
+
+ Sequence of transformations:
+ scale : vector of 3 scaling factors
+ shear : list of shear factors for x-y, x-z, y-z axes
+ angles : list of Euler angles about static x, y, z axes
+ translate : translation vector along x, y, z axes
+ perspective : perspective partition of matrix
+
+ >>> scale = numpy.random.random(3) - 0.5
+ >>> shear = numpy.random.random(3) - 0.5
+ >>> angles = (numpy.random.random(3) - 0.5) * (2*math.pi)
+ >>> trans = numpy.random.random(3) - 0.5
+ >>> persp = numpy.random.random(4) - 0.5
+ >>> M0 = compose_matrix(scale, shear, angles, trans, persp)
+ >>> result = decompose_matrix(M0)
+ >>> M1 = compose_matrix(*result)
+ >>> is_same_transform(M0, M1)
+ True
+
+ """
+ M = numpy.identity(4)
+ if perspective is not None:
+ P = numpy.identity(4)
+ P[3, :] = perspective[:4]
+ M = numpy.dot(M, P)
+ if translate is not None:
+ T = numpy.identity(4)
+ T[:3, 3] = translate[:3]
+ M = numpy.dot(M, T)
+ if angles is not None:
+ R = euler_matrix(angles[0], angles[1], angles[2], 'sxyz')
+ M = numpy.dot(M, R)
+ if shear is not None:
+ Z = numpy.identity(4)
+ Z[1, 2] = shear[2]
+ Z[0, 2] = shear[1]
+ Z[0, 1] = shear[0]
+ M = numpy.dot(M, Z)
+ if scale is not None:
+ S = numpy.identity(4)
+ S[0, 0] = scale[0]
+ S[1, 1] = scale[1]
+ S[2, 2] = scale[2]
+ M = numpy.dot(M, S)
+ M /= M[3, 3]
+ return M
+
+
+def orthogonalization_matrix(lengths, angles):
+ """Return orthogonalization matrix for crystallographic cell coordinates.
+
+ Angles are expected in degrees.
+
+ The de-orthogonalization matrix is the inverse.
+
+ >>> O = orthogonalization_matrix((10., 10., 10.), (90., 90., 90.))
+ >>> numpy.allclose(O[:3, :3], numpy.identity(3, float) * 10)
+ True
+ >>> O = orthogonalization_matrix([9.8, 12.0, 15.5], [87.2, 80.7, 69.7])
+ >>> numpy.allclose(numpy.sum(O), 43.063229)
+ True
+
+ """
+ a, b, c = lengths
+ angles = numpy.radians(angles)
+ sina, sinb, _ = numpy.sin(angles)
+ cosa, cosb, cosg = numpy.cos(angles)
+ co = (cosa * cosb - cosg) / (sina * sinb)
+ return numpy.array((
+ (a*sinb*math.sqrt(1.0-co*co), 0.0, 0.0, 0.0),
+ (-a*sinb*co, b*sina, 0.0, 0.0),
+ (a*cosb, b*cosa, c, 0.0),
+ (0.0, 0.0, 0.0, 1.0)),
+ dtype=numpy.float64)
+
+
+def superimposition_matrix(v0, v1, scaling=False, usesvd=True):
+ """Return matrix to transform given vector set into second vector set.
+
+ v0 and v1 are shape (3, \*) or (4, \*) arrays of at least 3 vectors.
+
+ If usesvd is True, the weighted sum of squared deviations (RMSD) is
+ minimized according to the algorithm by W. Kabsch [8]. Otherwise the
+ quaternion based algorithm by B. Horn [9] is used (slower when using
+ this Python implementation).
+
+ The returned matrix performs rotation, translation and uniform scaling
+ (if specified).
+
+ >>> v0 = numpy.random.rand(3, 10)
+ >>> M = superimposition_matrix(v0, v0)
+ >>> numpy.allclose(M, numpy.identity(4))
+ True
+ >>> R = random_rotation_matrix(numpy.random.random(3))
+ >>> v0 = ((1,0,0), (0,1,0), (0,0,1), (1,1,1))
+ >>> v1 = numpy.dot(R, v0)
+ >>> M = superimposition_matrix(v0, v1)
+ >>> numpy.allclose(v1, numpy.dot(M, v0))
+ True
+ >>> v0 = (numpy.random.rand(4, 100) - 0.5) * 20.0
+ >>> v0[3] = 1.0
+ >>> v1 = numpy.dot(R, v0)
+ >>> M = superimposition_matrix(v0, v1)
+ >>> numpy.allclose(v1, numpy.dot(M, v0))
+ True
+ >>> S = scale_matrix(random.random())
+ >>> T = translation_matrix(numpy.random.random(3)-0.5)
+ >>> M = concatenate_matrices(T, R, S)
+ >>> v1 = numpy.dot(M, v0)
+ >>> v0[:3] += numpy.random.normal(0.0, 1e-9, 300).reshape(3, -1)
+ >>> M = superimposition_matrix(v0, v1, scaling=True)
+ >>> numpy.allclose(v1, numpy.dot(M, v0))
+ True
+ >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False)
+ >>> numpy.allclose(v1, numpy.dot(M, v0))
+ True
+ >>> v = numpy.empty((4, 100, 3), dtype=numpy.float64)
+ >>> v[:, :, 0] = v0
+ >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False)
+ >>> numpy.allclose(v1, numpy.dot(M, v[:, :, 0]))
+ True
+
+ """
+ v0 = numpy.array(v0, dtype=numpy.float64, copy=False)[:3]
+ v1 = numpy.array(v1, dtype=numpy.float64, copy=False)[:3]
+
+ if v0.shape != v1.shape or v0.shape[1] < 3:
+ raise ValueError("Vector sets are of wrong shape or type.")
+
+ # move centroids to origin
+ t0 = numpy.mean(v0, axis=1)
+ t1 = numpy.mean(v1, axis=1)
+ v0 = v0 - t0.reshape(3, 1)
+ v1 = v1 - t1.reshape(3, 1)
+
+ if usesvd:
+ # Singular Value Decomposition of covariance matrix
+ u, s, vh = numpy.linalg.svd(numpy.dot(v1, v0.T))
+ # rotation matrix from SVD orthonormal bases
+ R = numpy.dot(u, vh)
+ if numpy.linalg.det(R) < 0.0:
+ # R does not constitute right handed system
+ R -= numpy.outer(u[:, 2], vh[2, :]*2.0)
+ s[-1] *= -1.0
+ # homogeneous transformation matrix
+ M = numpy.identity(4)
+ M[:3, :3] = R
+ else:
+ # compute symmetric matrix N
+ xx, yy, zz = numpy.sum(v0 * v1, axis=1)
+ xy, yz, zx = numpy.sum(v0 * numpy.roll(v1, -1, axis=0), axis=1)
+ xz, yx, zy = numpy.sum(v0 * numpy.roll(v1, -2, axis=0), axis=1)
+ N = ((xx+yy+zz, yz-zy, zx-xz, xy-yx),
+ (yz-zy, xx-yy-zz, xy+yx, zx+xz),
+ (zx-xz, xy+yx, -xx+yy-zz, yz+zy),
+ (xy-yx, zx+xz, yz+zy, -xx-yy+zz))
+ # quaternion: eigenvector corresponding to most positive eigenvalue
+ l, V = numpy.linalg.eig(N)
+ q = V[:, numpy.argmax(l)]
+ q /= vector_norm(q) # unit quaternion
+ q = numpy.roll(q, -1) # move w component to end
+ # homogeneous transformation matrix
+ M = quaternion_matrix(q)
+
+ # scale: ratio of rms deviations from centroid
+ if scaling:
+ v0 *= v0
+ v1 *= v1
+ M[:3, :3] *= math.sqrt(numpy.sum(v1) / numpy.sum(v0))
+
+ # translation
+ M[:3, 3] = t1
+ T = numpy.identity(4)
+ T[:3, 3] = -t0
+ M = numpy.dot(M, T)
+ return M
+
+
+def euler_matrix(ai, aj, ak, axes='sxyz'):
+ """Return homogeneous rotation matrix from Euler angles and axis sequence.
+
+ ai, aj, ak : Euler's roll, pitch and yaw angles
+ axes : One of 24 axis sequences as string or encoded tuple
+
+ >>> R = euler_matrix(1, 2, 3, 'syxz')
+ >>> numpy.allclose(numpy.sum(R[0]), -1.34786452)
+ True
+ >>> R = euler_matrix(1, 2, 3, (0, 1, 0, 1))
+ >>> numpy.allclose(numpy.sum(R[0]), -0.383436184)
+ True
+ >>> ai, aj, ak = (4.0*math.pi) * (numpy.random.random(3) - 0.5)
+ >>> for axes in _AXES2TUPLE.keys():
+ ... R = euler_matrix(ai, aj, ak, axes)
+ >>> for axes in _TUPLE2AXES.keys():
+ ... R = euler_matrix(ai, aj, ak, axes)
+
+ """
+ try:
+ firstaxis, parity, repetition, frame = _AXES2TUPLE[axes]
+ except (AttributeError, KeyError):
+ _ = _TUPLE2AXES[axes]
+ firstaxis, parity, repetition, frame = axes
+
+ i = firstaxis
+ j = _NEXT_AXIS[i+parity]
+ k = _NEXT_AXIS[i-parity+1]
+
+ if frame:
+ ai, ak = ak, ai
+ if parity:
+ ai, aj, ak = -ai, -aj, -ak
+
+ si, sj, sk = math.sin(ai), math.sin(aj), math.sin(ak)
+ ci, cj, ck = math.cos(ai), math.cos(aj), math.cos(ak)
+ cc, cs = ci*ck, ci*sk
+ sc, ss = si*ck, si*sk
+
+ M = numpy.identity(4)
+ if repetition:
+ M[i, i] = cj
+ M[i, j] = sj*si
+ M[i, k] = sj*ci
+ M[j, i] = sj*sk
+ M[j, j] = -cj*ss+cc
+ M[j, k] = -cj*cs-sc
+ M[k, i] = -sj*ck
+ M[k, j] = cj*sc+cs
+ M[k, k] = cj*cc-ss
+ else:
+ M[i, i] = cj*ck
+ M[i, j] = sj*sc-cs
+ M[i, k] = sj*cc+ss
+ M[j, i] = cj*sk
+ M[j, j] = sj*ss+cc
+ M[j, k] = sj*cs-sc
+ M[k, i] = -sj
+ M[k, j] = cj*si
+ M[k, k] = cj*ci
+ return M
+
+
+def euler_from_matrix(matrix, axes='sxyz'):
+ """Return Euler angles from rotation matrix for specified axis sequence.
+
+ axes : One of 24 axis sequences as string or encoded tuple
+
+ Note that many Euler angle triplets can describe one matrix.
+
+ >>> R0 = euler_matrix(1, 2, 3, 'syxz')
+ >>> al, be, ga = euler_from_matrix(R0, 'syxz')
+ >>> R1 = euler_matrix(al, be, ga, 'syxz')
+ >>> numpy.allclose(R0, R1)
+ True
+ >>> angles = (4.0*math.pi) * (numpy.random.random(3) - 0.5)
+ >>> for axes in _AXES2TUPLE.keys():
+ ... R0 = euler_matrix(axes=axes, *angles)
+ ... R1 = euler_matrix(axes=axes, *euler_from_matrix(R0, axes))
+ ... if not numpy.allclose(R0, R1): print axes, "failed"
+
+ """
+ try:
+ firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()]
+ except (AttributeError, KeyError):
+ _ = _TUPLE2AXES[axes]
+ firstaxis, parity, repetition, frame = axes
+
+ i = firstaxis
+ j = _NEXT_AXIS[i+parity]
+ k = _NEXT_AXIS[i-parity+1]
+
+ M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:3, :3]
+ if repetition:
+ sy = math.sqrt(M[i, j]*M[i, j] + M[i, k]*M[i, k])
+ if sy > _EPS:
+ ax = math.atan2(M[i, j], M[i, k])
+ ay = math.atan2(sy, M[i, i])
+ az = math.atan2(M[j, i], -M[k, i])
+ else:
+ ax = math.atan2(-M[j, k], M[j, j])
+ ay = math.atan2(sy, M[i, i])
+ az = 0.0
+ else:
+ cy = math.sqrt(M[i, i]*M[i, i] + M[j, i]*M[j, i])
+ if cy > _EPS:
+ ax = math.atan2(M[k, j], M[k, k])
+ ay = math.atan2(-M[k, i], cy)
+ az = math.atan2(M[j, i], M[i, i])
+ else:
+ ax = math.atan2(-M[j, k], M[j, j])
+ ay = math.atan2(-M[k, i], cy)
+ az = 0.0
+
+ if parity:
+ ax, ay, az = -ax, -ay, -az
+ if frame:
+ ax, az = az, ax
+ return ax, ay, az
+
+
+def euler_from_quaternion(quaternion, axes='sxyz'):
+ """Return Euler angles from quaternion for specified axis sequence.
+
+ >>> angles = euler_from_quaternion([0.06146124, 0, 0, 0.99810947])
+ >>> numpy.allclose(angles, [0.123, 0, 0])
+ True
+
+ """
+ return euler_from_matrix(quaternion_matrix(quaternion), axes)
+
+
+def quaternion_from_euler(ai, aj, ak, axes='sxyz'):
+ """Return quaternion from Euler angles and axis sequence.
+
+ ai, aj, ak : Euler's roll, pitch and yaw angles
+ axes : One of 24 axis sequences as string or encoded tuple
+
+ >>> q = quaternion_from_euler(1, 2, 3, 'ryxz')
+ >>> numpy.allclose(q, [0.310622, -0.718287, 0.444435, 0.435953])
+ True
+
+ """
+ try:
+ firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()]
+ except (AttributeError, KeyError):
+ _ = _TUPLE2AXES[axes]
+ firstaxis, parity, repetition, frame = axes
+
+ i = firstaxis
+ j = _NEXT_AXIS[i+parity]
+ k = _NEXT_AXIS[i-parity+1]
+
+ if frame:
+ ai, ak = ak, ai
+ if parity:
+ aj = -aj
+
+ ai /= 2.0
+ aj /= 2.0
+ ak /= 2.0
+ ci = math.cos(ai)
+ si = math.sin(ai)
+ cj = math.cos(aj)
+ sj = math.sin(aj)
+ ck = math.cos(ak)
+ sk = math.sin(ak)
+ cc = ci*ck
+ cs = ci*sk
+ sc = si*ck
+ ss = si*sk
+
+ quaternion = numpy.empty((4, ), dtype=numpy.float64)
+ if repetition:
+ quaternion[i] = cj*(cs + sc)
+ quaternion[j] = sj*(cc + ss)
+ quaternion[k] = sj*(cs - sc)
+ quaternion[3] = cj*(cc - ss)
+ else:
+ quaternion[i] = cj*sc - sj*cs
+ quaternion[j] = cj*ss + sj*cc
+ quaternion[k] = cj*cs - sj*sc
+ quaternion[3] = cj*cc + sj*ss
+ if parity:
+ quaternion[j] *= -1
+
+ return quaternion
+
+
+def quaternion_about_axis(angle, axis):
+ """Return quaternion for rotation about axis.
+
+ >>> q = quaternion_about_axis(0.123, (1, 0, 0))
+ >>> numpy.allclose(q, [0.06146124, 0, 0, 0.99810947])
+ True
+
+ """
+ quaternion = numpy.zeros((4, ), dtype=numpy.float64)
+ quaternion[:3] = axis[:3]
+ qlen = vector_norm(quaternion)
+ if qlen > _EPS:
+ quaternion *= math.sin(angle/2.0) / qlen
+ quaternion[3] = math.cos(angle/2.0)
+ return quaternion
+
+
+def quaternion_matrix(quaternion):
+ """Return homogeneous rotation matrix from quaternion.
+
+ >>> R = quaternion_matrix([0.06146124, 0, 0, 0.99810947])
+ >>> numpy.allclose(R, rotation_matrix(0.123, (1, 0, 0)))
+ True
+
+ """
+ q = numpy.array(quaternion[:4], dtype=numpy.float64, copy=True)
+ nq = numpy.dot(q, q)
+ if nq < _EPS:
+ return numpy.identity(4)
+ q *= math.sqrt(2.0 / nq)
+ q = numpy.outer(q, q)
+ return numpy.array((
+ (1.0-q[1, 1]-q[2, 2], q[0, 1]-q[2, 3], q[0, 2]+q[1, 3], 0.0),
+ (q[0, 1]+q[2, 3], 1.0-q[0, 0]-q[2, 2], q[1, 2]-q[0, 3], 0.0),
+ (q[0, 2]-q[1, 3], q[1, 2]+q[0, 3], 1.0-q[0, 0]-q[1, 1], 0.0),
+ (0.0, 0.0, 0.0, 1.0)
+ ), dtype=numpy.float64)
+
+
+def quaternion_from_matrix(matrix):
+ """Return quaternion from rotation matrix.
+
+ >>> R = rotation_matrix(0.123, (1, 2, 3))
+ >>> q = quaternion_from_matrix(R)
+ >>> numpy.allclose(q, [0.0164262, 0.0328524, 0.0492786, 0.9981095])
+ True
+
+ """
+ q = numpy.empty((4, ), dtype=numpy.float64)
+ M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:4, :4]
+ t = numpy.trace(M)
+ if t > M[3, 3]:
+ q[3] = t
+ q[2] = M[1, 0] - M[0, 1]
+ q[1] = M[0, 2] - M[2, 0]
+ q[0] = M[2, 1] - M[1, 2]
+ else:
+ i, j, k = 0, 1, 2
+ if M[1, 1] > M[0, 0]:
+ i, j, k = 1, 2, 0
+ if M[2, 2] > M[i, i]:
+ i, j, k = 2, 0, 1
+ t = M[i, i] - (M[j, j] + M[k, k]) + M[3, 3]
+ q[i] = t
+ q[j] = M[i, j] + M[j, i]
+ q[k] = M[k, i] + M[i, k]
+ q[3] = M[k, j] - M[j, k]
+ q *= 0.5 / math.sqrt(t * M[3, 3])
+ return q
+
+
+def quaternion_multiply(quaternion1, quaternion0):
+ """Return multiplication of two quaternions.
+
+ >>> q = quaternion_multiply([1, -2, 3, 4], [-5, 6, 7, 8])
+ >>> numpy.allclose(q, [-44, -14, 48, 28])
+ True
+
+ """
+ x0, y0, z0, w0 = quaternion0
+ x1, y1, z1, w1 = quaternion1
+ return numpy.array((
+ x1*w0 + y1*z0 - z1*y0 + w1*x0,
+ -x1*z0 + y1*w0 + z1*x0 + w1*y0,
+ x1*y0 - y1*x0 + z1*w0 + w1*z0,
+ -x1*x0 - y1*y0 - z1*z0 + w1*w0), dtype=numpy.float64)
+
+
+def quaternion_conjugate(quaternion):
+ """Return conjugate of quaternion.
+
+ >>> q0 = random_quaternion()
+ >>> q1 = quaternion_conjugate(q0)
+ >>> q1[3] == q0[3] and all(q1[:3] == -q0[:3])
+ True
+
+ """
+ return numpy.array((-quaternion[0], -quaternion[1],
+ -quaternion[2], quaternion[3]), dtype=numpy.float64)
+
+
+def quaternion_inverse(quaternion):
+ """Return inverse of quaternion.
