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A detailed description can be found on: https://matthew-brett.github.io/transforms3d/) + + pip install transforms3d + +- usb_cam + + Usb_cam is a frequently used ros driver for V4L USB cameras. A detailed description can be found here: http://wiki.ros.org/usb_cam + + + sudo apt get install ros--usb-cam + + ## Running the code +For an easy start there is already created a launch file. All required parameters can be set and edited centrally here. The launch-file starts: +- aruco_detector_node +- usb_cam +- rqt_image_view + + cd launch/ + ros2 launch aruco_launch.py + + ![Bild 1](./Images/Topics.jpg "ArUco Marker attached on robot") + +## Outputs + -## test diff --git a/build/.built_by b/build/.built_by deleted file mode 100755 index 06e74ac..0000000 --- a/build/.built_by +++ /dev/null @@ -1 +0,0 @@ -colcon diff --git a/build/COLCON_IGNORE b/build/COLCON_IGNORE deleted file mode 100755 index e69de29..0000000 diff --git a/build/aruco_detector/aruco_detector.egg-info/PKG-INFO b/build/aruco_detector/aruco_detector.egg-info/PKG-INFO deleted file mode 100755 index c5945db..0000000 --- a/build/aruco_detector/aruco_detector.egg-info/PKG-INFO +++ /dev/null @@ -1,10 +0,0 @@ -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 deleted file mode 100755 index a7357e1..0000000 --- a/build/aruco_detector/aruco_detector.egg-info/SOURCES.txt +++ /dev/null @@ -1,18 +0,0 @@ -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 deleted file mode 100755 index 8b13789..0000000 --- a/build/aruco_detector/aruco_detector.egg-info/dependency_links.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/build/aruco_detector/aruco_detector.egg-info/entry_points.txt b/build/aruco_detector/aruco_detector.egg-info/entry_points.txt deleted file mode 100755 index a56537c..0000000 --- a/build/aruco_detector/aruco_detector.egg-info/entry_points.txt +++ /dev/null @@ -1,3 +0,0 @@ -[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 deleted file mode 100755 index 49fe098..0000000 --- a/build/aruco_detector/aruco_detector.egg-info/requires.txt +++ /dev/null @@ -1 +0,0 @@ -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 deleted file mode 100755 index 7916de5..0000000 --- a/build/aruco_detector/aruco_detector.egg-info/top_level.txt +++ /dev/null @@ -1 +0,0 @@ -aruco_detector diff --git a/build/aruco_detector/aruco_detector.egg-info/zip-safe b/build/aruco_detector/aruco_detector.egg-info/zip-safe deleted file mode 100755 index 8b13789..0000000 --- a/build/aruco_detector/aruco_detector.egg-info/zip-safe +++ /dev/null @@ -1 +0,0 @@ - diff --git a/build/aruco_detector/build/lib/aruco_detector/__init__.py b/build/aruco_detector/build/lib/aruco_detector/__init__.py deleted file mode 100755 index e69de29..0000000 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 deleted file mode 100755 index 0d4f24d..0000000 --- a/build/aruco_detector/build/lib/aruco_detector/aruco_detector_node.py +++ /dev/null @@ -1,146 +0,0 @@ -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 deleted file mode 100755 index b7a0f1a..0000000 --- a/build/aruco_detector/build/lib/aruco_detector/transformations.py +++ /dev/null @@ -1,1706 +0,0 @@ -# -*- 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 deleted file mode 100755 index 48d039f..0000000 --- a/build/aruco_detector/build/lib/aruco_detector/yaml_handling.py +++ /dev/null @@ -1,47 +0,0 @@ -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 deleted file mode 100755 index 573541a..0000000 --- a/build/aruco_detector/colcon_build.rc +++ /dev/null @@ -1 +0,0 @@ -0 diff --git a/build/aruco_detector/colcon_command_prefix_setup_py.sh b/build/aruco_detector/colcon_command_prefix_setup_py.sh deleted file mode 100755 index f9867d5..0000000 --- a/build/aruco_detector/colcon_command_prefix_setup_py.sh +++ /dev/null @@ -1 +0,0 @@ -# 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 deleted file mode 100755 index f9dc38b..0000000 --- a/build/aruco_detector/colcon_command_prefix_setup_py.sh.env +++ /dev/null @@ -1,70 +0,0 @@ -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 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-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 deleted file mode 100755 index 952f17e..0000000 --- a/build/aruco_detector/install.log +++ /dev/null @@ -1,18 +0,0 @@ -/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 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-/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 deleted file mode 100755 index bbda934..0000000 --- a/build/aruco_interfaces/CMakeCache.txt +++ /dev/null @@ -1,743 +0,0 @@ -# This is the CMakeCache file. -# For build in directory: /home/ros2/dev2_ws/build/aruco_interfaces 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a/build/aruco_interfaces/ament_cmake_core/aruco_interfacesConfig-version.cmake b/build/aruco_interfaces/ament_cmake_core/aruco_interfacesConfig-version.cmake deleted file mode 100644 index 7beb732..0000000 --- a/build/aruco_interfaces/ament_cmake_core/aruco_interfacesConfig-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# 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 deleted file mode 100644 index 483fb56..0000000 --- a/build/aruco_interfaces/ament_cmake_core/aruco_interfacesConfig.cmake +++ /dev/null @@ -1,42 +0,0 @@ -# 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 deleted file mode 100755 index 578c227..0000000 --- a/build/aruco_interfaces/ament_cmake_core/package.cmake +++ /dev/null @@ -1,14 +0,0 @@ -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 deleted file mode 100755 index 5c28e96..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/ArucoMarkerPose.msg.stamp +++ /dev/null @@ -1,2 +0,0 @@ -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 deleted file mode 100755 index 320fbe2..