+
+ >>> q0 = random_quaternion()
+ >>> q1 = quaternion_inverse(q0)
+ >>> numpy.allclose(quaternion_multiply(q0, q1), [0, 0, 0, 1])
+ True
+
+ """
+ return quaternion_conjugate(quaternion) / numpy.dot(quaternion, quaternion)
+
+
+def quaternion_slerp(quat0, quat1, fraction, spin=0, shortestpath=True):
+ """Return spherical linear interpolation between two quaternions.
+
+ >>> q0 = random_quaternion()
+ >>> q1 = random_quaternion()
+ >>> q = quaternion_slerp(q0, q1, 0.0)
+ >>> numpy.allclose(q, q0)
+ True
+ >>> q = quaternion_slerp(q0, q1, 1.0, 1)
+ >>> numpy.allclose(q, q1)
+ True
+ >>> q = quaternion_slerp(q0, q1, 0.5)
+ >>> angle = math.acos(numpy.dot(q0, q))
+ >>> numpy.allclose(2.0, math.acos(numpy.dot(q0, q1)) / angle) or \
+ numpy.allclose(2.0, math.acos(-numpy.dot(q0, q1)) / angle)
+ True
+
+ """
+ q0 = unit_vector(quat0[:4])
+ q1 = unit_vector(quat1[:4])
+ if fraction == 0.0:
+ return q0
+ elif fraction == 1.0:
+ return q1
+ d = numpy.dot(q0, q1)
+ if abs(abs(d) - 1.0) < _EPS:
+ return q0
+ if shortestpath and d < 0.0:
+ # invert rotation
+ d = -d
+ q1 *= -1.0
+ angle = math.acos(d) + spin * math.pi
+ if abs(angle) < _EPS:
+ return q0
+ isin = 1.0 / math.sin(angle)
+ q0 *= math.sin((1.0 - fraction) * angle) * isin
+ q1 *= math.sin(fraction * angle) * isin
+ q0 += q1
+ return q0
+
+
+def random_quaternion(rand=None):
+ """Return uniform random unit quaternion.
+
+ rand: array like or None
+ Three independent random variables that are uniformly distributed
+ between 0 and 1.
+
+ >>> q = random_quaternion()
+ >>> numpy.allclose(1.0, vector_norm(q))
+ True
+ >>> q = random_quaternion(numpy.random.random(3))
+ >>> q.shape
+ (4,)
+
+ """
+ if rand is None:
+ rand = numpy.random.rand(3)
+ else:
+ assert len(rand) == 3
+ r1 = numpy.sqrt(1.0 - rand[0])
+ r2 = numpy.sqrt(rand[0])
+ pi2 = math.pi * 2.0
+ t1 = pi2 * rand[1]
+ t2 = pi2 * rand[2]
+ return numpy.array((numpy.sin(t1)*r1,
+ numpy.cos(t1)*r1,
+ numpy.sin(t2)*r2,
+ numpy.cos(t2)*r2), dtype=numpy.float64)
+
+
+def random_rotation_matrix(rand=None):
+ """Return uniform random rotation matrix.
+
+ rnd: array like
+ Three independent random variables that are uniformly distributed
+ between 0 and 1 for each returned quaternion.
+
+ >>> R = random_rotation_matrix()
+ >>> numpy.allclose(numpy.dot(R.T, R), numpy.identity(4))
+ True
+
+ """
+ return quaternion_matrix(random_quaternion(rand))
+
+
+class Arcball(object):
+ """Virtual Trackball Control.
+
+ >>> ball = Arcball()
+ >>> ball = Arcball(initial=numpy.identity(4))
+ >>> ball.place([320, 320], 320)
+ >>> ball.down([500, 250])
+ >>> ball.drag([475, 275])
+ >>> R = ball.matrix()
+ >>> numpy.allclose(numpy.sum(R), 3.90583455)
+ True
+ >>> ball = Arcball(initial=[0, 0, 0, 1])
+ >>> ball.place([320, 320], 320)
+ >>> ball.setaxes([1,1,0], [-1, 1, 0])
+ >>> ball.setconstrain(True)
+ >>> ball.down([400, 200])
+ >>> ball.drag([200, 400])
+ >>> R = ball.matrix()
+ >>> numpy.allclose(numpy.sum(R), 0.2055924)
+ True
+ >>> ball.next()
+
+ """
+
+ def __init__(self, initial=None):
+ """Initialize virtual trackball control.
+
+ initial : quaternion or rotation matrix
+
+ """
+ self._axis = None
+ self._axes = None
+ self._radius = 1.0
+ self._center = [0.0, 0.0]
+ self._vdown = numpy.array([0, 0, 1], dtype=numpy.float64)
+ self._constrain = False
+
+ if initial is None:
+ self._qdown = numpy.array([0, 0, 0, 1], dtype=numpy.float64)
+ else:
+ initial = numpy.array(initial, dtype=numpy.float64)
+ if initial.shape == (4, 4):
+ self._qdown = quaternion_from_matrix(initial)
+ elif initial.shape == (4, ):
+ initial /= vector_norm(initial)
+ self._qdown = initial
+ else:
+ raise ValueError("initial not a quaternion or matrix.")
+
+ self._qnow = self._qpre = self._qdown
+
+ def place(self, center, radius):
+ """Place Arcball, e.g. when window size changes.
+
+ center : sequence[2]
+ Window coordinates of trackball center.
+ radius : float
+ Radius of trackball in window coordinates.
+
+ """
+ self._radius = float(radius)
+ self._center[0] = center[0]
+ self._center[1] = center[1]
+
+ def setaxes(self, *axes):
+ """Set axes to constrain rotations."""
+ if axes is None:
+ self._axes = None
+ else:
+ self._axes = [unit_vector(axis) for axis in axes]
+
+ def setconstrain(self, constrain):
+ """Set state of constrain to axis mode."""
+ self._constrain = constrain == True
+
+ def getconstrain(self):
+ """Return state of constrain to axis mode."""
+ return self._constrain
+
+ def down(self, point):
+ """Set initial cursor window coordinates and pick constrain-axis."""
+ self._vdown = arcball_map_to_sphere(point, self._center, self._radius)
+ self._qdown = self._qpre = self._qnow
+
+ if self._constrain and self._axes is not None:
+ self._axis = arcball_nearest_axis(self._vdown, self._axes)
+ self._vdown = arcball_constrain_to_axis(self._vdown, self._axis)
+ else:
+ self._axis = None
+
+ def drag(self, point):
+ """Update current cursor window coordinates."""
+ vnow = arcball_map_to_sphere(point, self._center, self._radius)
+
+ if self._axis is not None:
+ vnow = arcball_constrain_to_axis(vnow, self._axis)
+
+ self._qpre = self._qnow
+
+ t = numpy.cross(self._vdown, vnow)
+ if numpy.dot(t, t) < _EPS:
+ self._qnow = self._qdown
+ else:
+ q = [t[0], t[1], t[2], numpy.dot(self._vdown, vnow)]
+ self._qnow = quaternion_multiply(q, self._qdown)
+
+ def next(self, acceleration=0.0):
+ """Continue rotation in direction of last drag."""
+ q = quaternion_slerp(self._qpre, self._qnow, 2.0+acceleration, False)
+ self._qpre, self._qnow = self._qnow, q
+
+ def matrix(self):
+ """Return homogeneous rotation matrix."""
+ return quaternion_matrix(self._qnow)
+
+
+def arcball_map_to_sphere(point, center, radius):
+ """Return unit sphere coordinates from window coordinates."""
+ v = numpy.array(((point[0] - center[0]) / radius,
+ (center[1] - point[1]) / radius,
+ 0.0), dtype=numpy.float64)
+ n = v[0]*v[0] + v[1]*v[1]
+ if n > 1.0:
+ v /= math.sqrt(n) # position outside of sphere
+ else:
+ v[2] = math.sqrt(1.0 - n)
+ return v
+
+
+def arcball_constrain_to_axis(point, axis):
+ """Return sphere point perpendicular to axis."""
+ v = numpy.array(point, dtype=numpy.float64, copy=True)
+ a = numpy.array(axis, dtype=numpy.float64, copy=True)
+ v -= a * numpy.dot(a, v) # on plane
+ n = vector_norm(v)
+ if n > _EPS:
+ if v[2] < 0.0:
+ v *= -1.0
+ v /= n
+ return v
+ if a[2] == 1.0:
+ return numpy.array([1, 0, 0], dtype=numpy.float64)
+ return unit_vector([-a[1], a[0], 0])
+
+
+def arcball_nearest_axis(point, axes):
+ """Return axis, which arc is nearest to point."""
+ point = numpy.array(point, dtype=numpy.float64, copy=False)
+ nearest = None
+ mx = -1.0
+ for axis in axes:
+ t = numpy.dot(arcball_constrain_to_axis(point, axis), point)
+ if t > mx:
+ nearest = axis
+ mx = t
+ return nearest
+
+
+# epsilon for testing whether a number is close to zero
+_EPS = numpy.finfo(float).eps * 4.0
+
+# axis sequences for Euler angles
+_NEXT_AXIS = [1, 2, 0, 1]
+
+# map axes strings to/from tuples of inner axis, parity, repetition, frame
+_AXES2TUPLE = {
+ 'sxyz': (0, 0, 0, 0), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 1, 0, 0),
+ 'sxzx': (0, 1, 1, 0), 'syzx': (1, 0, 0, 0), 'syzy': (1, 0, 1, 0),
+ 'syxz': (1, 1, 0, 0), 'syxy': (1, 1, 1, 0), 'szxy': (2, 0, 0, 0),
+ 'szxz': (2, 0, 1, 0), 'szyx': (2, 1, 0, 0), 'szyz': (2, 1, 1, 0),
+ 'rzyx': (0, 0, 0, 1), 'rxyx': (0, 0, 1, 1), 'ryzx': (0, 1, 0, 1),
+ 'rxzx': (0, 1, 1, 1), 'rxzy': (1, 0, 0, 1), 'ryzy': (1, 0, 1, 1),
+ 'rzxy': (1, 1, 0, 1), 'ryxy': (1, 1, 1, 1), 'ryxz': (2, 0, 0, 1),
+ 'rzxz': (2, 0, 1, 1), 'rxyz': (2, 1, 0, 1), 'rzyz': (2, 1, 1, 1)}
+
+_TUPLE2AXES = dict((v, k) for k, v in _AXES2TUPLE.items())
+
+# helper functions
+
+
+def vector_norm(data, axis=None, out=None):
+ """Return length, i.e. eucledian norm, of ndarray along axis.
+
+ >>> v = numpy.random.random(3)
+ >>> n = vector_norm(v)
+ >>> numpy.allclose(n, numpy.linalg.norm(v))
+ True
+ >>> v = numpy.random.rand(6, 5, 3)
+ >>> n = vector_norm(v, axis=-1)
+ >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=2)))
+ True
+ >>> n = vector_norm(v, axis=1)
+ >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1)))
+ True
+ >>> v = numpy.random.rand(5, 4, 3)
+ >>> n = numpy.empty((5, 3), dtype=numpy.float64)
+ >>> vector_norm(v, axis=1, out=n)
+ >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1)))
+ True
+ >>> vector_norm([])
+ 0.0
+ >>> vector_norm([1.0])
+ 1.0
+
+ """
+ data = numpy.array(data, dtype=numpy.float64, copy=True)
+ if out is None:
+ if data.ndim == 1:
+ return math.sqrt(numpy.dot(data, data))
+ data *= data
+ out = numpy.atleast_1d(numpy.sum(data, axis=axis))
+ numpy.sqrt(out, out)
+ return out
+ else:
+ data *= data
+ numpy.sum(data, axis=axis, out=out)
+ numpy.sqrt(out, out)
+
+
+def unit_vector(data, axis=None, out=None):
+ """Return ndarray normalized by length, i.e. eucledian norm, along axis.
+
+ >>> v0 = numpy.random.random(3)
+ >>> v1 = unit_vector(v0)
+ >>> numpy.allclose(v1, v0 / numpy.linalg.norm(v0))
+ True
+ >>> v0 = numpy.random.rand(5, 4, 3)
+ >>> v1 = unit_vector(v0, axis=-1)
+ >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=2)), 2)
+ >>> numpy.allclose(v1, v2)
+ True
+ >>> v1 = unit_vector(v0, axis=1)
+ >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=1)), 1)
+ >>> numpy.allclose(v1, v2)
+ True
+ >>> v1 = numpy.empty((5, 4, 3), dtype=numpy.float64)
+ >>> unit_vector(v0, axis=1, out=v1)
+ >>> numpy.allclose(v1, v2)
+ True
+ >>> list(unit_vector([]))
+ []
+ >>> list(unit_vector([1.0]))
+ [1.0]
+
+ """
+ if out is None:
+ data = numpy.array(data, dtype=numpy.float64, copy=True)
+ if data.ndim == 1:
+ data /= math.sqrt(numpy.dot(data, data))
+ return data
+ else:
+ if out is not data:
+ out[:] = numpy.array(data, copy=False)
+ data = out
+ length = numpy.atleast_1d(numpy.sum(data*data, axis))
+ numpy.sqrt(length, length)
+ if axis is not None:
+ length = numpy.expand_dims(length, axis)
+ data /= length
+ if out is None:
+ return data
+
+
+def random_vector(size):
+ """Return array of random doubles in the half-open interval [0.0, 1.0).
+
+ >>> v = random_vector(10000)
+ >>> numpy.all(v >= 0.0) and numpy.all(v < 1.0)
+ True
+ >>> v0 = random_vector(10)
+ >>> v1 = random_vector(10)
+ >>> numpy.any(v0 == v1)
+ False
+
+ """
+ return numpy.random.random(size)
+
+
+def inverse_matrix(matrix):
+ """Return inverse of square transformation matrix.
+
+ >>> M0 = random_rotation_matrix()
+ >>> M1 = inverse_matrix(M0.T)
+ >>> numpy.allclose(M1, numpy.linalg.inv(M0.T))
+ True
+ >>> for size in range(1, 7):
+ ... M0 = numpy.random.rand(size, size)
+ ... M1 = inverse_matrix(M0)
+ ... if not numpy.allclose(M1, numpy.linalg.inv(M0)): print size
+
+ """
+ return numpy.linalg.inv(matrix)
+
+
+def concatenate_matrices(*matrices):
+ """Return concatenation of series of transformation matrices.
+
+ >>> M = numpy.random.rand(16).reshape((4, 4)) - 0.5
+ >>> numpy.allclose(M, concatenate_matrices(M))
+ True
+ >>> numpy.allclose(numpy.dot(M, M.T), concatenate_matrices(M, M.T))
+ True
+
+ """
+ M = numpy.identity(4)
+ for i in matrices:
+ M = numpy.dot(M, i)
+ return M
+
+
+def is_same_transform(matrix0, matrix1):
+ """Return True if two matrices perform same transformation.
+
+ >>> is_same_transform(numpy.identity(4), numpy.identity(4))
+ True
+ >>> is_same_transform(numpy.identity(4), random_rotation_matrix())
+ False
+
+ """
+ matrix0 = numpy.array(matrix0, dtype=numpy.float64, copy=True)
+ matrix0 /= matrix0[3, 3]
+ matrix1 = numpy.array(matrix1, dtype=numpy.float64, copy=True)
+ matrix1 /= matrix1[3, 3]
+ return numpy.allclose(matrix0, matrix1)
+
+
+def _import_module(module_name, warn=True, prefix='_py_', ignore='_'):
+ """Try import all public attributes from module into global namespace.
+
+ Existing attributes with name clashes are renamed with prefix.
+ Attributes starting with underscore are ignored by default.
+
+ Return True on successful import.
+
+ """
+ try:
+ module = __import__(module_name)
+ except ImportError:
+ if warn:
+ warnings.warn("Failed to import module " + module_name)
+ else:
+ for attr in dir(module):
+ if ignore and attr.startswith(ignore):
+ continue
+ if prefix:
+ if attr in globals():
+ globals()[prefix + attr] = globals()[attr]
+ elif warn:
+ warnings.warn("No Python implementation of " + attr)
+ globals()[attr] = getattr(module, attr)
+ return True
diff --git a/src/aruco_detector/aruco_detector/yaml_handling.py b/src/aruco_detector/aruco_detector/yaml_handling.py
new file mode 100644
index 0000000..fea1c35
--- /dev/null
+++ b/src/aruco_detector/aruco_detector/yaml_handling.py
@@ -0,0 +1,57 @@
+import yaml
+from sensor_msgs.msg import CameraInfo
+
+
+def yaml_to_CameraInfo(yaml_fname):
+ """
+ yaml_to_CameraInfo(yaml_fname)
+
+ Opens the yaml-file and read specific parameters.
+
+ :param yaml_fname: url to the yaml_file
+ :return: CameraInfo
+ """
+
+
+ # Load data from file
+ with open(yaml_fname, "r") as file_handle:
+ calib_data = yaml.load(file_handle)
+
+ # try to load the parameters
+ camera_info_msg = CameraInfo()
+ try:
+ camera_info_msg.width = calib_data["image_width"]
+ except:
+ pass
+
+ try:
+ camera_info_msg.height = calib_data["image_height"]
+ except:
+ pass
+
+ try:
+ camera_info_msg.k = calib_data["camera_matrix"]["data"]
+ except:
+ pass
+
+ try:
+ camera_info_msg.d = calib_data["distortion_coefficients"]["data"]
+ except:
+ pass
+
+ try:
+ camera_info_msg.r = calib_data["rectification_matrix"]["data"]
+ except:
+ pass
+
+ try:
+ camera_info_msg.p = calib_data["projection_matrix"]["data"]
+ except:
+ pass
+
+ try:
+ camera_info_msg.distortion_model = calib_data["distortion_model"]
+ except:
+ pass
+
+ return camera_info_msg
\ No newline at end of file
diff --git a/src/aruco_detector/hd_pro_webcam_c920.yaml b/src/aruco_detector/hd_pro_webcam_c920.yaml
new file mode 100755
index 0000000..0663658
--- /dev/null
+++ b/src/aruco_detector/hd_pro_webcam_c920.yaml
@@ -0,0 +1,20 @@
+image_width: 1280
+image_height: 720
+camera_name: hd_pro_webcam_c920
+camera_matrix:
+ rows: 3
+ cols: 3
+ data: [1037.088499, 0.000000, 673.992083, 0.000000, 1038.374609, 340.970360, 0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+ rows: 1
+ cols: 5
+ data: [0.241823, -0.442831, -0.001259, 0.013521, 0.000000]
+rectification_matrix:
+ rows: 3
+ cols: 3
+ data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
+projection_matrix:
+ rows: 3
+ cols: 4
+ data: [1060.333374, 0.000000, 691.771244, 0.000000, 0.000000, 1082.394043, 339.833773, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/src/aruco_detector/package.xml b/src/aruco_detector/package.xml
new file mode 100755
index 0000000..c4f0634
--- /dev/null
+++ b/src/aruco_detector/package.xml
@@ -0,0 +1,23 @@
+
+
+
+ aruco_detector
+ 0.0.0
+ Node to detect Aruco
+ ros2
+ License declaration
+
+ rclpy
+ std_msgs
+ sensor_msgs
+ geometry_msgs
+
+ ament_copyright
+ ament_flake8
+ ament_pep257
+ python3-pytest
+
+
+ ament_python
+
+
diff --git a/src/aruco_detector/resource/aruco_detector b/src/aruco_detector/resource/aruco_detector
new file mode 100755
index 0000000..e69de29
diff --git a/src/aruco_detector/setup.cfg b/src/aruco_detector/setup.cfg
new file mode 100755
index 0000000..3fe9d64
--- /dev/null
+++ b/src/aruco_detector/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/aruco_detector
+[install]
+install-scripts=$base/lib/aruco_detector
diff --git a/src/aruco_detector/setup.py b/src/aruco_detector/setup.py
new file mode 100755
index 0000000..ba54b83
--- /dev/null
+++ b/src/aruco_detector/setup.py
@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'aruco_detector'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=[package_name],
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='ros2',
+ maintainer_email='bruecknerja86834@th-nuernberg.de',
+ description='Node to detect ArUco-codes',
+ license='TODO: License declaration',
+ tests_require=['pytest'],
+entry_points={
+ 'console_scripts': [
+ 'aruco_detector_node = aruco_detector.aruco_detector_node:main',
+ ],
+},
+)
diff --git a/src/aruco_detector/test/test_copyright.py b/src/aruco_detector/test/test_copyright.py
new file mode 100755
index 0000000..cc8ff03
--- /dev/null
+++ b/src/aruco_detector/test/test_copyright.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/src/aruco_detector/test/test_flake8.py b/src/aruco_detector/test/test_flake8.py
new file mode 100755
index 0000000..27ee107
--- /dev/null
+++ b/src/aruco_detector/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/src/aruco_detector/test/test_pep257.py b/src/aruco_detector/test/test_pep257.py
new file mode 100755
index 0000000..b234a38
--- /dev/null
+++ b/src/aruco_detector/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'
diff --git a/src/aruco_interfaces/CMakeLists.txt b/src/aruco_interfaces/CMakeLists.txt
new file mode 100755
index 0000000..13dca1d
--- /dev/null
+++ b/src/aruco_interfaces/CMakeLists.txt
@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.5)
+project(aruco_interfaces)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+ set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+ set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package( REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+ "msg/ArucoMarkerPose.msg"
+ DEPENDENCIES geometry_msgs
+ DEPENDENCIES std_msgs
+ )
+
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # uncomment the line when a copyright and license is not present in all source files
+ #set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # uncomment the line when this package is not in a git repo
+ #set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
\ No newline at end of file
diff --git a/src/aruco_interfaces/msg/ArucoMarkerPose.msg b/src/aruco_interfaces/msg/ArucoMarkerPose.msg
new file mode 100644
index 0000000..5c28e96
--- /dev/null
+++ b/src/aruco_interfaces/msg/ArucoMarkerPose.msg
@@ -0,0 +1,2 @@
+int64[] marker_ids
+geometry_msgs/Pose[] poses
\ No newline at end of file
diff --git a/src/aruco_interfaces/package.xml b/src/aruco_interfaces/package.xml
new file mode 100755
index 0000000..07e6272
--- /dev/null
+++ b/src/aruco_interfaces/package.xml
@@ -0,0 +1,27 @@
+
+
+
+ aruco_interfaces
+ 0.0.0
+ TODO: Package description
+ ros2
+ TODO: License declaration
+
+ ament_cmake
+
+ geometry_msgs
+ std_msgs
+
+ ament_lint_auto
+ ament_lint_common
+
+ rosidl_default_generators
+
+ rosidl_default_runtime
+
+ rosidl_interface_packages
+
+
+ ament_cmake
+
+
diff --git a/src/camera_calibration/CHANGELOG.rst b/src/camera_calibration/CHANGELOG.rst
new file mode 100755
index 0000000..7d191ae
--- /dev/null
+++ b/src/camera_calibration/CHANGELOG.rst
@@ -0,0 +1,187 @@
+2.2.1 (2020-08-27)
+------------------
+* remove email blasts from steve macenski (`#596 `_)
+* Add pytest.ini to fix warning (`#584 `_)
+ Fixes the following warning:
+ Warning: The 'junit_family' default value will change to 'xunit2' in pytest 6.0.
+ Add 'junit_family=xunit1' to your pytest.ini file to keep the current format in future versions of pytest and silence this warning.
+* [Foxy] Use ament_auto Macros (`#573 `_)
+* Contributors: Jacob Perron, Joshua Whitley, Steve Macenski
+
+2.2.0 (2020-07-27)
+------------------
+* Removed basestring (no longer exists in new python 3 version). (`#554 `_)
+ Fixes `#551 `_
+* Initial ROS2 commit.
+* Contributors: Michael Carroll, PfeifferMicha
+
+1.12.23 (2018-05-10)
+--------------------
+* camera_checker: Ensure cols + rows are in correct order (`#319 `_)
+ Without this commit, specifying a smaller column than row size lead to
+ huge reported errors:
+ ```
+ $ rosrun camera_calibration cameracheck.py --size 6x7 --square 0.0495
+ Linearity RMS Error: 13.545 Pixels Reprojection RMS Error: 22.766 Pixels
+ $ rosrun camera_calibration cameracheck.py --size 7x6 --square 0.0495
+ Linearity RMS Error: 0.092 Pixels Reprojection RMS Error: 0.083 Pixels
+ ```
+ This commit switches columns and rows around if necessary.
+* Contributors: Martin Günther
+
+1.12.22 (2017-12-08)
+--------------------
+* Changed flags CV_LOAD_IMAGE_COLOR by IMREAD_COLOR to adapt to Opencv3. (`#252 `_)
+* Fixed stereo calibration problem with chessboard with the same number of rows and cols by rotating the corners to same direction.
+* Contributors: jbosch
+
+1.12.21 (2017-11-05)
+--------------------
+* re-add the calibration nodes but now using the Python modules.
+ Fixes `#298 `_
+* Move nodes to Python module.
+* Contributors: Vincent Rabaud
+
+1.12.20 (2017-04-30)
+--------------------
+* properly save bytes buffer as such
+ This is useful for Python 3 and fixes `#256 `_.
+* Get tests slightly looser.
+ OpenCV 3.2 gives slightly different results apparently.
+* Use floor division where necessary. (`#247 `_)
+* Fix and Improve Camera Calibration Checker Node (`#254 `_)
+ * Fix according to calibrator.py API
+ * Add approximate to cameracheck
+* Force first corner off chessboard to be uppler left.
+ Fixes `#140 `_
+* fix doc jobs
+ This is a proper fix for `#233 `_
+* During stereo calibration check that the number of corners detected in the left and right images are the same. This fixes `ros-perception/image_pipeline#225 `_
+* Contributors: Leonard Gerard, Martin Peris, Vincent Rabaud, hgaiser
+
+1.12.19 (2016-07-24)
+--------------------
+* Fix array check in camerachecky.py
+ This closes `#205 `_
+* Contributors: Vincent Rabaud
+
+1.12.18 (2016-07-12)
+--------------------
+
+1.12.17 (2016-07-11)
+--------------------
+* fix typo np -> numpy
+* fix failing tests
+* Contributors: Shingo Kitagawa, Vincent Rabaud
+
+1.12.16 (2016-03-19)
+--------------------
+* clean OpenCV dependency in package.xml
+* Contributors: Vincent Rabaud
+
+1.12.15 (2016-01-17)
+--------------------
+* better 16 handling in mkgray
+ This re-uses `#150 `_ and therefore closes `#150 `_
+* fix OpenCV2 compatibility
+* fix tests with OpenCV3
+* [Calibrator]: add yaml file with calibration data in output
+* Contributors: Vincent Rabaud, sambrose
+
+1.12.14 (2015-07-22)
+--------------------
+* remove camera_hammer and install Python nodes properly
+ camera_hammer was just a test for camera info, nothing to do with
+ calibration. Plus the test was basic.
+* Correct three errors that prevented the node to work properly.
+* Contributors: Filippo Basso, Vincent Rabaud
+
+1.12.13 (2015-04-06)
+--------------------
+* replace Queue by deque of fixed size for simplicity
+ That is a potential fix for `#112 `_
+* Contributors: Vincent Rabaud
+
+1.12.12 (2014-12-31)
+--------------------
+* try to improve `#112 `_
+* Contributors: Vincent Rabaud
+
+1.12.11 (2014-10-26)
+--------------------
+
+1.12.10 (2014-09-28)
+--------------------
+* Update calibrator.py
+ bugfix: stereo calibrator crashed after the signature of the method for the computation of the epipolar error changed but the function call was not updated
+* Contributors: Volker Grabe
+
+1.12.9 (2014-09-21)
+-------------------
+* fix bad Python
+* only analyze the latest image
+ fixes `#97 `_
+* flips width and height during resize to give correct aspect ratio
+* Contributors: Russell Toris, Vincent Rabaud
+
+1.12.8 (2014-08-19)
+-------------------
+* install scripts in the local bin (they are now rosrun-able again)
+ fixes `#93 `_
+* fix default Constructor for OpenCV flags
+ this does not change anything in practice as the flag is set by the node.
+ It just fixes the test.
+* Contributors: Vincent Rabaud
+
+1.12.6 (2014-07-27)
+-------------------
+* make sure the GUI is started in its processing thread and fix a typo
+ This fully fixes `#85 `_
+* fix bad call to save an image
+* have display be in its own thread
+ that could be a fix for `#85 `_
+* fix bad usage of Numpy
+ fixes `#89 `_
+* fix asymmetric circle calibration
+ fixes `#35 `_
+* add more tests
+* improve unittests to include all patterns
+* install Python scripts properly
+ and fixes `#86 `_
+* fix typo that leads to segfault
+ fixes `#84 `_
+* also print self.report() on calibrate ... allows to use the params without having to commit them (e.g. for extrensic calibration between to cameras not used as stereo pair)
+* fixes `#76 `_
+ Move Python approximate time synchronizer to ros_comm
+* remove all trace of cv in Python (use cv2)
+* remove deprecated file (as mentioned in its help)
+* fixes `#25 `_
+ This is just removing deprecated options that were around since diamondback
+* fixes `#74 `_
+ calibrator.py is now using the cv2 only API when using cv_bridge.
+ The API got changed too but it seems to only be used internally.
+* Contributors: Vincent Rabaud, ahb
+
+1.12.5 (2014-05-11)
+-------------------
+* Fix `#68 `_: StringIO issues in calibrator.py
+* fix architecture independent
+* Contributors: Miquel Massot, Vincent Rabaud
+
+1.12.4 (2014-04-28)
+-------------------
+
+1.12.3 (2014-04-12)
+-------------------
+* camera_calibration: Fix Python import order
+* Contributors: Scott K Logan
+
+1.12.2 (2014-04-08)
+-------------------
+* Fixes a typo on stereo camera info service calls
+ Script works after correcting the call names.
+* Contributors: JoonasMelin
+
+1.11.4 (2013-11-23 13:10:55 +0100)
+----------------------------------
+- add visualization during calibration and several calibration flags (#48)
diff --git a/src/camera_calibration/button.jpg b/src/camera_calibration/button.jpg
new file mode 100755
index 0000000..494a6f6
Binary files /dev/null and b/src/camera_calibration/button.jpg differ
diff --git a/src/camera_calibration/doc/conf.py b/src/camera_calibration/doc/conf.py
new file mode 100755
index 0000000..82ad7fe
--- /dev/null
+++ b/src/camera_calibration/doc/conf.py
@@ -0,0 +1,201 @@
+# -*- coding: utf-8 -*-
+#
+# camera_calibration documentation build configuration file, created by
+# sphinx-quickstart on Mon Jun 1 14:21:53 2009.
+#
+# This file is execfile()d with the current directory set to its containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+import sys, os
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#sys.path.append(os.path.abspath('.'))
+
+# -- General configuration -----------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be extensions
+# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
+extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.intersphinx', 'sphinx.ext.pngmath']
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix of source filenames.
+source_suffix = '.rst'
+
+# The encoding of source files.
+#source_encoding = 'utf-8'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = 'camera_calibration'
+copyright = '2009, Willow Garage, Inc.'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+version = '0.1'
+# The full version, including alpha/beta/rc tags.
+release = '0.1.0'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#today = ''
+# Else, today_fmt is used as the format for a strftime call.
+#today_fmt = '%B %d, %Y'
+
+# List of documents that shouldn't be included in the build.
+#unused_docs = []
+
+# List of directories, relative to source directory, that shouldn't be searched
+# for source files.
+exclude_trees = ['_build']
+
+# The reST default role (used for this markup: `text`) to use for all documents.
+#default_role = None
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+#show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# A list of ignored prefixes for module index sorting.
+#modindex_common_prefix = []
+
+
+# -- Options for HTML output ---------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages. Major themes that come with
+# Sphinx are currently 'default' and 'sphinxdoc'.
+html_theme = 'default'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further. For a list of options available for each theme, see the
+# documentation.
+#html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+#html_theme_path = []
+
+# The name for this set of Sphinx documents. If None, it defaults to
+# " v documentation".
+#html_title = None
+
+# A shorter title for the navigation bar. Default is the same as html_title.
+#html_short_title = None
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+#html_logo = None
+
+# The name of an image file (within the static path) to use as favicon of the
+# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#html_favicon = None
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+#html_static_path = ['_static']
+
+# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
+# using the given strftime format.
+#html_last_updated_fmt = '%b %d, %Y'
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+#html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#html_additional_pages = {}
+
+# If false, no module index is generated.
+#html_use_modindex = True
+
+# If false, no index is generated.
+#html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+#html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+#html_show_sourcelink = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a tag referring to it. The value of this option must be the
+# base URL from which the finished HTML is served.
+#html_use_opensearch = ''
+
+# If nonempty, this is the file name suffix for HTML files (e.g. ".xhtml").
+#html_file_suffix = ''
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'camera_calibrationdoc'
+
+
+# -- Options for LaTeX output --------------------------------------------------
+
+# The paper size ('letter' or 'a4').
+#latex_paper_size = 'letter'
+
+# The font size ('10pt', '11pt' or '12pt').
+#latex_font_size = '10pt'
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title, author, documentclass [howto/manual]).
+latex_documents = [
+ ('index', 'camera_calibration.tex', 'stereo\\_utils Documentation',
+ 'James Bowman', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+#latex_logo = None
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+#latex_use_parts = False
+
+# Additional stuff for the LaTeX preamble.
+#latex_preamble = ''
+
+# Documents to append as an appendix to all manuals.
+#latex_appendices = []
+
+# If false, no module index is generated.
+#latex_use_modindex = True
+
+# Example configuration for intersphinx: refer to the Python standard library.
+intersphinx_mapping = {
+ 'http://docs.python.org/': None,
+ 'http://docs.scipy.org/doc/numpy' : None,
+ 'http://www.ros.org/doc/api/tf/html/python/' : None
+ }
diff --git a/src/camera_calibration/doc/index.rst b/src/camera_calibration/doc/index.rst
new file mode 100755
index 0000000..741e4e5
--- /dev/null
+++ b/src/camera_calibration/doc/index.rst
@@ -0,0 +1,18 @@
+camera_calibration
+==================
+
+The camera_calibration package contains a user-friendly calibration tool,
+cameracalibrator. This tool uses the following Python classes, which
+conveniently hide some of the complexities of using OpenCV's calibration
+process and chessboard detection, and the details of constructing a ROS
+CameraInfo message. These classes are documented here for people who
+need to extend or make a new calibration tool.
+
+For details on the camera model and camera calibration process, see
+http://docs.opencv.org/master/d9/d0c/group__calib3d.html
+
+.. autoclass:: camera_calibration.calibrator.MonoCalibrator
+ :members:
+
+.. autoclass:: camera_calibration.calibrator.StereoCalibrator
+ :members:
diff --git a/src/camera_calibration/mainpage.dox b/src/camera_calibration/mainpage.dox
new file mode 100755
index 0000000..dbcfe69
--- /dev/null
+++ b/src/camera_calibration/mainpage.dox
@@ -0,0 +1,59 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b The camera_calibration package contains tools for calibrating monocular and stereo cameras.
+
+\section codeapi Code API
+
+camera_calibration does not have a code API.
+
+\section rosapi ROS API
+
+List of nodes:
+- \b calibrationnode
+
+
+
+
+
+\subsection node_name calibrationnode
+
+calibrationnode subscribes to ROS raw image topics, and presents a
+calibration window. It can run in both monocular and stereo modes.
+The calibration window shows the current images from the cameras,
+highlighting the checkerboard. When the user presses the "CALIBRATE"
+button, the node computes the camera calibration parameters. When the
+user clicks "UPLOAD", the node uploads these new calibration parameters
+to the camera driver using a service call.
+
+\subsubsection Usage
+\verbatim
+$ node_type1 [standard ROS args]
+\endverbatim
+
+\par Example
+
+\verbatim
+$ rosrun camera_calibration cal.py right:=/my_stereo/right/image_raw left:=/my_stereo/left/image_raw left_camera:=/my_stereo/left right_camera:=/my_stereo/right
+\endverbatim
+
+
+\subsubsection topics ROS topics
+
+Subscribes to:
+- \b "left": [sensor_msgs/Image] left raw image topic, for stereo cameras
+- \b "right": [sensor_msgs/Image] left raw image topic, for stereo cameras
+- \b "image": [sensor_msgs/Image] raw image topic, for monocular cameras
+
+Makes service calls to:
+
+\subsubsection services ROS services
+- \b "foo_service": [std_srvs/FooType] description of foo_service
+- \b "camera/set_camera_info": [sensor_msgs/SetCameraInfo] node of the camera for monocular
+- \b "left_camera/set_camera_info": [sensor_msgs/SetCameraInfo] node of the left stereo camera
+- \b "right_camera/set_camera_info": [sensor_msgs/SetCameraInfo] node of the left stereo camera
+
+
+
+*/
diff --git a/src/camera_calibration/package.xml b/src/camera_calibration/package.xml
new file mode 100755
index 0000000..e446b2e
--- /dev/null
+++ b/src/camera_calibration/package.xml
@@ -0,0 +1,38 @@
+
+
+
+ camera_calibration
+ 2.2.1
+
+ camera_calibration allows easy calibration of monocular or stereo
+ cameras using a checkerboard calibration target.
+
+
+ Vincent Rabaud
+ Joshua Whitley
+ Jacob Perron
+
+ BSD
+ https://index.ros.org/p/camera_calibration/github-ros-perception-image_pipeline/
+ https://github.com/ros-perception/image_pipeline/issues
+ https://github.com/ros-perception/image_pipeline
+ James Bowman
+ Patrick Mihelich
+
+ cv_bridge
+ image_geometry
+ message_filters
+ rclpy
+ std_srvs
+ sensor_msgs
+
+ ament_copyright
+ ament_flake8
+ ament_pep257
+ python3-pytest
+ python3-requests
+
+
+ ament_python
+
+
diff --git a/src/camera_calibration/pytest.ini b/src/camera_calibration/pytest.ini
new file mode 100755
index 0000000..fe55d2e
--- /dev/null
+++ b/src/camera_calibration/pytest.ini
@@ -0,0 +1,2 @@
+[pytest]
+junit_family=xunit2
diff --git a/src/camera_calibration/resource/camera_calibration b/src/camera_calibration/resource/camera_calibration
new file mode 100755
index 0000000..e69de29
diff --git a/src/camera_calibration/rosdoc.yaml b/src/camera_calibration/rosdoc.yaml
new file mode 100755
index 0000000..0136cd7
--- /dev/null
+++ b/src/camera_calibration/rosdoc.yaml
@@ -0,0 +1,4 @@
+ - builder: sphinx
+ name: Python API
+ output_dir: python
+ sphinx_root_dir: doc
diff --git a/src/camera_calibration/scripts/tarfile_calibration.py b/src/camera_calibration/scripts/tarfile_calibration.py
new file mode 100755
index 0000000..db8d4d6
--- /dev/null
+++ b/src/camera_calibration/scripts/tarfile_calibration.py
@@ -0,0 +1,229 @@
+#!/usr/bin/env python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+import sys
+import numpy
+
+import cv2
+import cv_bridge
+import tarfile
+
+from camera_calibration.calibrator import MonoCalibrator, StereoCalibrator, CalibrationException, ChessboardInfo
+
+import rclpy
+import sensor_msgs.srv
+
+def display(win_name, img):
+ cv2.namedWindow(win_name, cv2.WINDOW_NORMAL)
+ cv2.imshow( win_name, numpy.asarray( img[:,:] ))
+ k = cv2.waitKey(0)
+ cv2.destroyWindow(win_name)
+ if k in [27, ord('q')]:
+ rclpy.shutdown()
+
+
+def cal_from_tarfile(boards, tarname, mono = False, upload = False, calib_flags = 0, visualize = False, alpha=1.0):
+ if mono:
+ calibrator = MonoCalibrator(boards, calib_flags)
+ else:
+ calibrator = StereoCalibrator(boards, calib_flags)
+
+ calibrator.do_tarfile_calibration(tarname)
+
+ print(calibrator.ost())
+
+ if upload:
+ info = calibrator.as_message()
+ if mono:
+ set_camera_info_service = rclpy.ServiceProxy("%s/set_camera_info" % "camera", sensor_msgs.srv.SetCameraInfo)
+
+ response = set_camera_info_service.call(info)
+ if not response.success:
+ raise RuntimeError("connected to set_camera_info service, but failed setting camera_info")
+ else:
+ set_left_camera_info_service = rclpy.ServiceProxy("%s/set_camera_info" % "left_camera", sensor_msgs.srv.SetCameraInfo)
+ set_right_camera_info_service = rclpy.ServiceProxy("%s/set_camera_info" % "right_camera", sensor_msgs.srv.SetCameraInfo)
+
+ response1 = set_left_camera_info_service(info[0])
+ response2 = set_right_camera_info_service(info[1])
+ if not (response1.result().success and response2.result().success):
+ raise RuntimeError("connected to set_camera_info service, but failed setting camera_info")
+
+ if visualize:
+
+ #Show rectified images
+ calibrator.set_alpha(alpha)
+
+ archive = tarfile.open(tarname, 'r')
+ if mono:
+ for f in archive.getnames():
+ if f.startswith('left') and (f.endswith('.pgm') or f.endswith('png')):
+ filedata = archive.extractfile(f).read()
+ file_bytes = numpy.asarray(bytearray(filedata), dtype=numpy.uint8)
+ im=cv2.imdecode(file_bytes,cv2.IMREAD_COLOR)
+
+ bridge = cv_bridge.CvBridge()
+ try:
+ msg=bridge.cv2_to_imgmsg(im, "bgr8")
+ except cv_bridge.CvBridgeError as e:
+ print(e)
+
+ #handle msg returns the recitifed image with corner detection once camera is calibrated.
+ drawable=calibrator.handle_msg(msg)
+ vis=numpy.asarray( drawable.scrib[:,:])
+ #Display. Name of window:f
+ display(f, vis)
+ else:
+ limages = [ f for f in archive.getnames() if (f.startswith('left') and (f.endswith('pgm') or f.endswith('png'))) ]
+ limages.sort()
+ rimages = [ f for f in archive.getnames() if (f.startswith('right') and (f.endswith('pgm') or f.endswith('png'))) ]
+ rimages.sort()
+
+ if not len(limages) == len(rimages):
+ raise RuntimeError("Left, right images don't match. %d left images, %d right" % (len(limages), len(rimages)))
+
+ for i in range(len(limages)):
+ l=limages[i]
+ r=rimages[i]
+
+ if l.startswith('left') and (l.endswith('.pgm') or l.endswith('png')) and r.startswith('right') and (r.endswith('.pgm') or r.endswith('png')):
+ # LEFT IMAGE
+ filedata = archive.extractfile(l).read()
+ file_bytes = numpy.asarray(bytearray(filedata), dtype=numpy.uint8)
+ im_left=cv2.imdecode(file_bytes,cv2.IMREAD_COLOR)
+
+ bridge = cv_bridge.CvBridge()
+ try:
+ msg_left=bridge.cv2_to_imgmsg(im_left, "bgr8")
+ except cv_bridge.CvBridgeError as e:
+ print(e)
+
+ #RIGHT IMAGE
+ filedata = archive.extractfile(r).read()
+ file_bytes = numpy.asarray(bytearray(filedata), dtype=numpy.uint8)
+ im_right=cv2.imdecode(file_bytes,cv2.IMREAD_COLOR)
+ try:
+ msg_right=bridge.cv2_to_imgmsg(im_right, "bgr8")
+ except cv_bridge.CvBridgeError as e:
+ print(e)
+
+ drawable=calibrator.handle_msg([ msg_left,msg_right] )
+
+ h, w = numpy.asarray(drawable.lscrib[:,:]).shape[:2]
+ vis = numpy.zeros((h, w*2, 3), numpy.uint8)
+ vis[:h, :w ,:] = numpy.asarray(drawable.lscrib[:,:])
+ vis[:h, w:w*2, :] = numpy.asarray(drawable.rscrib[:,:])
+
+ display(l+" "+r,vis)
+
+
+if __name__ == '__main__':
+ from optparse import OptionParser
+ parser = OptionParser("%prog TARFILE [ opts ]")
+ parser.add_option("--mono", default=False, action="store_true", dest="mono",
+ help="Monocular calibration only. Calibrates left images.")
+ parser.add_option("-s", "--size", default=[], action="append", dest="size",
+ help="specify chessboard size as NxM [default: 8x6]")
+ parser.add_option("-q", "--square", default=[], action="append", dest="square",
+ help="specify chessboard square size in meters [default: 0.108]")
+ parser.add_option("--upload", default=False, action="store_true", dest="upload",
+ help="Upload results to camera(s).")
+ parser.add_option("--fix-principal-point", action="store_true", default=False,
+ help="fix the principal point at the image center")
+ parser.add_option("--fix-aspect-ratio", action="store_true", default=False,
+ help="enforce focal lengths (fx, fy) are equal")
+ parser.add_option("--zero-tangent-dist", action="store_true", default=False,
+ help="set tangential distortion coefficients (p1, p2) to zero")
+ parser.add_option("-k", "--k-coefficients", type="int", default=2, metavar="NUM_COEFFS",
+ help="number of radial distortion coefficients to use (up to 6, default %default)")
+ parser.add_option("--visualize", action="store_true", default=False,
+ help="visualize rectified images after calibration")
+ parser.add_option("-a", "--alpha", type="float", default=1.0, metavar="ALPHA",
+ help="zoom for visualization of rectifies images. Ranges from 0 (zoomed in, all pixels in calibrated image are valid) to 1 (zoomed out, all pixels in original image are in calibrated image). default %default)")
+
+ options, args = parser.parse_args()
+
+ if len(options.size) != len(options.square):
+ parser.error("Number of size and square inputs must be the same!")
+
+ if not options.square:
+ options.square.append("0.108")
+ options.size.append("8x6")
+
+ boards = []
+ for (sz, sq) in zip(options.size, options.square):
+ info = ChessboardInfo()
+ info.dim = float(sq)
+ size = tuple([int(c) for c in sz.split('x')])
+ info.n_cols = size[0]
+ info.n_rows = size[1]
+
+ boards.append(info)
+
+ if not boards:
+ parser.error("Must supply at least one chessboard")
+
+ if not args:
+ parser.error("Must give tarfile name")
+ if not os.path.exists(args[0]):
+ parser.error("Tarfile %s does not exist. Please select valid tarfile" % args[0])
+
+ tarname = args[0]
+
+ num_ks = options.k_coefficients
+
+ calib_flags = 0
+ if options.fix_principal_point:
+ calib_flags |= cv2.CALIB_FIX_PRINCIPAL_POINT
+ if options.fix_aspect_ratio:
+ calib_flags |= cv2.CALIB_FIX_ASPECT_RATIO
+ if options.zero_tangent_dist:
+ calib_flags |= cv2.CALIB_ZERO_TANGENT_DIST
+ if (num_ks > 3):
+ calib_flags |= cv2.CALIB_RATIONAL_MODEL
+ if (num_ks < 6):
+ calib_flags |= cv2.CALIB_FIX_K6
+ if (num_ks < 5):
+ calib_flags |= cv2.CALIB_FIX_K5
+ if (num_ks < 4):
+ calib_flags |= cv2.CALIB_FIX_K4
+ if (num_ks < 3):
+ calib_flags |= cv2.CALIB_FIX_K3
+ if (num_ks < 2):
+ calib_flags |= cv2.CALIB_FIX_K2
+ if (num_ks < 1):
+ calib_flags |= cv2.CALIB_FIX_K1
+
+ cal_from_tarfile(boards, tarname, options.mono, options.upload, calib_flags, options.visualize, options.alpha)
diff --git a/src/camera_calibration/setup.cfg b/src/camera_calibration/setup.cfg
new file mode 100755
index 0000000..5cc768a
--- /dev/null
+++ b/src/camera_calibration/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/camera_calibration
+[install]
+install-scripts=$base/lib/camera_calibration
diff --git a/src/camera_calibration/setup.py b/src/camera_calibration/setup.py
new file mode 100755
index 0000000..9ab3db5
--- /dev/null
+++ b/src/camera_calibration/setup.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python
+from setuptools import setup, find_packages
+
+PACKAGE_NAME = "camera_calibration"
+
+setup(
+ name=PACKAGE_NAME,
+ version='2.2.0',
+ packages=["camera_calibration", "camera_calibration.nodes"],
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + PACKAGE_NAME]),
+ ('share/' + PACKAGE_NAME, ['package.xml']),
+ ],
+ py_modules=[],
+ package_dir={'': 'src'},
+ install_requires=[
+ 'setuptools',
+ ],
+ zip_safe=True,
+ author='James Bowman, Patrick Mihelich',
+ maintainer='Vincent Rabaud, Steven Macenski, Joshua Whitley',
+ maintainer_email='vincent.rabaud@gmail.com, stevenmacenski@gmail.com, whitleysoftwareservices@gmail.com',
+ keywords=['ROS2'],
+ description='Camera_calibration allows easy calibration of monocular or stereo cameras using a checkerboard calibration target .',
+ license='BSD',
+ tests_require=[
+ 'pytest',
+ 'requests'
+ ],
+ entry_points={
+ 'console_scripts': [
+ 'cameracalibrator = camera_calibration.nodes.cameracalibrator:main',
+ 'cameracheck = camera_calibration.nodes.cameracheck:main',
+ ],
+ },
+)
diff --git a/src/camera_calibration/src/camera_calibration/__init__.py b/src/camera_calibration/src/camera_calibration/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/src/camera_calibration/src/camera_calibration/calibrator.py b/src/camera_calibration/src/camera_calibration/calibrator.py
new file mode 100755
index 0000000..6ee8814
--- /dev/null
+++ b/src/camera_calibration/src/camera_calibration/calibrator.py
@@ -0,0 +1,1146 @@
+#!/usr/bin/env python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from io import BytesIO
+import cv2
+import cv_bridge
+import image_geometry
+import math
+import numpy.linalg
+import pickle
+import random
+import sensor_msgs.msg
+import tarfile
+import time
+from distutils.version import LooseVersion
+
+
+# Supported calibration patterns
+class Patterns:
+ Chessboard, Circles, ACircles = list(range(3))
+
+class CalibrationException(Exception):
+ pass
+
+# TODO: Make pattern per-board?
+class ChessboardInfo():
+ def __init__(self, n_cols = 0, n_rows = 0, dim = 0.0):
+ self.n_cols = n_cols
+ self.n_rows = n_rows
+ self.dim = dim
+
+# Make all private!!!!!
+def lmin(seq1, seq2):
+ """ Pairwise minimum of two sequences """
+ return [min(a, b) for (a, b) in zip(seq1, seq2)]
+
+def lmax(seq1, seq2):
+ """ Pairwise maximum of two sequences """
+ return [max(a, b) for (a, b) in zip(seq1, seq2)]
+
+def _pdist(p1, p2):
+ """
+ Distance bwt two points. p1 = (x, y), p2 = (x, y)
+ """
+ return math.sqrt(math.pow(p1[0] - p2[0], 2) + math.pow(p1[1] - p2[1], 2))
+
+def _get_outside_corners(corners, board):
+ """
+ Return the four corners of the board as a whole, as (up_left, up_right, down_right, down_left).
+ """
+ xdim = board.n_cols
+ ydim = board.n_rows
+
+ if corners.shape[1] * corners.shape[0] != xdim * ydim:
+ raise Exception("Invalid number of corners! %d corners. X: %d, Y: %d" % (corners.shape[1] * corners.shape[0],
+ xdim, ydim))
+
+ up_left = corners[0,0]
+ up_right = corners[xdim - 1,0]
+ down_right = corners[-1,0]
+ down_left = corners[-xdim,0]
+
+ return (up_left, up_right, down_right, down_left)
+
+def _get_skew(corners, board):
+ """
+ Get skew for given checkerboard detection.
+ Scaled to [0,1], which 0 = no skew, 1 = high skew
+ Skew is proportional to the divergence of three outside corners from 90 degrees.
+ """
+ # TODO Using three nearby interior corners might be more robust, outside corners occasionally
+ # get mis-detected
+ up_left, up_right, down_right, _ = _get_outside_corners(corners, board)
+
+ def angle(a, b, c):
+ """
+ Return angle between lines ab, bc
+ """
+ ab = a - b
+ cb = c - b
+ return math.acos(numpy.dot(ab,cb) / (numpy.linalg.norm(ab) * numpy.linalg.norm(cb)))
+
+ skew = min(1.0, 2. * abs((math.pi / 2.) - angle(up_left, up_right, down_right)))
+ return skew
+
+def _get_area(corners, board):
+ """
+ Get 2d image area of the detected checkerboard.
+ The projected checkerboard is assumed to be a convex quadrilateral, and the area computed as
+ |p X q|/2; see http://mathworld.wolfram.com/Quadrilateral.html.
+ """
+ (up_left, up_right, down_right, down_left) = _get_outside_corners(corners, board)
+ a = up_right - up_left
+ b = down_right - up_right
+ c = down_left - down_right
+ p = b + c
+ q = a + b
+ return abs(p[0]*q[1] - p[1]*q[0]) / 2.
+
+def _get_corners(img, board, refine = True, checkerboard_flags=0):
+ """
+ Get corners for a particular chessboard for an image
+ """
+ h = img.shape[0]
+ w = img.shape[1]
+ if len(img.shape) == 3 and img.shape[2] == 3:
+ mono = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+ else:
+ mono = img
+ (ok, corners) = cv2.findChessboardCorners(mono, (board.n_cols, board.n_rows), flags = cv2.CALIB_CB_ADAPTIVE_THRESH |
+ cv2.CALIB_CB_NORMALIZE_IMAGE | checkerboard_flags)
+ if not ok:
+ return (ok, corners)
+
+ # If any corners are within BORDER pixels of the screen edge, reject the detection by setting ok to false
+ # NOTE: This may cause problems with very low-resolution cameras, where 8 pixels is a non-negligible fraction
+ # of the image size. See http://answers.ros.org/question/3155/how-can-i-calibrate-low-resolution-cameras
+ BORDER = 8
+ if not all([(BORDER < corners[i, 0, 0] < (w - BORDER)) and (BORDER < corners[i, 0, 1] < (h - BORDER)) for i in range(corners.shape[0])]):
+ ok = False
+
+ # Ensure that all corner-arrays are going from top to bottom.
+ if board.n_rows!=board.n_cols:
+ if corners[0, 0, 1] > corners[-1, 0, 1]:
+ corners = numpy.copy(numpy.flipud(corners))
+ else:
+ direction_corners=(corners[-1]-corners[0])>=numpy.array([[0.0,0.0]])
+
+ if not numpy.all(direction_corners):
+ if not numpy.any(direction_corners):
+ corners = numpy.copy(numpy.flipud(corners))
+ elif direction_corners[0][0]:
+ corners=numpy.rot90(corners.reshape(board.n_rows,board.n_cols,2)).reshape(board.n_cols*board.n_rows,1,2)
+ else:
+ corners=numpy.rot90(corners.reshape(board.n_rows,board.n_cols,2),3).reshape(board.n_cols*board.n_rows,1,2)
+
+ if refine and ok:
+ # Use a radius of half the minimum distance between corners. This should be large enough to snap to the
+ # correct corner, but not so large as to include a wrong corner in the search window.
+ min_distance = float("inf")
+ for row in range(board.n_rows):
+ for col in range(board.n_cols - 1):
+ index = row*board.n_rows + col
+ min_distance = min(min_distance, _pdist(corners[index, 0], corners[index + 1, 0]))
+ for row in range(board.n_rows - 1):
+ for col in range(board.n_cols):
+ index = row*board.n_rows + col
+ min_distance = min(min_distance, _pdist(corners[index, 0], corners[index + board.n_cols, 0]))
+ radius = int(math.ceil(min_distance * 0.5))
+ cv2.cornerSubPix(mono, corners, (radius,radius), (-1,-1),
+ ( cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.1 ))
+
+ return (ok, corners)
+
+def _get_circles(img, board, pattern):
+ """
+ Get circle centers for a symmetric or asymmetric grid
+ """
+ h = img.shape[0]
+ w = img.shape[1]
+ if len(img.shape) == 3 and img.shape[2] == 3:
+ mono = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+ else:
+ mono = img
+
+ flag = cv2.CALIB_CB_SYMMETRIC_GRID
+ if pattern == Patterns.ACircles:
+ flag = cv2.CALIB_CB_ASYMMETRIC_GRID
+ mono_arr = numpy.array(mono)
+ (ok, corners) = cv2.findCirclesGrid(mono_arr, (board.n_cols, board.n_rows), flags=flag)
+
+ # In symmetric case, findCirclesGrid does not detect the target if it's turned sideways. So we try
+ # again with dimensions swapped - not so efficient.
+ # TODO Better to add as second board? Corner ordering will change.
+ if not ok and pattern == Patterns.Circles:
+ (ok, corners) = cv2.findCirclesGrid(mono_arr, (board.n_rows, board.n_cols), flags=flag)
+
+ return (ok, corners)
+
+
+# TODO self.size needs to come from CameraInfo, full resolution
+class Calibrator():
+ """
+ Base class for calibration system
+ """
+ def __init__(self, boards, flags=0, pattern=Patterns.Chessboard, name='', checkerboard_flags=cv2.CALIB_CB_FAST_CHECK):
+ # Ordering the dimensions for the different detectors is actually a minefield...
+ if pattern == Patterns.Chessboard:
+ # Make sure n_cols > n_rows to agree with OpenCV CB detector output
+ self._boards = [ChessboardInfo(max(i.n_cols, i.n_rows), min(i.n_cols, i.n_rows), i.dim) for i in boards]
+ elif pattern == Patterns.ACircles:
+ # 7x4 and 4x7 are actually different patterns. Assume square-ish pattern, so n_rows > n_cols.
+ self._boards = [ChessboardInfo(min(i.n_cols, i.n_rows), max(i.n_cols, i.n_rows), i.dim) for i in boards]
+ elif pattern == Patterns.Circles:
+ # We end up having to check both ways anyway
+ self._boards = boards
+
+ # Set to true after we perform calibration
+ self.calibrated = False
+ self.calib_flags = flags
+ self.checkerboard_flags = checkerboard_flags
+ self.pattern = pattern
+ self.br = cv_bridge.CvBridge()
+
+ # self.db is list of (parameters, image) samples for use in calibration. parameters has form
+ # (X, Y, size, skew) all normalized to [0,1], to keep track of what sort of samples we've taken
+ # and ensure enough variety.
+ self.db = []
+ # For each db sample, we also record the detected corners.
+ self.good_corners = []
+ # Set to true when we have sufficiently varied samples to calibrate
+ self.goodenough = False
+ self.param_ranges = [0.7, 0.7, 0.4, 0.5]
+ self.name = name
+
+ def mkgray(self, msg):
+ """
+ Convert a message into a 8-bit 1 channel monochrome OpenCV image
+ """
+ # as cv_bridge automatically scales, we need to remove that behavior
+ # TODO: get a Python API in cv_bridge to check for the image depth.
+ if self.br.encoding_to_dtype_with_channels(msg.encoding)[0] in ['uint16', 'int16']:
+ mono16 = self.br.imgmsg_to_cv2(msg, '16UC1')
+ mono8 = numpy.array(mono16 / 256, dtype=numpy.uint8)
+ return mono8
+ elif 'FC1' in msg.encoding:
+ # floating point image handling
+ img = self.br.imgmsg_to_cv2(msg, "passthrough")
+ _, max_val, _, _ = cv2.minMaxLoc(img)
+ if max_val > 0:
+ scale = 255.0 / max_val
+ mono_img = (img * scale).astype(numpy.uint8)
+ else:
+ mono_img = img.astype(numpy.uint8)
+ return mono_img
+ else:
+ return self.br.imgmsg_to_cv2(msg, "mono8")
+
+ def get_parameters(self, corners, board, size):
+ """
+ Return list of parameters [X, Y, size, skew] describing the checkerboard view.
+ """
+ (width, height) = size
+ Xs = corners[:,:,0]
+ Ys = corners[:,:,1]
+ area = _get_area(corners, board)
+ border = math.sqrt(area)
+ # For X and Y, we "shrink" the image all around by approx. half the board size.
+ # Otherwise large boards are penalized because you can't get much X/Y variation.
+ p_x = min(1.0, max(0.0, (numpy.mean(Xs) - border / 2) / (width - border)))
+ p_y = min(1.0, max(0.0, (numpy.mean(Ys) - border / 2) / (height - border)))
+ p_size = math.sqrt(area / (width * height))
+ skew = _get_skew(corners, board)
+ params = [p_x, p_y, p_size, skew]
+ return params
+
+ def is_good_sample(self, params):
+ """
+ Returns true if the checkerboard detection described by params should be added to the database.
+ """
+ if not self.db:
+ return True
+
+ def param_distance(p1, p2):
+ return sum([abs(a-b) for (a,b) in zip(p1, p2)])
+
+ db_params = [sample[0] for sample in self.db]
+ d = min([param_distance(params, p) for p in db_params])
+ #print "d = %.3f" % d #DEBUG
+ # TODO What's a good threshold here? Should it be configurable?
+ return d > 0.2
+
+ _param_names = ["X", "Y", "Size", "Skew"]
+
+ def compute_goodenough(self):
+ if not self.db:
+ return None
+
+ # Find range of checkerboard poses covered by samples in database
+ all_params = [sample[0] for sample in self.db]
+ min_params = all_params[0]
+ max_params = all_params[0]
+ for params in all_params[1:]:
+ min_params = lmin(min_params, params)
+ max_params = lmax(max_params, params)
+ # Don't reward small size or skew
+ min_params = [min_params[0], min_params[1], 0., 0.]
+
+ # For each parameter, judge how much progress has been made toward adequate variation
+ progress = [min((hi - lo) / r, 1.0) for (lo, hi, r) in zip(min_params, max_params, self.param_ranges)]
+ # If we have lots of samples, allow calibration even if not all parameters are green
+ # TODO Awkward that we update self.goodenough instead of returning it
+ self.goodenough = (len(self.db) >= 40) or all([p == 1.0 for p in progress])
+
+ return list(zip(self._param_names, min_params, max_params, progress))
+
+ def mk_object_points(self, boards, use_board_size = False):
+ opts = []
+ for i, b in enumerate(boards):
+ num_pts = b.n_cols * b.n_rows
+ opts_loc = numpy.zeros((num_pts, 1, 3), numpy.float32)
+ for j in range(num_pts):
+ opts_loc[j, 0, 0] = (j // b.n_cols)
+ if self.pattern == Patterns.ACircles:
+ opts_loc[j, 0, 1] = 2*(j % b.n_cols) + (opts_loc[j, 0, 0] % 2)
+ else:
+ opts_loc[j, 0, 1] = (j % b.n_cols)
+ opts_loc[j, 0, 2] = 0
+ if use_board_size:
+ opts_loc[j, 0, :] = opts_loc[j, 0, :] * b.dim
+ opts.append(opts_loc)
+ return opts
+
+ def get_corners(self, img, refine = True):
+ """
+ Use cvFindChessboardCorners to find corners of chessboard in image.
+
+ Check all boards. Return corners for first chessboard that it detects
+ if given multiple size chessboards.
+
+ Returns (ok, corners, board)
+ """
+
+ for b in self._boards:
+ if self.pattern == Patterns.Chessboard:
+ (ok, corners) = _get_corners(img, b, refine, self.checkerboard_flags)
+ else:
+ (ok, corners) = _get_circles(img, b, self.pattern)
+ if ok:
+ return (ok, corners, b)
+ return (False, None, None)
+
+ def downsample_and_detect(self, img):
+ """
+ Downsample the input image to approximately VGA resolution and detect the
+ calibration target corners in the full-size image.
+
+ Combines these apparently orthogonal duties as an optimization. Checkerboard
+ detection is too expensive on large images, so it's better to do detection on
+ the smaller display image and scale the corners back up to the correct size.
+
+ Returns (scrib, corners, downsampled_corners, board, (x_scale, y_scale)).
+ """
+ # Scale the input image down to ~VGA size
+ height = img.shape[0]
+ width = img.shape[1]
+ scale = math.sqrt( (width*height) / (640.*480.) )
+ if scale > 1.0:
+ scrib = cv2.resize(img, (int(width / scale), int(height / scale)))
+ else:
+ scrib = img
+ # Due to rounding, actual horizontal/vertical scaling may differ slightly
+ x_scale = float(width) / scrib.shape[1]
+ y_scale = float(height) / scrib.shape[0]
+
+ if self.pattern == Patterns.Chessboard:
+ # Detect checkerboard
+ (ok, downsampled_corners, board) = self.get_corners(scrib, refine = True)
+
+ # Scale corners back to full size image
+ corners = None
+ if ok:
+ if scale > 1.0:
+ # Refine up-scaled corners in the original full-res image
+ # TODO Does this really make a difference in practice?
+ corners_unrefined = downsampled_corners.copy()
+ corners_unrefined[:, :, 0] *= x_scale
+ corners_unrefined[:, :, 1] *= y_scale
+ radius = int(math.ceil(scale))
+ if len(img.shape) == 3 and img.shape[2] == 3:
+ mono = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+ else:
+ mono = img
+ cv2.cornerSubPix(mono, corners_unrefined, (radius,radius), (-1,-1),
+ ( cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.1 ))
+ corners = corners_unrefined
+ else:
+ corners = downsampled_corners
+ else:
+ # Circle grid detection is fast even on large images
+ (ok, corners, board) = self.get_corners(img)
+ # Scale corners to downsampled image for display
+ downsampled_corners = None
+ if ok:
+ if scale > 1.0:
+ downsampled_corners = corners.copy()
+ downsampled_corners[:,:,0] /= x_scale
+ downsampled_corners[:,:,1] /= y_scale
+ else:
+ downsampled_corners = corners
+
+ return (scrib, corners, downsampled_corners, board, (x_scale, y_scale))
+
+
+ def lrmsg(self, d, k, r, p):
+ """ Used by :meth:`as_message`. Return a CameraInfo message for the given calibration matrices """
+ msg = sensor_msgs.msg.CameraInfo()
+ (msg.width, msg.height) = self.size
+ if d.size > 5:
+ msg.distortion_model = "rational_polynomial"
+ else:
+ msg.distortion_model = "plumb_bob"
+ msg.d = numpy.ravel(d).copy().tolist()
+ msg.k = numpy.ravel(k).copy().tolist()
+ msg.r = numpy.ravel(r).copy().tolist()
+ msg.p = numpy.ravel(p).copy().tolist()
+ return msg
+
+ def lrreport(self, d, k, r, p):
+ print("D = ", numpy.ravel(d).tolist())
+ print("K = ", numpy.ravel(k).tolist())
+ print("R = ", numpy.ravel(r).tolist())
+ print("P = ", numpy.ravel(p).tolist())
+
+ def lrost(self, name, d, k, r, p):
+ calmessage = (
+ "# oST version 5.0 parameters\n"
+ + "\n"
+ + "\n"
+ + "[image]\n"
+ + "\n"
+ + "width\n"
+ + str(self.size[0]) + "\n"
+ + "\n"
+ + "height\n"
+ + str(self.size[1]) + "\n"
+ + "\n"
+ + "[%s]" % name + "\n"
+ + "\n"
+ + "camera matrix\n"
+ + " ".join(["%8f" % k[0,i] for i in range(3)]) + "\n"
+ + " ".join(["%8f" % k[1,i] for i in range(3)]) + "\n"
+ + " ".join(["%8f" % k[2,i] for i in range(3)]) + "\n"
+ + "\n"
+ + "distortion\n"
+ + " ".join(["%8f" % d[i,0] for i in range(d.shape[0])]) + "\n"
+ + "\n"
+ + "rectification\n"
+ + " ".join(["%8f" % r[0,i] for i in range(3)]) + "\n"
+ + " ".join(["%8f" % r[1,i] for i in range(3)]) + "\n"
+ + " ".join(["%8f" % r[2,i] for i in range(3)]) + "\n"
+ + "\n"
+ + "projection\n"
+ + " ".join(["%8f" % p[0,i] for i in range(4)]) + "\n"
+ + " ".join(["%8f" % p[1,i] for i in range(4)]) + "\n"
+ + " ".join(["%8f" % p[2,i] for i in range(4)]) + "\n"
+ + "\n")
+ assert len(calmessage) < 525, "Calibration info must be less than 525 bytes"
+ return calmessage
+
+ def lryaml(self, name, d, k, r, p):
+ calmessage = (""
+ + "image_width: " + str(self.size[0]) + "\n"
+ + "image_height: " + str(self.size[1]) + "\n"
+ + "camera_name: " + name + "\n"
+ + "camera_matrix:\n"
+ + " rows: 3\n"
+ + " cols: 3\n"
+ + " data: [" + ", ".join(["%8f" % i for i in k.reshape(1,9)[0]]) + "]\n"
+ + "distortion_model: " + ("rational_polynomial" if d.size > 5 else "plumb_bob") + "\n"
+ + "distortion_coefficients:\n"
+ + " rows: 1\n"
+ + " cols: 5\n"
+ + " data: [" + ", ".join(["%8f" % d[i,0] for i in range(d.shape[0])]) + "]\n"
+ + "rectification_matrix:\n"
+ + " rows: 3\n"
+ + " cols: 3\n"
+ + " data: [" + ", ".join(["%8f" % i for i in r.reshape(1,9)[0]]) + "]\n"
+ + "projection_matrix:\n"
+ + " rows: 3\n"
+ + " cols: 4\n"
+ + " data: [" + ", ".join(["%8f" % i for i in p.reshape(1,12)[0]]) + "]\n"
+ + "")
+ return calmessage
+
+ def do_save(self):
+ filename = '/tmp/calibrationdata.tar.gz'
+ tf = tarfile.open(filename, 'w:gz')
+ self.do_tarfile_save(tf) # Must be overridden in subclasses
+ tf.close()
+ print(("Wrote calibration data to", filename))
+
+def image_from_archive(archive, name):
+ """
+ Load image PGM file from tar archive.
+
+ Used for tarfile loading and unit test.
+ """
+ member = archive.getmember(name)
+ imagefiledata = numpy.frombuffer(archive.extractfile(member).read(), numpy.uint8)
+ imagefiledata.resize((1, imagefiledata.size))
+ return cv2.imdecode(imagefiledata, cv2.IMREAD_COLOR)
+
+class ImageDrawable():
+ """
+ Passed to CalibrationNode after image handled. Allows plotting of images
+ with detected corner points
+ """
+ def __init__(self):
+ self.params = None
+
+class MonoDrawable(ImageDrawable):
+ def __init__(self):
+ ImageDrawable.__init__(self)
+ self.scrib = None
+ self.linear_error = -1.0
+
+
+class StereoDrawable(ImageDrawable):
+ def __init__(self):
+ ImageDrawable.__init__(self)
+ self.lscrib = None
+ self.rscrib = None
+ self.epierror = -1
+ self.dim = -1
+
+
+class MonoCalibrator(Calibrator):
+ """
+ Calibration class for monocular cameras::
+
+ images = [cv2.imread("mono%d.png") for i in range(8)]
+ mc = MonoCalibrator()
+ mc.cal(images)
+ print mc.as_message()
+ """
+
+ is_mono = True # TODO Could get rid of is_mono
+
+ def __init__(self, *args, **kwargs):
+ if 'name' not in kwargs:
+ kwargs['name'] = 'narrow_stereo/left'
+ super(MonoCalibrator, self).__init__(*args, **kwargs)
+
+ def cal(self, images):
+ """
+ Calibrate camera from given images
+ """
+ goodcorners = self.collect_corners(images)
+ self.cal_fromcorners(goodcorners)
+ self.calibrated = True
+
+ def collect_corners(self, images):
+ """
+ :param images: source images containing chessboards
+ :type images: list of :class:`cvMat`
+
+ Find chessboards in all images.
+
+ Return [ (corners, ChessboardInfo) ]
+ """
+ self.size = (images[0].shape[1], images[0].shape[0])
+ corners = [self.get_corners(i) for i in images]
+
+ goodcorners = [(co, b) for (ok, co, b) in corners if ok]
+ if not goodcorners:
+ raise CalibrationException("No corners found in images!")
+ return goodcorners
+
+ def cal_fromcorners(self, good):
+ """
+ :param good: Good corner positions and boards
+ :type good: [(corners, ChessboardInfo)]
+
+
+ """
+ boards = [ b for (_, b) in good ]
+
+ ipts = [ points for (points, _) in good ]
+ opts = self.mk_object_points(boards)
+
+ self.intrinsics = numpy.zeros((3, 3), numpy.float64)
+ if self.calib_flags & cv2.CALIB_RATIONAL_MODEL:
+ self.distortion = numpy.zeros((8, 1), numpy.float64) # rational polynomial
+ else:
+ self.distortion = numpy.zeros((5, 1), numpy.float64) # plumb bob
+ # If FIX_ASPECT_RATIO flag set, enforce focal lengths have 1/1 ratio
+ self.intrinsics[0,0] = 1.0
+ self.intrinsics[1,1] = 1.0
+ cv2.calibrateCamera(
+ opts, ipts,
+ self.size, self.intrinsics,
+ self.distortion,
+ flags = self.calib_flags)
+
+ # R is identity matrix for monocular calibration
+ self.R = numpy.eye(3, dtype=numpy.float64)
+ self.P = numpy.zeros((3, 4), dtype=numpy.float64)
+
+ self.set_alpha(0.0)
+
+ def set_alpha(self, a):
+ """
+ Set the alpha value for the calibrated camera solution. The alpha
+ value is a zoom, and ranges from 0 (zoomed in, all pixels in
+ calibrated image are valid) to 1 (zoomed out, all pixels in
+ original image are in calibrated image).
+ """
+
+ # NOTE: Prior to Electric, this code was broken such that we never actually saved the new
+ # camera matrix. In effect, this enforced P = [K|0] for monocular cameras.
+ # TODO: Verify that OpenCV #1199 gets applied (improved GetOptimalNewCameraMatrix)
+ ncm, _ = cv2.getOptimalNewCameraMatrix(self.intrinsics, self.distortion, self.size, a)
+ for j in range(3):
+ for i in range(3):
+ self.P[j,i] = ncm[j, i]
+ self.mapx, self.mapy = cv2.initUndistortRectifyMap(self.intrinsics, self.distortion, self.R, ncm, self.size, cv2.CV_32FC1)
+
+ def remap(self, src):
+ """
+ :param src: source image
+ :type src: :class:`cvMat`
+
+ Apply the post-calibration undistortion to the source image
+ """
+ return cv2.remap(src, self.mapx, self.mapy, cv2.INTER_LINEAR)
+
+ def undistort_points(self, src):
+ """
+ :param src: N source pixel points (u,v) as an Nx2 matrix
+ :type src: :class:`cvMat`
+
+ Apply the post-calibration undistortion to the source points
+ """
+
+ return cv2.undistortPoints(src, self.intrinsics, self.distortion, R = self.R, P = self.P)
+
+ def as_message(self):
+ """ Return the camera calibration as a CameraInfo message """
+ return self.lrmsg(self.distortion, self.intrinsics, self.R, self.P)
+
+ def from_message(self, msg, alpha = 0.0):
+ """ Initialize the camera calibration from a CameraInfo message """
+
+ self.size = (msg.width, msg.height)
+ self.intrinsics = numpy.array(msg.k, dtype=numpy.float64, copy=True).reshape((3, 3))
+ self.distortion = numpy.array(msg.d, dtype=numpy.float64, copy=True).reshape((len(msg.d), 1))
+ self.R = numpy.array(msg.r, dtype=numpy.float64, copy=True).reshape((3, 3))
+ self.P = numpy.array(msg.p, dtype=numpy.float64, copy=True).reshape((3, 4))
+
+ self.set_alpha(0.0)
+
+ def report(self):
+ self.lrreport(self.distortion, self.intrinsics, self.R, self.P)
+
+ def ost(self):
+ return self.lrost(self.name, self.distortion, self.intrinsics, self.R, self.P)
+
+ def yaml(self):
+ return self.lryaml(self.name, self.distortion, self.intrinsics, self.R, self.P)
+
+ def linear_error_from_image(self, image):
+ """
+ Detect the checkerboard and compute the linear error.
+ Mainly for use in tests.
+ """
+ _, corners, _, board, _ = self.downsample_and_detect(image)
+ if corners is None:
+ return None
+
+ undistorted = self.undistort_points(corners)
+ return self.linear_error(undistorted, board)
+
+ @staticmethod
+ def linear_error(corners, b):
+
+ """
+ Returns the linear error for a set of corners detected in the unrectified image.
+ """
+
+ if corners is None:
+ return None
+
+ def pt2line(x0, y0, x1, y1, x2, y2):
+ """ point is (x0, y0), line is (x1, y1, x2, y2) """
+ return abs((x2 - x1) * (y1 - y0) - (x1 - x0) * (y2 - y1)) / math.sqrt((x2 - x1) ** 2 + (y2 - y1) ** 2)
+
+ cc = b.n_cols
+ cr = b.n_rows
+ errors = []
+ for r in range(cr):
+ (x1, y1) = corners[(cc * r) + 0, 0]
+ (x2, y2) = corners[(cc * r) + cc - 1, 0]
+ for i in range(1, cc - 1):
+ (x0, y0) = corners[(cc * r) + i, 0]
+ errors.append(pt2line(x0, y0, x1, y1, x2, y2))
+ if errors:
+ return math.sqrt(sum([e**2 for e in errors]) / len(errors))
+ else:
+ return None
+
+
+ def handle_msg(self, msg):
+ """
+ Detects the calibration target and, if found and provides enough new information,
+ adds it to the sample database.
+
+ Returns a MonoDrawable message with the display image and progress info.
+ """
+ gray = self.mkgray(msg)
+ linear_error = -1
+
+ # Get display-image-to-be (scrib) and detection of the calibration target
+ scrib_mono, corners, downsampled_corners, board, (x_scale, y_scale) = self.downsample_and_detect(gray)
+
+ if self.calibrated:
+ # Show rectified image
+ # TODO Pull out downsampling code into function
+ gray_remap = self.remap(gray)
+ gray_rect = gray_remap
+ if x_scale != 1.0 or y_scale != 1.0:
+ gray_rect = cv2.resize(gray_remap, (scrib_mono.shape[1], scrib_mono.shape[0]))
+
+ scrib = cv2.cvtColor(gray_rect, cv2.COLOR_GRAY2BGR)
+
+ if corners is not None:
+ # Report linear error
+ undistorted = self.undistort_points(corners)
+ linear_error = self.linear_error(undistorted, board)
+
+ # Draw rectified corners
+ scrib_src = undistorted.copy()
+ scrib_src[:,:,0] /= x_scale
+ scrib_src[:,:,1] /= y_scale
+ cv2.drawChessboardCorners(scrib, (board.n_cols, board.n_rows), scrib_src, True)
+
+ else:
+ scrib = cv2.cvtColor(scrib_mono, cv2.COLOR_GRAY2BGR)
+ if corners is not None:
+ # Draw (potentially downsampled) corners onto display image
+ cv2.drawChessboardCorners(scrib, (board.n_cols, board.n_rows), downsampled_corners, True)
+
+ # Add sample to database only if it's sufficiently different from any previous sample.
+ params = self.get_parameters(corners, board, (gray.shape[1], gray.shape[0]))
+ if self.is_good_sample(params):
+ self.db.append((params, gray))
+ self.good_corners.append((corners, board))
+ print(("*** Added sample %d, p_x = %.3f, p_y = %.3f, p_size = %.3f, skew = %.3f" % tuple([len(self.db)] + params)))
+
+ rv = MonoDrawable()
+ rv.scrib = scrib
+ rv.params = self.compute_goodenough()
+ rv.linear_error = linear_error
+ return rv
+
+ def do_calibration(self, dump = False):
+ if not self.good_corners:
+ print("**** Collecting corners for all images! ****") #DEBUG
+ images = [i for (p, i) in self.db]
+ self.good_corners = self.collect_corners(images)
+ # Dump should only occur if user wants it
+ if dump:
+ pickle.dump((self.is_mono, self.size, self.good_corners),
+ open("/tmp/camera_calibration_%08x.pickle" % random.getrandbits(32), "w"))
+ self.size = (self.db[0][1].shape[1], self.db[0][1].shape[0]) # TODO Needs to be set externally
+ self.cal_fromcorners(self.good_corners)
+ self.calibrated = True
+ # DEBUG
+ print((self.report()))
+ print((self.ost()))
+
+ def do_tarfile_save(self, tf):
+ """ Write images and calibration solution to a tarfile object """
+
+ def taradd(name, buf):
+ if isinstance(buf, str):
+ s = BytesIO(buf.encode('utf-8'))
+ else:
+ s = BytesIO(buf)
+ ti = tarfile.TarInfo(name)
+ ti.size = len(s.getvalue())
+ ti.uname = 'calibrator'
+ ti.mtime = int(time.time())
+ tf.addfile(tarinfo=ti, fileobj=s)
+
+ ims = [("left-%04d.png" % i, im) for i,(_, im) in enumerate(self.db)]
+ for (name, im) in ims:
+ taradd(name, cv2.imencode(".png", im)[1].tostring())
+ taradd('ost.yaml', self.yaml())
+ taradd('ost.txt', self.ost())
+
+ def do_tarfile_calibration(self, filename):
+ archive = tarfile.open(filename, 'r')
+
+ limages = [ image_from_archive(archive, f) for f in archive.getnames() if (f.startswith('left') and (f.endswith('.pgm') or f.endswith('png'))) ]
+
+ self.cal(limages)
+
+# TODO Replicate MonoCalibrator improvements in stereo
+class StereoCalibrator(Calibrator):
+ """
+ Calibration class for stereo cameras::
+
+ limages = [cv2.imread("left%d.png") for i in range(8)]
+ rimages = [cv2.imread("right%d.png") for i in range(8)]
+ sc = StereoCalibrator()
+ sc.cal(limages, rimages)
+ print sc.as_message()
+ """
+
+ is_mono = False
+
+ def __init__(self, *args, **kwargs):
+ if 'name' not in kwargs:
+ kwargs['name'] = 'narrow_stereo'
+ super(StereoCalibrator, self).__init__(*args, **kwargs)
+ self.l = MonoCalibrator(*args, **kwargs)
+ self.r = MonoCalibrator(*args, **kwargs)
+ # Collecting from two cameras in a horizontal stereo rig, can't get
+ # full X range in the left camera.
+ self.param_ranges[0] = 0.4
+
+ def cal(self, limages, rimages):
+ """
+ :param limages: source left images containing chessboards
+ :type limages: list of :class:`cvMat`
+ :param rimages: source right images containing chessboards
+ :type rimages: list of :class:`cvMat`
+
+ Find chessboards in images, and runs the OpenCV calibration solver.
+ """
+ goodcorners = self.collect_corners(limages, rimages)
+ self.size = (limages[0].shape[1], limages[0].shape[0])
+ self.l.size = self.size
+ self.r.size = self.size
+ self.cal_fromcorners(goodcorners)
+ self.calibrated = True
+
+ def collect_corners(self, limages, rimages):
+ """
+ For a sequence of left and right images, find pairs of images where both
+ left and right have a chessboard, and return their corners as a list of pairs.
+ """
+ # Pick out (corners, board) tuples
+ lcorners = [ self.downsample_and_detect(i)[1:4:2] for i in limages]
+ rcorners = [ self.downsample_and_detect(i)[1:4:2] for i in rimages]
+ good = [(lco, rco, b) for ((lco, b), (rco, br)) in zip( lcorners, rcorners)
+ if (lco is not None and rco is not None)]
+
+ if len(good) == 0:
+ raise CalibrationException("No corners found in images!")
+ return good
+
+ def cal_fromcorners(self, good):
+ # Perform monocular calibrations
+ lcorners = [(l, b) for (l, r, b) in good]
+ rcorners = [(r, b) for (l, r, b) in good]
+ self.l.cal_fromcorners(lcorners)
+ self.r.cal_fromcorners(rcorners)
+
+ lipts = [ l for (l, _, _) in good ]
+ ripts = [ r for (_, r, _) in good ]
+ boards = [ b for (_, _, b) in good ]
+
+ opts = self.mk_object_points(boards, True)
+
+ flags = cv2.CALIB_FIX_INTRINSIC
+
+ self.T = numpy.zeros((3, 1), dtype=numpy.float64)
+ self.R = numpy.eye(3, dtype=numpy.float64)
+ if LooseVersion(cv2.__version__).version[0] == 2:
+ cv2.stereoCalibrate(opts, lipts, ripts, self.size,
+ self.l.intrinsics, self.l.distortion,
+ self.r.intrinsics, self.r.distortion,
+ self.R, # R
+ self.T, # T
+ criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 1, 1e-5),
+ flags = flags)
+ else:
+ cv2.stereoCalibrate(opts, lipts, ripts,
+ self.l.intrinsics, self.l.distortion,
+ self.r.intrinsics, self.r.distortion,
+ self.size,
+ self.R, # R
+ self.T, # T
+ criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 1, 1e-5),
+ flags = flags)
+
+ self.set_alpha(0.0)
+
+ def set_alpha(self, a):
+ """
+ Set the alpha value for the calibrated camera solution. The
+ alpha value is a zoom, and ranges from 0 (zoomed in, all pixels
+ in calibrated image are valid) to 1 (zoomed out, all pixels in
+ original image are in calibrated image).
+ """
+
+ cv2.stereoRectify(self.l.intrinsics,
+ self.l.distortion,
+ self.r.intrinsics,
+ self.r.distortion,
+ self.size,
+ self.R,
+ self.T,
+ self.l.R, self.r.R, self.l.P, self.r.P,
+ alpha = a)
+
+ cv2.initUndistortRectifyMap(self.l.intrinsics, self.l.distortion, self.l.R, self.l.P, self.size, cv2.CV_32FC1,
+ self.l.mapx, self.l.mapy)
+ cv2.initUndistortRectifyMap(self.r.intrinsics, self.r.distortion, self.r.R, self.r.P, self.size, cv2.CV_32FC1,
+ self.r.mapx, self.r.mapy)
+
+ def as_message(self):
+ """
+ Return the camera calibration as a pair of CameraInfo messages, for left
+ and right cameras respectively.
+ """
+
+ return (self.lrmsg(self.l.distortion, self.l.intrinsics, self.l.R, self.l.P),
+ self.lrmsg(self.r.distortion, self.r.intrinsics, self.r.R, self.r.P))
+
+ def from_message(self, msgs, alpha = 0.0):
+ """ Initialize the camera calibration from a pair of CameraInfo messages. """
+ self.size = (msgs[0].width, msgs[0].height)
+
+ self.T = numpy.zeros((3, 1), dtype=numpy.float64)
+ self.R = numpy.eye(3, dtype=numpy.float64)
+
+ self.l.from_message(msgs[0])
+ self.r.from_message(msgs[1])
+ # Need to compute self.T and self.R here, using the monocular parameters above
+ if False:
+ self.set_alpha(0.0)
+
+ def report(self):
+ print("\nLeft:")
+ self.lrreport(self.l.distortion, self.l.intrinsics, self.l.R, self.l.P)
+ print("\nRight:")
+ self.lrreport(self.r.distortion, self.r.intrinsics, self.r.R, self.r.P)
+ print("self.T ", numpy.ravel(self.T).tolist())
+ print("self.R ", numpy.ravel(self.R).tolist())
+
+ def ost(self):
+ return (self.lrost(self.name + "/left", self.l.distortion, self.l.intrinsics, self.l.R, self.l.P) +
+ self.lrost(self.name + "/right", self.r.distortion, self.r.intrinsics, self.r.R, self.r.P))
+
+ def yaml(self, suffix, info):
+ return self.lryaml(self.name + suffix, info.distortion, info.intrinsics, info.R, info.P)
+
+ # TODO Get rid of "from_images" versions of these, instead have function to get undistorted corners
+ def epipolar_error_from_images(self, limage, rimage):
+ """
+ Detect the checkerboard in both images and compute the epipolar error.
+ Mainly for use in tests.
+ """
+ lcorners = self.downsample_and_detect(limage)[1]
+ rcorners = self.downsample_and_detect(rimage)[1]
+ if lcorners is None or rcorners is None:
+ return None
+
+ lundistorted = self.l.undistort_points(lcorners)
+ rundistorted = self.r.undistort_points(rcorners)
+
+ return self.epipolar_error(lundistorted, rundistorted)
+
+ def epipolar_error(self, lcorners, rcorners):
+ """
+ Compute the epipolar error from two sets of matching undistorted points
+ """
+ d = lcorners[:,:,1] - rcorners[:,:,1]
+ return numpy.sqrt(numpy.square(d).sum() / d.size)
+
+ def chessboard_size_from_images(self, limage, rimage):
+ _, lcorners, _, board, _ = self.downsample_and_detect(limage)
+ _, rcorners, _, board, _ = self.downsample_and_detect(rimage)
+ if lcorners is None or rcorners is None:
+ return None
+
+ lundistorted = self.l.undistort_points(lcorners)
+ rundistorted = self.r.undistort_points(rcorners)
+
+ return self.chessboard_size(lundistorted, rundistorted, board)
+
+ def chessboard_size(self, lcorners, rcorners, board, msg = None):
+ """
+ Compute the square edge length from two sets of matching undistorted points
+ given the current calibration.
+ :param msg: a tuple of (left_msg, right_msg)
+ """
+ # Project the points to 3d
+ cam = image_geometry.StereoCameraModel()
+ if msg == None:
+ msg = self.as_message()
+ cam.fromCameraInfo(*msg)
+ disparities = lcorners[:,:,0] - rcorners[:,:,0]
+ pt3d = [cam.projectPixelTo3d((lcorners[i,0,0], lcorners[i,0,1]), disparities[i,0]) for i in range(lcorners.shape[0]) ]
+ def l2(p0, p1):
+ return math.sqrt(sum([(c0 - c1) ** 2 for (c0, c1) in zip(p0, p1)]))
+
+ # Compute the length from each horizontal and vertical line, and return the mean
+ cc = board.n_cols
+ cr = board.n_rows
+ lengths = (
+ [l2(pt3d[cc * r + 0], pt3d[cc * r + (cc - 1)]) / (cc - 1) for r in range(cr)] +
+ [l2(pt3d[c + 0], pt3d[c + (cc * (cr - 1))]) / (cr - 1) for c in range(cc)])
+ return sum(lengths) / len(lengths)
+
+ def handle_msg(self, msg):
+ # TODO Various asserts that images have same dimension, same board detected...
+ (lmsg, rmsg) = msg
+ lgray = self.mkgray(lmsg)
+ rgray = self.mkgray(rmsg)
+ epierror = -1
+
+ # Get display-images-to-be and detections of the calibration target
+ lscrib_mono, lcorners, ldownsampled_corners, lboard, (x_scale, y_scale) = self.downsample_and_detect(lgray)
+ rscrib_mono, rcorners, rdownsampled_corners, rboard, _ = self.downsample_and_detect(rgray)
+
+ if self.calibrated:
+ # Show rectified images
+ lremap = self.l.remap(lgray)
+ rremap = self.r.remap(rgray)
+ lrect = lremap
+ rrect = rremap
+ if x_scale != 1.0 or y_scale != 1.0:
+ lrect = cv2.resize(lremap, (lscrib_mono.shape[1], lscrib_mono.shape[0]))
+ rrect = cv2.resize(rremap, (rscrib_mono.shape[1], rscrib_mono.shape[0]))
+
+ lscrib = cv2.cvtColor(lrect, cv2.COLOR_GRAY2BGR)
+ rscrib = cv2.cvtColor(rrect, cv2.COLOR_GRAY2BGR)
+
+ # Draw rectified corners
+ if lcorners is not None:
+ lundistorted = self.l.undistort_points(lcorners)
+ scrib_src = lundistorted.copy()
+ scrib_src[:,:,0] /= x_scale
+ scrib_src[:,:,1] /= y_scale
+ cv2.drawChessboardCorners(lscrib, (lboard.n_cols, lboard.n_rows), scrib_src, True)
+
+ if rcorners is not None:
+ rundistorted = self.r.undistort_points(rcorners)
+ scrib_src = rundistorted.copy()
+ scrib_src[:,:,0] /= x_scale
+ scrib_src[:,:,1] /= y_scale
+ cv2.drawChessboardCorners(rscrib, (rboard.n_cols, rboard.n_rows), scrib_src, True)
+
+ # Report epipolar error
+ if lcorners is not None and rcorners is not None and len(lcorners) == len(rcorners):
+ epierror = self.epipolar_error(lundistorted, rundistorted)
+
+ else:
+ lscrib = cv2.cvtColor(lscrib_mono, cv2.COLOR_GRAY2BGR)
+ rscrib = cv2.cvtColor(rscrib_mono, cv2.COLOR_GRAY2BGR)
+ # Draw any detected chessboards onto display (downsampled) images
+ if lcorners is not None:
+ cv2.drawChessboardCorners(lscrib, (lboard.n_cols, lboard.n_rows),
+ ldownsampled_corners, True)
+ if rcorners is not None:
+ cv2.drawChessboardCorners(rscrib, (rboard.n_cols, rboard.n_rows),
+ rdownsampled_corners, True)
+
+ # Add sample to database only if it's sufficiently different from any previous sample
+ if lcorners is not None and rcorners is not None and len(lcorners) == len(rcorners):
+ params = self.get_parameters(lcorners, lboard, (lgray.shape[1], lgray.shape[0]))
+ if self.is_good_sample(params):
+ self.db.append( (params, lgray, rgray) )
+ self.good_corners.append( (lcorners, rcorners, lboard) )
+ print(("*** Added sample %d, p_x = %.3f, p_y = %.3f, p_size = %.3f, skew = %.3f" % tuple([len(self.db)] + params)))
+
+ rv = StereoDrawable()
+ rv.lscrib = lscrib
+ rv.rscrib = rscrib
+ rv.params = self.compute_goodenough()
+ rv.epierror = epierror
+ return rv
+
+ def do_calibration(self, dump = False):
+ # TODO MonoCalibrator collects corners if needed here
+ # Dump should only occur if user wants it
+ if dump:
+ pickle.dump((self.is_mono, self.size, self.good_corners),
+ open("/tmp/camera_calibration_%08x.pickle" % random.getrandbits(32), "w"))
+ self.size = (self.db[0][1].shape[1], self.db[0][1].shape[0]) # TODO Needs to be set externally
+ self.l.size = self.size
+ self.r.size = self.size
+ self.cal_fromcorners(self.good_corners)
+ self.calibrated = True
+ # DEBUG
+ print((self.report()))
+ print((self.ost()))
+
+ def do_tarfile_save(self, tf):
+ """ Write images and calibration solution to a tarfile object """
+ ims = ([("left-%04d.png" % i, im) for i,(_, im, _) in enumerate(self.db)] +
+ [("right-%04d.png" % i, im) for i,(_, _, im) in enumerate(self.db)])
+
+ def taradd(name, buf):
+ if isinstance(buf, str):
+ s = BytesIO(buf.encode('utf-8'))
+ else:
+ s = BytesIO(buf)
+ ti = tarfile.TarInfo(name)
+ ti.size = len(s.getvalue())
+ ti.uname = 'calibrator'
+ ti.mtime = int(time.time())
+ tf.addfile(tarinfo=ti, fileobj=s)
+
+ for (name, im) in ims:
+ taradd(name, cv2.imencode(".png", im)[1].tostring())
+ taradd('left.yaml', self.yaml("/left", self.l))
+ taradd('right.yaml', self.yaml("/right", self.r))
+ taradd('ost.txt', self.ost())
+
+ def do_tarfile_calibration(self, filename):
+ archive = tarfile.open(filename, 'r')
+ limages = [ image_from_archive(archive, f) for f in archive.getnames() if (f.startswith('left') and (f.endswith('pgm') or f.endswith('png'))) ]
+ rimages = [ image_from_archive(archive, f) for f in archive.getnames() if (f.startswith('right') and (f.endswith('pgm') or f.endswith('png'))) ]
+
+ if not len(limages) == len(rimages):
+ raise CalibrationException("Left, right images don't match. %d left images, %d right" % (len(limages), len(rimages)))
+
+ ##\todo Check that the filenames match and stuff
+
+ self.cal(limages, rimages)
diff --git a/src/camera_calibration/src/camera_calibration/camera_calibrator.py b/src/camera_calibration/src/camera_calibration/camera_calibrator.py
new file mode 100755
index 0000000..98d0c72
--- /dev/null
+++ b/src/camera_calibration/src/camera_calibration/camera_calibrator.py
@@ -0,0 +1,366 @@
+#!/usr/bin/python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import cv2
+import message_filters
+import numpy
+import os
+import rclpy
+from rclpy.node import Node
+import sensor_msgs.msg
+import sensor_msgs.srv
+import threading
+import time
+from camera_calibration.calibrator import MonoCalibrator, StereoCalibrator, ChessboardInfo, Patterns
+from collections import deque
+from message_filters import ApproximateTimeSynchronizer
+from std_msgs.msg import String
+from std_srvs.srv import Empty
+
+class SpinThread(threading.Thread):
+ """
+ Thread that spins the ros node, while imshow runs in the main thread
+ """
+
+ def __init__(self, node):
+ threading.Thread.__init__(self)
+ self.node = node
+
+ def run(self):
+ rclpy.spin(self.node)
+
+
+class ConsumerThread(threading.Thread):
+ def __init__(self, queue, function):
+ threading.Thread.__init__(self)
+ self.queue = queue
+ self.function = function
+
+ def run(self):
+ while True:
+ # wait for an image (could happen at the very beginning when the queue is still empty)
+ while len(self.queue) == 0:
+ time.sleep(0.1)
+ self.function(self.queue[0])
+
+
+class CalibrationNode(Node):
+ def __init__(self, name, boards, service_check = True, synchronizer = message_filters.TimeSynchronizer, flags = 0,
+ pattern=Patterns.Chessboard, camera_name='', checkerboard_flags = 0):
+ super().__init__(name)
+
+ self.set_camera_info_service = self.create_client(sensor_msgs.srv.SetCameraInfo,
+ "camera/set_camera_info")
+ self.set_left_camera_info_service = self.create_client(sensor_msgs.srv.SetCameraInfo,
+ "left_camera/set_camera_info")
+ self.set_right_camera_info_service = self.create_client(sensor_msgs.srv.SetCameraInfo,
+ "right_camera/set_camera_info")
+
+ if service_check:
+ # assume any non-default service names have been set. Wait for the service to become ready
+ for cli in [self.set_camera_info_service, self.set_left_camera_info_service, self.set_right_camera_info_service]:
+ #remapped = rclpy.remap_name(svcname)
+ #if remapped != svcname:
+ #fullservicename = "%s/set_camera_info" % remapped
+ print("Waiting for service", cli.srv_name, "...")
+ # check all services so they are ready.
+ try:
+ cli.wait_for_service(timeout_sec=5)
+ print("OK")
+ except Exception as e:
+ print("Service not found: %s".format(e))
+ rclpy.shutdown()
+
+ self._boards = boards
+ self._calib_flags = flags
+ self._checkerboard_flags = checkerboard_flags
+ self._pattern = pattern
+ self._camera_name = camera_name
+ lsub = message_filters.Subscriber(self, sensor_msgs.msg.Image, 'left')
+ rsub = message_filters.Subscriber(self, sensor_msgs.msg.Image, 'right')
+ ts = synchronizer([lsub, rsub], 4)
+ ts.registerCallback(self.queue_stereo)
+
+ msub = message_filters.Subscriber(self, sensor_msgs.msg.Image, 'image')
+ msub.registerCallback(self.queue_monocular)
+
+ self.q_mono = deque([], 1)
+ self.q_stereo = deque([], 1)
+
+ self.c = None
+
+ mth = ConsumerThread(self.q_mono, self.handle_monocular)
+ mth.setDaemon(True)
+ mth.start()
+
+ sth = ConsumerThread(self.q_stereo, self.handle_stereo)
+ sth.setDaemon(True)
+ sth.start()
+
+ def redraw_stereo(self, *args):
+ pass
+ def redraw_monocular(self, *args):
+ pass
+
+ def queue_monocular(self, msg):
+ self.q_mono.append(msg)
+
+ def queue_stereo(self, lmsg, rmsg):
+ self.q_stereo.append((lmsg, rmsg))
+
+ def handle_monocular(self, msg):
+ if self.c == None:
+ if self._camera_name:
+ self.c = MonoCalibrator(self._boards, self._calib_flags, self._pattern, name=self._camera_name,
+ checkerboard_flags=self._checkerboard_flags)
+ else:
+ self.c = MonoCalibrator(self._boards, self._calib_flags, self._pattern,
+ checkerboard_flags=self.checkerboard_flags)
+
+ # This should just call the MonoCalibrator
+ drawable = self.c.handle_msg(msg)
+ self.displaywidth = drawable.scrib.shape[1]
+ self.redraw_monocular(drawable)
+
+ def handle_stereo(self, msg):
+ if self.c == None:
+ if self._camera_name:
+ self.c = StereoCalibrator(self._boards, self._calib_flags, self._pattern, name=self._camera_name,
+ checkerboard_flags=self._checkerboard_flags)
+ else:
+ self.c = StereoCalibrator(self._boards, self._calib_flags, self._pattern,
+ checkerboard_flags=self._checkerboard_flags)
+
+ drawable = self.c.handle_msg(msg)
+ self.displaywidth = drawable.lscrib.shape[1] + drawable.rscrib.shape[1]
+ self.redraw_stereo(drawable)
+
+
+ def check_set_camera_info(self, response):
+ if response.done():
+ if response.result() is not None:
+ if response.result().success:
+ return True
+
+ for i in range(10):
+ print("!" * 80)
+ print()
+ print("Attempt to set camera info failed: " + response.result() if response.result() is not None else "Not available")
+ print()
+ for i in range(10):
+ print("!" * 80)
+ print()
+ self.get_logger().error('Unable to set camera info for calibration. Failure message: %s' % response.result() if response.result() is not None else "Not available")
+ return False
+
+ def do_upload(self):
+ self.c.report()
+ print(self.c.ost())
+ info = self.c.as_message()
+
+ req = sensor_msgs.srv.SetCameraInfo.Request()
+ rv = True
+ if self.c.is_mono:
+ req.camera_info = info
+ response = self.set_camera_info_service.call_async(req)
+ rv = self.check_set_camera_info(response)
+ else:
+ req.camera_info = info[0]
+ response = self.set_left_camera_info_service.call_async(req)
+ rv = rv and self.check_set_camera_info(response)
+ req.camera_info = info[1]
+ response = self.set_right_camera_info_service.call_async(req)
+ rv = rv and self.check_set_camera_info(response)
+ return rv
+
+
+class OpenCVCalibrationNode(CalibrationNode):
+ """ Calibration node with an OpenCV Gui """
+ FONT_FACE = cv2.FONT_HERSHEY_SIMPLEX
+ FONT_SCALE = 0.6
+ FONT_THICKNESS = 2
+
+ def __init__(self, *args, **kwargs):
+
+ CalibrationNode.__init__(self, *args, **kwargs)
+
+ self.queue_display = deque([], 1)
+ self.initWindow()
+
+ def spin(self):
+ sth = SpinThread(self)
+ sth.setDaemon(True)
+ sth.start()
+
+ while True:
+ # wait for an image (could happen at the very beginning when the queue is still empty)
+ while len(self.queue_display) == 0:
+ time.sleep(0.1)
+ im = self.queue_display[0]
+ cv2.imshow("display", im)
+ k = cv2.waitKey(6) & 0xFF
+ if k in [27, ord('q')]:
+ rclpy.shutdown()
+ elif k == ord('s'):
+ self.screendump(im)
+
+ def initWindow(self):
+ cv2.namedWindow("display", cv2.WINDOW_NORMAL)
+ cv2.setMouseCallback("display", self.on_mouse)
+ cv2.createTrackbar("scale", "display", 0, 100, self.on_scale)
+
+ @classmethod
+ def putText(cls, img, text, org, color = (0,0,0)):
+ cv2.putText(img, text, org, cls.FONT_FACE, cls.FONT_SCALE, color, thickness = cls.FONT_THICKNESS)
+
+ @classmethod
+ def getTextSize(cls, text):
+ return cv2.getTextSize(text, cls.FONT_FACE, cls.FONT_SCALE, cls.FONT_THICKNESS)[0]
+
+ def on_mouse(self, event, x, y, flags, param):
+ if event == cv2.EVENT_LBUTTONDOWN and self.displaywidth < x:
+ if self.c.goodenough:
+ if 180 <= y < 280:
+ self.c.do_calibration()
+ if self.c.calibrated:
+ if 280 <= y < 380:
+ self.c.do_save()
+ elif 380 <= y < 480:
+ # Only shut down if we set camera info correctly, #3993
+ if self.do_upload():
+ rclpy.shutdown()
+
+ def on_scale(self, scalevalue):
+ if self.c.calibrated:
+ self.c.set_alpha(scalevalue / 100.0)
+
+ def button(self, dst, label, enable):
+ dst.fill(255)
+ size = (dst.shape[1], dst.shape[0])
+ if enable:
+ color = (155, 155, 80)
+ else:
+ color = (224, 224, 224)
+ cv2.circle(dst, (size[0] // 2, size[1] // 2), min(size) // 2, color, -1)
+ (w, h) = self.getTextSize(label)
+ self.putText(dst, label, ((size[0] - w) // 2, (size[1] + h) // 2), (255,255,255))
+
+ def buttons(self, display):
+ x = self.displaywidth
+ self.button(display[180:280,x:x+100], "CALIBRATE", self.c.goodenough)
+ self.button(display[280:380,x:x+100], "SAVE", self.c.calibrated)
+ self.button(display[380:480,x:x+100], "COMMIT", self.c.calibrated)
+
+ def y(self, i):
+ """Set up right-size images"""
+ return 30 + 40 * i
+
+ def screendump(self, im):
+ i = 0
+ while os.access("/tmp/dump%d.png" % i, os.R_OK):
+ i += 1
+ cv2.imwrite("/tmp/dump%d.png" % i, im)
+
+ def redraw_monocular(self, drawable):
+ height = drawable.scrib.shape[0]
+ width = drawable.scrib.shape[1]
+
+ display = numpy.zeros((max(480, height), width + 100, 3), dtype=numpy.uint8)
+ display[0:height, 0:width,:] = drawable.scrib
+ display[0:height, width:width+100,:].fill(255)
+
+
+ self.buttons(display)
+ if not self.c.calibrated:
+ if drawable.params:
+ for i, (label, lo, hi, progress) in enumerate(drawable.params):
+ (w,_) = self.getTextSize(label)
+ self.putText(display, label, (width + (100 - w) // 2, self.y(i)))
+ color = (0,255,0)
+ if progress < 1.0:
+ color = (0, int(progress*255.), 255)
+ cv2.line(display,
+ (int(width + lo * 100), self.y(i) + 20),
+ (int(width + hi * 100), self.y(i) + 20),
+ color, 4)
+
+ else:
+ self.putText(display, "lin.", (width, self.y(0)))
+ linerror = drawable.linear_error
+ if linerror < 0:
+ msg = "?"
+ else:
+ msg = "%.2f" % linerror
+ #print "linear", linerror
+ self.putText(display, msg, (width, self.y(1)))
+
+ self.queue_display.append(display)
+
+ def redraw_stereo(self, drawable):
+ height = drawable.lscrib.shape[0]
+ width = drawable.lscrib.shape[1]
+
+ display = numpy.zeros((max(480, height), 2 * width + 100, 3), dtype=numpy.uint8)
+ display[0:height, 0:width,:] = drawable.lscrib
+ display[0:height, width:2*width,:] = drawable.rscrib
+ display[0:height, 2*width:2*width+100,:].fill(255)
+
+ self.buttons(display)
+
+ if not self.c.calibrated:
+ if drawable.params:
+ for i, (label, lo, hi, progress) in enumerate(drawable.params):
+ (w,_) = self.getTextSize(label)
+ self.putText(display, label, (2 * width + (100 - w) // 2, self.y(i)))
+ color = (0,255,0)
+ if progress < 1.0:
+ color = (0, int(progress*255.), 255)
+ cv2.line(display,
+ (int(2 * width + lo * 100), self.y(i) + 20),
+ (int(2 * width + hi * 100), self.y(i) + 20),
+ color, 4)
+
+ else:
+ self.putText(display, "epi.", (2 * width, self.y(0)))
+ if drawable.epierror == -1:
+ msg = "?"
+ else:
+ msg = "%.2f" % drawable.epierror
+ self.putText(display, msg, (2 * width, self.y(1)))
+ # TODO dim is never set anywhere. Supposed to be observed chessboard size?
+ if drawable.dim != -1:
+ self.putText(display, "dim", (2 * width, self.y(2)))
+ self.putText(display, "%.3f" % drawable.dim, (2 * width, self.y(3)))
+
+ self.queue_display.append(display)
diff --git a/src/camera_calibration/src/camera_calibration/camera_checker.py b/src/camera_calibration/src/camera_calibration/camera_checker.py
new file mode 100755
index 0000000..214e7e5
--- /dev/null
+++ b/src/camera_calibration/src/camera_calibration/camera_checker.py
@@ -0,0 +1,201 @@
+#!/usr/bin/python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import cv2
+import cv_bridge
+import functools
+import message_filters
+import numpy
+import rclpy
+from rclpy.node import Node
+import sensor_msgs.msg
+import sensor_msgs.srv
+import threading
+
+from camera_calibration.calibrator import MonoCalibrator, StereoCalibrator, ChessboardInfo
+from message_filters import ApproximateTimeSynchronizer
+
+try:
+ from queue import Queue
+except ImportError:
+ from Queue import Queue
+
+
+def mean(seq):
+ return sum(seq) / len(seq)
+
+def lmin(seq1, seq2):
+ """ Pairwise minimum of two sequences """
+ return [min(a, b) for (a, b) in zip(seq1, seq2)]
+
+def lmax(seq1, seq2):
+ """ Pairwise maximum of two sequences """
+ return [max(a, b) for (a, b) in zip(seq1, seq2)]
+
+class ConsumerThread(threading.Thread):
+ def __init__(self, queue, function):
+ threading.Thread.__init__(self)
+ self.queue = queue
+ self.function = function
+
+ def run(self):
+ while rclpy.ok():
+ m = self.queue.get()
+ if self.queue.empty():
+ break
+ self.function(m)
+
+class CameraCheckerNode(Node):
+
+ def __init__(self, name, chess_size, dim, approximate=0):
+ super().__init__(name)
+ self.board = ChessboardInfo()
+ self.board.n_cols = chess_size[0]
+ self.board.n_rows = chess_size[1]
+ self.board.dim = dim
+
+ # make sure n_cols is not smaller than n_rows, otherwise error computation will be off
+ if self.board.n_cols < self.board.n_rows:
+ self.board.n_cols, self.board.n_rows = self.board.n_rows, self.board.n_cols
+
+ image_topic = "monocular/image_rect"
+ camera_topic = "monocular/camera_info"
+
+ tosync_mono = [
+ (image_topic, sensor_msgs.msg.Image),
+ (camera_topic, sensor_msgs.msg.CameraInfo),
+ ]
+
+ if approximate <= 0:
+ sync = message_filters.TimeSynchronizer
+ else:
+ sync = functools.partial(ApproximateTimeSynchronizer, slop=approximate)
+
+ tsm = sync([message_filters.Subscriber(self, type, topic) for (topic, type) in tosync_mono], 10)
+ tsm.registerCallback(self.queue_monocular)
+
+ left_topic = "stereo/left/image_rect"
+ left_camera_topic = "stereo/left/camera_info"
+ right_topic = "stereo/right/image_rect"
+ right_camera_topic = "stereo/right/camera_info"
+
+ tosync_stereo = [
+ (left_topic, sensor_msgs.msg.Image),
+ (left_camera_topic, sensor_msgs.msg.CameraInfo),
+ (right_topic, sensor_msgs.msg.Image),
+ (right_camera_topic, sensor_msgs.msg.CameraInfo)
+ ]
+
+ tss = sync([message_filters.Subscriber(self, type, topic) for (topic, type) in tosync_stereo], 10)
+ tss.registerCallback(self.queue_stereo)
+
+ self.br = cv_bridge.CvBridge()
+
+ self.q_mono = Queue()
+ self.q_stereo = Queue()
+
+ mth = ConsumerThread(self.q_mono, self.handle_monocular)
+ mth.setDaemon(True)
+ mth.start()
+
+ sth = ConsumerThread(self.q_stereo, self.handle_stereo)
+ sth.setDaemon(True)
+ sth.start()
+
+ self.mc = MonoCalibrator([self.board])
+ self.sc = StereoCalibrator([self.board])
+
+ def queue_monocular(self, msg, cmsg):
+ self.q_mono.put((msg, cmsg))
+
+ def queue_stereo(self, lmsg, lcmsg, rmsg, rcmsg):
+ self.q_stereo.put((lmsg, lcmsg, rmsg, rcmsg))
+
+ def mkgray(self, msg):
+ return self.mc.mkgray(msg)
+
+ def image_corners(self, im):
+ (ok, corners, b) = self.mc.get_corners(im)
+ if ok:
+ return corners
+ else:
+ return None
+
+ def handle_monocular(self, msg):
+
+ (image, camera) = msg
+ gray = self.mkgray(image)
+ C = self.image_corners(gray)
+ if C is not None:
+ linearity_rms = self.mc.linear_error(C, self.board)
+
+ # Add in reprojection check
+ image_points = C
+ object_points = self.mc.mk_object_points([self.board], use_board_size=True)[0]
+ dist_coeffs = numpy.zeros((4, 1))
+ camera_matrix = numpy.array( [ [ camera.P[0], camera.P[1], camera.P[2] ],
+ [ camera.P[4], camera.P[5], camera.P[6] ],
+ [ camera.P[8], camera.P[9], camera.P[10] ] ] )
+ ok, rot, trans = cv2.solvePnP(object_points, image_points, camera_matrix, dist_coeffs)
+ # Convert rotation into a 3x3 Rotation Matrix
+ rot3x3, _ = cv2.Rodrigues(rot)
+ # Reproject model points into image
+ object_points_world = numpy.asmatrix(rot3x3) * numpy.asmatrix(object_points.squeeze().T) + numpy.asmatrix(trans)
+ reprojected_h = camera_matrix * object_points_world
+ reprojected = (reprojected_h[0:2, :] / reprojected_h[2, :])
+ reprojection_errors = image_points.squeeze().T - reprojected
+
+ reprojection_rms = numpy.sqrt(numpy.sum(numpy.array(reprojection_errors) ** 2) / numpy.product(reprojection_errors.shape))
+
+ # Print the results
+ print("Linearity RMS Error: %.3f Pixels Reprojection RMS Error: %.3f Pixels" % (linearity_rms, reprojection_rms))
+ else:
+ print('no chessboard')
+
+ def handle_stereo(self, msg):
+
+ (lmsg, lcmsg, rmsg, rcmsg) = msg
+ lgray = self.mkgray(lmsg)
+ rgray = self.mkgray(rmsg)
+
+ L = self.image_corners(lgray)
+ R = self.image_corners(rgray)
+ if L is not None and R is not None:
+ epipolar = self.sc.epipolar_error(L, R)
+
+ dimension = self.sc.chessboard_size(L, R, self.board, msg=(lcmsg, rcmsg))
+
+ print("epipolar error: %f pixels dimension: %f m" % (epipolar, dimension))
+ else:
+ print("no chessboard")
diff --git a/src/camera_calibration/src/camera_calibration/nodes/__init__.py b/src/camera_calibration/src/camera_calibration/nodes/__init__.py
new file mode 100755
index 0000000..e69de29
diff --git a/src/camera_calibration/src/camera_calibration/nodes/cameracalibrator.py b/src/camera_calibration/src/camera_calibration/nodes/cameracalibrator.py
new file mode 100755
index 0000000..aeacbf1
--- /dev/null
+++ b/src/camera_calibration/src/camera_calibration/nodes/cameracalibrator.py
@@ -0,0 +1,153 @@
+#!/usr/bin/python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import cv2
+import functools
+import message_filters
+import rclpy
+from camera_calibration.camera_calibrator import OpenCVCalibrationNode
+from camera_calibration.calibrator import ChessboardInfo, Patterns
+from message_filters import ApproximateTimeSynchronizer
+
+
+def main():
+ from optparse import OptionParser, OptionGroup
+ parser = OptionParser("%prog --size SIZE1 --square SQUARE1 [ --size SIZE2 --square SQUARE2 ]",
+ description=None)
+ parser.add_option("-c", "--camera_name",
+ type="string", default='narrow_stereo',
+ help="name of the camera to appear in the calibration file")
+ group = OptionGroup(parser, "Chessboard Options",
+ "You must specify one or more chessboards as pairs of --size and --square options.")
+ group.add_option("-p", "--pattern",
+ type="string", default="chessboard",
+ help="calibration pattern to detect - 'chessboard', 'circles', 'acircles'")
+ group.add_option("-s", "--size",
+ action="append", default=[],
+ help="chessboard size as NxM, counting interior corners (e.g. a standard chessboard is 7x7)")
+ group.add_option("-q", "--square",
+ action="append", default=[],
+ help="chessboard square size in meters")
+ parser.add_option_group(group)
+ group = OptionGroup(parser, "ROS Communication Options")
+ group.add_option("--approximate",
+ type="float", default=0.0,
+ help="allow specified slop (in seconds) when pairing images from unsynchronized stereo cameras")
+ group.add_option("--no-service-check",
+ action="store_false", dest="service_check", default=True,
+ help="disable check for set_camera_info services at startup")
+ parser.add_option_group(group)
+ group = OptionGroup(parser, "Calibration Optimizer Options")
+ group.add_option("--fix-principal-point",
+ action="store_true", default=False,
+ help="fix the principal point at the image center")
+ group.add_option("--fix-aspect-ratio",
+ action="store_true", default=False,
+ help="enforce focal lengths (fx, fy) are equal")
+ group.add_option("--zero-tangent-dist",
+ action="store_true", default=False,
+ help="set tangential distortion coefficients (p1, p2) to zero")
+ group.add_option("-k", "--k-coefficients",
+ type="int", default=2, metavar="NUM_COEFFS",
+ help="number of radial distortion coefficients to use (up to 6, default %default)")
+ group.add_option("--disable_calib_cb_fast_check", action='store_true', default=False,
+ help="uses the CALIB_CB_FAST_CHECK flag for findChessboardCorners")
+ parser.add_option_group(group)
+ options, _ = parser.parse_args(rclpy.utilities.remove_ros_args())
+
+ if len(options.size) != len(options.square):
+ parser.error("Number of size and square inputs must be the same!")
+
+ if not options.square:
+ options.square.append("0.108")
+ options.size.append("8x6")
+
+ boards = []
+ for (sz, sq) in zip(options.size, options.square):
+ size = tuple([int(c) for c in sz.split('x')])
+ boards.append(ChessboardInfo(size[0], size[1], float(sq)))
+
+ if options.approximate == 0.0:
+ sync = message_filters.TimeSynchronizer
+ else:
+ sync = functools.partial(ApproximateTimeSynchronizer, slop=options.approximate)
+
+ num_ks = options.k_coefficients
+
+ calib_flags = 0
+ if options.fix_principal_point:
+ calib_flags |= cv2.CALIB_FIX_PRINCIPAL_POINT
+ if options.fix_aspect_ratio:
+ calib_flags |= cv2.CALIB_FIX_ASPECT_RATIO
+ if options.zero_tangent_dist:
+ calib_flags |= cv2.CALIB_ZERO_TANGENT_DIST
+ if (num_ks > 3):
+ calib_flags |= cv2.CALIB_RATIONAL_MODEL
+ if (num_ks < 6):
+ calib_flags |= cv2.CALIB_FIX_K6
+ if (num_ks < 5):
+ calib_flags |= cv2.CALIB_FIX_K5
+ if (num_ks < 4):
+ calib_flags |= cv2.CALIB_FIX_K4
+ if (num_ks < 3):
+ calib_flags |= cv2.CALIB_FIX_K3
+ if (num_ks < 2):
+ calib_flags |= cv2.CALIB_FIX_K2
+ if (num_ks < 1):
+ calib_flags |= cv2.CALIB_FIX_K1
+
+ pattern = Patterns.Chessboard
+ if options.pattern == 'circles':
+ pattern = Patterns.Circles
+ elif options.pattern == 'acircles':
+ pattern = Patterns.ACircles
+ elif options.pattern != 'chessboard':
+ print('Unrecognized pattern %s, defaulting to chessboard' % options.pattern)
+
+ if options.disable_calib_cb_fast_check:
+ checkerboard_flags = 0
+ else:
+ checkerboard_flags = cv2.CALIB_CB_FAST_CHECK
+
+ rclpy.init()
+ node = OpenCVCalibrationNode("cameracalibrator", boards, options.service_check, sync, calib_flags, pattern, options.camera_name,
+ checkerboard_flags=checkerboard_flags)
+ node.spin()
+
+if __name__ == "__main__":
+ try:
+ main()
+ except Exception as e:
+ import traceback
+ traceback.print_exc()
diff --git a/src/camera_calibration/src/camera_calibration/nodes/cameracheck.py b/src/camera_calibration/src/camera_calibration/nodes/cameracheck.py
new file mode 100755
index 0000000..a6831f6
--- /dev/null
+++ b/src/camera_calibration/src/camera_calibration/nodes/cameracheck.py
@@ -0,0 +1,58 @@
+#!/usr/bin/python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import rclpy
+from camera_calibration.camera_checker import CameraCheckerNode
+
+
+def main():
+ from optparse import OptionParser
+ parser = OptionParser()
+ parser.add_option("-s", "--size", default="8x6", help="specify chessboard size as nxm [default: %default]")
+ parser.add_option("-q", "--square", default=".108", help="specify chessboard square size in meters [default: %default]")
+ parser.add_option("--approximate",
+ type="float", default=0.0,
+ help="allow specified slop (in seconds) when pairing images from unsynchronized stereo cameras")
+
+ options, _ = parser.parse_args(rclpy.utilities.remove_ros_args())
+ rclpy.init()
+
+ size = tuple([int(c) for c in options.size.split('x')])
+ dim = float(options.square)
+ approximate = float(options.approximate)
+ node = CameraCheckerNode("cameracheck", size, dim, approximate)
+ rclpy.spin(node)
+
+if __name__ == "__main__":
+ main()
diff --git a/src/camera_calibration/test/test_directed.py b/src/camera_calibration/test/test_directed.py
new file mode 100755
index 0000000..a1bbe43
--- /dev/null
+++ b/src/camera_calibration/test/test_directed.py
@@ -0,0 +1,274 @@
+#!/usr/bin/env python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import cv2
+
+import collections
+import copy
+import numpy
+import os
+import requests
+import tarfile
+import unittest
+
+from camera_calibration.calibrator import MonoCalibrator, StereoCalibrator, \
+ Patterns, CalibrationException, ChessboardInfo, image_from_archive
+
+board = ChessboardInfo()
+board.n_cols = 8
+board.n_rows = 6
+board.dim = 0.108
+
+class TestDirected(unittest.TestCase):
+ def setUp(self):
+ if not os.path.isfile('/tmp/camera_calibration.tar.gz'):
+ url = 'http://download.ros.org/data/camera_calibration/camera_calibration.tar.gz'
+ r = requests.get(url, allow_redirects=True)
+ with open('/tmp/camera_calibration.tar.gz', 'wb') as cf:
+ cf.write(r.content)
+
+ tar_path = '/tmp/camera_calibration.tar.gz'
+ self.tar = tarfile.open(tar_path, 'r')
+ self.limages = [image_from_archive(self.tar, "wide/left%04d.pgm" % i) for i in range(3, 15)]
+ self.rimages = [image_from_archive(self.tar, "wide/right%04d.pgm" % i) for i in range(3, 15)]
+ self.l = {}
+ self.r = {}
+ self.sizes = [(320,240), (640,480), (800,600), (1024,768)]
+ for dim in self.sizes:
+ self.l[dim] = []
+ self.r[dim] = []
+ for li,ri in zip(self.limages, self.rimages):
+ rli = cv2.resize(li, (dim[0], dim[1]))
+ rri = cv2.resize(ri, (dim[0], dim[1]))
+ self.l[dim].append(rli)
+ self.r[dim].append(rri)
+
+ def assert_good_mono(self, c, dim, max_err):
+ self.assertTrue(len(c.ost()) > 0)
+ lin_err = 0
+ n = 0
+ for img in self.l[dim]:
+ lin_err_local = c.linear_error_from_image(img)
+ if lin_err_local:
+ lin_err += lin_err_local
+ n += 1
+ if n > 0:
+ lin_err /= n
+ self.assertTrue(0.0 < lin_err, 'lin_err is %f' % lin_err)
+ self.assertTrue(lin_err < max_err, 'lin_err is %f' % lin_err)
+
+ flat = c.remap(img)
+ self.assertEqual(img.shape, flat.shape)
+
+ def test_monocular(self):
+ # Run the calibrator, produce a calibration, check it
+ mc = MonoCalibrator([ board ], cv2.CALIB_FIX_K3)
+ max_errs = [0.1, 0.2, 0.4, 0.7]
+ for i, dim in enumerate(self.sizes):
+ mc.cal(self.l[dim])
+ self.assert_good_mono(mc, dim, max_errs[i])
+
+ # Make another calibration, import previous calibration as a message,
+ # and assert that the new one is good.
+
+ mc2 = MonoCalibrator([board])
+ mc2.from_message(mc.as_message())
+ self.assert_good_mono(mc2, dim, max_errs[i])
+
+ def test_stereo(self):
+ epierrors = [0.1, 0.2, 0.45, 1.0]
+ for i, dim in enumerate(self.sizes):
+ print("Dim =", dim)
+ sc = StereoCalibrator([board], cv2.CALIB_FIX_K3)
+ sc.cal(self.l[dim], self.r[dim])
+
+ sc.report()
+ #print sc.ost()
+
+ # NOTE: epipolar error currently increases with resolution.
+ # At highest res expect error ~0.75
+ epierror = 0
+ n = 0
+ for l_img, r_img in zip(self.l[dim], self.r[dim]):
+ epierror_local = sc.epipolar_error_from_images(l_img, r_img)
+ if epierror_local:
+ epierror += epierror_local
+ n += 1
+ epierror /= n
+ self.assertTrue(epierror < epierrors[i],
+ 'Epipolar error is %f for resolution i = %d' % (epierror, i))
+
+ self.assertAlmostEqual(sc.chessboard_size_from_images(self.l[dim][0], self.r[dim][0]), .108, 2)
+
+ #print sc.as_message()
+
+ img = self.l[dim][0]
+ flat = sc.l.remap(img)
+ self.assertEqual(img.shape, flat.shape)
+ flat = sc.r.remap(img)
+ self.assertEqual(img.shape, flat.shape)
+
+ sc2 = StereoCalibrator([board])
+ sc2.from_message(sc.as_message())
+ # sc2.set_alpha(1.0)
+ #sc2.report()
+ self.assertTrue(len(sc2.ost()) > 0)
+
+ def test_nochecker(self):
+ # Run with same images, but looking for an incorrect chessboard size (8, 7).
+ # Should raise an exception because of lack of input points.
+ new_board = copy.deepcopy(board)
+ new_board.n_cols = 8
+ new_board.n_rows = 7
+
+ sc = StereoCalibrator([new_board])
+ self.assertRaises(CalibrationException, lambda: sc.cal(self.limages, self.rimages))
+ mc = MonoCalibrator([new_board])
+ self.assertRaises(CalibrationException, lambda: mc.cal(self.limages))
+
+
+
+class TestArtificial(unittest.TestCase):
+ Setup = collections.namedtuple('Setup', ['pattern', 'cols', 'rows', 'lin_err', 'K_err'])
+
+ def setUp(self):
+ # Define some image transforms that will simulate a camera position
+ M = []
+ self.k = numpy.array([[500, 0, 250], [0, 500, 250], [0, 0, 1]], numpy.float32)
+ self.d = numpy.array([])
+ # physical size of the board
+ self.board_width_dim = 1
+
+ # Generate data for different grid types. For each grid type, define the different sizes of
+ # grid that are recognized (n row, n col)
+ # Patterns.Circles, Patterns.ACircles
+ self.setups = [ self.Setup(pattern=Patterns.Chessboard, cols=7, rows=8, lin_err=0.2, K_err=8.2),
+ self.Setup(pattern=Patterns.Circles, cols=7, rows=8, lin_err=0.1, K_err=4),
+ self.Setup(pattern=Patterns.ACircles, cols=3, rows=5, lin_err=0.1, K_err=8) ]
+ self.limages = []
+ self.rimages = []
+ for setup in self.setups:
+ self.limages.append([])
+ self.rimages.append([])
+
+ # Create the pattern
+ if setup.pattern == Patterns.Chessboard:
+ pattern = numpy.zeros((50*(setup.rows+3), 50*(setup.cols+3), 1), numpy.uint8)
+ pattern.fill(255)
+ for j in range(1, setup.rows+2):
+ for i in range(1+(j%2), setup.cols+2, 2):
+ pattern[50*j:50*(j+1), 50*i:50*(i+1)].fill(0)
+ elif setup.pattern == Patterns.Circles:
+ pattern = numpy.zeros((50*(setup.rows+2), 50*(setup.cols+2), 1), numpy.uint8)
+ pattern.fill(255)
+ for j in range(1, setup.rows+1):
+ for i in range(1, setup.cols+1):
+ cv2.circle(pattern, (50*i + 25, 50*j + 25), 15, (0,0,0), -1 )
+ elif setup.pattern == Patterns.ACircles:
+ x = 60
+ pattern = numpy.zeros((x*(setup.rows+2), x*(setup.cols+5), 1), numpy.uint8)
+ pattern.fill(255)
+ for j in range(1, setup.rows+1):
+ for i in range(0, setup.cols):
+ cv2.circle(pattern, (int(x*(1 + 2*i + (j%2)) + x/2), int(x*j + x/2)), int(x/3), (0,0,0), -1)
+
+ rows, cols, _ = pattern.shape
+ object_points_2d = numpy.array([[0, 0], [0, cols-1], [rows-1, cols-1], [rows-1, 0]], numpy.float32)
+ object_points_3d = numpy.array([[0, 0, 0], [0, cols-1, 0], [rows-1, cols-1, 0], [rows-1, 0, 0]], numpy.float32)
+ object_points_3d *= self.board_width_dim/float(cols)
+
+ # create the artificial view points
+ rvec = [ [0, 0, 0], [0, 0, 0.4], [0, 0.4, 0], [0.4, 0, 0], [0.4, 0.4, 0], [0.4, 0, 0.4], [0, 0.4, 0.4], [0.4, 0.4, 0.4] ]
+ tvec = [ [-0.5, -0.5, 3], [-0.5, -0.5, 3], [-0.5, -0.1, 3], [-0.1, -0.5, 3], [-0.1, -0.1, 3], [-0.1, -0.5, 3], [-0.5, -0.1, 3], [-0.1, 0.1, 3] ]
+
+ dsize = (480, 640)
+ for i in range(len(rvec)):
+ R = numpy.array(rvec[i], numpy.float32)
+ T = numpy.array(tvec[i], numpy.float32)
+
+ image_points, _ = cv2.projectPoints(object_points_3d, R, T, self.k, self.d)
+
+ # deduce the perspective transform
+ M.append(cv2.getPerspectiveTransform(object_points_2d, image_points))
+
+ # project the pattern according to the different cameras
+ pattern_warped = cv2.warpPerspective(pattern, M[i], dsize)
+ self.limages[-1].append(pattern_warped)
+
+ def assert_good_mono(self, c, images, max_err):
+ #c.report()
+ self.assertTrue(len(c.ost()) > 0)
+ lin_err = 0
+ n = 0
+ for img in images:
+ lin_err_local = c.linear_error_from_image(img)
+ if lin_err_local:
+ lin_err += lin_err_local
+ n += 1
+ if n > 0:
+ lin_err /= n
+ print("linear error is %f" % lin_err)
+ self.assertTrue(0.0 < lin_err, 'lin_err is %f' % lin_err)
+ self.assertTrue(lin_err < max_err, 'lin_err is %f' % lin_err)
+
+ flat = c.remap(img)
+ self.assertEqual(img.shape, flat.shape)
+
+ def test_monocular(self):
+ # Run the calibrator, produce a calibration, check it
+ for i, setup in enumerate(self.setups):
+ board = ChessboardInfo()
+ board.n_cols = setup.cols
+ board.n_rows = setup.rows
+ board.dim = self.board_width_dim
+
+ mc = MonoCalibrator([ board ], flags=cv2.CALIB_FIX_K3, pattern=setup.pattern)
+
+ if 0:
+ # display the patterns viewed by the camera
+ for pattern_warped in self.limages[i]:
+ cv2.imshow("toto", pattern_warped)
+ cv2.waitKey(0)
+
+ mc.cal(self.limages[i])
+ self.assert_good_mono(mc, self.limages[i], setup.lin_err)
+
+ # Make sure the intrinsics are similar
+ err_intrinsics = numpy.linalg.norm(mc.intrinsics - self.k, ord=numpy.inf)
+ self.assertTrue(err_intrinsics < setup.K_err,
+ 'intrinsics error is %f for resolution i = %d' % (err_intrinsics, i))
+ print('intrinsics error is %f' % numpy.linalg.norm(mc.intrinsics - self.k, ord=numpy.inf))
+
+if __name__ == '__main__':
+ unittest.main(verbosity=2)
diff --git a/src/camera_calibration/test/test_multiple_boards.py b/src/camera_calibration/test/test_multiple_boards.py
new file mode 100755
index 0000000..40e1faa
--- /dev/null
+++ b/src/camera_calibration/test/test_multiple_boards.py
@@ -0,0 +1,86 @@
+#!/usr/bin/env python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import rclpy
+import ament_index_python
+import requests
+import unittest
+import tarfile
+import os
+
+from camera_calibration.calibrator import StereoCalibrator, ChessboardInfo, image_from_archive
+
+# Large board used for PR2 calibration
+board = ChessboardInfo()
+board.n_cols = 7
+board.n_rows = 6
+board.dim = 0.108
+
+class TestMultipleBoards(unittest.TestCase):
+ def test_multiple_boards(self):
+ small_board = ChessboardInfo()
+ small_board.n_cols = 5
+ small_board.n_rows = 4
+ small_board.dim = 0.025
+
+ stereo_cal = StereoCalibrator([board, small_board])
+ if not os.path.isfile('/tmp/multi_board_calibration.tar.gz'):
+ url = 'http://download.ros.org/data/camera_calibration/multi_board_calibration.tar.gz'
+ r = requests.get(url, allow_redirects=True)
+ with open('/tmp/multi_board_calibration.tar.gz', 'wb') as mcf:
+ mcf.write(r.content)
+
+ my_archive_name = '/tmp/multi_board_calibration.tar.gz'
+ stereo_cal.do_tarfile_calibration(my_archive_name)
+
+ stereo_cal.report()
+ stereo_cal.ost()
+
+ # Check error for big image
+ archive = tarfile.open(my_archive_name)
+ l1_big = image_from_archive(archive, "left-0000.png")
+ r1_big = image_from_archive(archive, "right-0000.png")
+ epi_big = stereo_cal.epipolar_error_from_images(l1_big, r1_big)
+ self.assertTrue(epi_big < 1.0, "Epipolar error for large checkerboard > 1.0. Error: %.2f" % epi_big)
+
+ # Small checkerboard has larger error threshold for now
+ l1_sm = image_from_archive(archive, "left-0012-sm.png")
+ r1_sm = image_from_archive(archive, "right-0012-sm.png")
+ epi_sm = stereo_cal.epipolar_error_from_images(l1_sm, r1_sm)
+ self.assertTrue(epi_sm < 2.0, "Epipolar error for small checkerboard > 2.0. Error: %.2f" % epi_sm)
+
+
+
+if __name__ == '__main__':
+ unittest.main(verbosity=2)
\ No newline at end of file