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp +++ /dev/null @@ -1,92 +0,0 @@ -# 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 "${_libraries}") - endif() - endforeach() -endif() diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp deleted file mode 100755 index 3d3f012..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp +++ /dev/null @@ -1,16 +0,0 @@ -# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in - -set(_exported_include_dirs "${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 deleted file mode 100755 index 1d01306..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp +++ /dev/null @@ -1,140 +0,0 @@ -# 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 deleted file mode 100755 index 4a1b798..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/ament_cmake_export_targets-extras.cmake.stamp +++ /dev/null @@ -1,27 +0,0 @@ -# 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 ${_targets}) - endforeach() -endif() diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/ament_prefix_path.sh.stamp deleted file mode 100755 index 02e441b..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/ament_prefix_path.sh.stamp +++ /dev/null @@ -1,4 +0,0 @@ -# copied from -# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh - -ament_prepend_unique_value AMENT_PREFIX_PATH "$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 deleted file mode 100755 index 292e518..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/library_path.sh.stamp +++ /dev/null @@ -1,16 +0,0 @@ -# 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 "$AMENT_CURRENT_PREFIX/lib" -fi -unset _IS_DARWIN diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp deleted file mode 100755 index ee49c9f..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp +++ /dev/null @@ -1,14 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig-version.cmake.in -set(PACKAGE_VERSION "@PACKAGE_VERSION@") - -set(PACKAGE_VERSION_EXACT False) -set(PACKAGE_VERSION_COMPATIBLE False) - -if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_EXACT True) - set(PACKAGE_VERSION_COMPATIBLE True) -endif() - -if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_COMPATIBLE True) -endif() diff --git a/build/aruco_interfaces/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/aruco_interfaces/ament_cmake_core/stamps/nameConfig.cmake.in.stamp deleted file mode 100755 index 6fb3fe7..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/nameConfig.cmake.in.stamp +++ /dev/null @@ -1,42 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig.cmake.in - -# prevent multiple inclusion -if(_@PROJECT_NAME@_CONFIG_INCLUDED) - # ensure to keep the found flag the same - if(NOT DEFINED @PROJECT_NAME@_FOUND) - # explicitly set it to FALSE, otherwise CMake will set it to TRUE - set(@PROJECT_NAME@_FOUND FALSE) - elseif(NOT @PROJECT_NAME@_FOUND) - # use separate condition to avoid uninitialized variable warning - set(@PROJECT_NAME@_FOUND FALSE) - endif() - return() -endif() -set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE) - -# output package information -if(NOT @PROJECT_NAME@_FIND_QUIETLY) - message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@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 deleted file mode 100755 index 07e6272..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/package.xml.stamp +++ /dev/null @@ -1,27 +0,0 @@ - - - - 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 deleted file mode 100755 index 6f82f12..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp +++ /dev/null @@ -1,143 +0,0 @@ -#!/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 deleted file mode 100755 index e59b749..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/path.sh.stamp +++ /dev/null @@ -1,5 +0,0 @@ -# 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 deleted file mode 100755 index de278c1..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/pythonpath.sh.in.stamp +++ /dev/null @@ -1,3 +0,0 @@ -# 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 deleted file mode 100755 index 26fd8b0..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/rosidl_cmake-extras.cmake.stamp +++ /dev/null @@ -1,4 +0,0 @@ -# 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 deleted file mode 100755 index b2e546a..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/rosidl_cmake_export_typesupport_libraries-extras.cmake.stamp +++ /dev/null @@ -1,46 +0,0 @@ -# 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 deleted file mode 100755 index dde11ce..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/rosidl_cmake_export_typesupport_targets-extras.cmake.stamp +++ /dev/null @@ -1,23 +0,0 @@ -# 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 deleted file mode 100755 index b7c0faf..0000000 --- a/build/aruco_interfaces/ament_cmake_core/stamps/templates_2_cmake.py.stamp +++ /dev/null @@ -1,112 +0,0 @@ -#!/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 deleted file mode 100755 index 79d4c95..0000000 --- a/build/aruco_interfaces/ament_cmake_environment_hooks/ament_prefix_path.dsv +++ /dev/null @@ -1 +0,0 @@ -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 deleted file mode 100755 index 89bec93..0000000 --- a/build/aruco_interfaces/ament_cmake_environment_hooks/library_path.dsv +++ /dev/null @@ -1 +0,0 @@ -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 deleted file mode 100644 index 49782f2..0000000 --- a/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.bash +++ /dev/null @@ -1,46 +0,0 @@ -# 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 deleted file mode 100755 index 0a267c9..0000000 --- a/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.dsv +++ /dev/null @@ -1,4 +0,0 @@ -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 deleted file mode 100644 index 8e434dd..0000000 --- a/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.sh +++ /dev/null @@ -1,135 +0,0 @@ -# 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=$_package_local_setup_IFS - unset _package_local_setup_IFS - unset AMENT_ENVIRONMENT_HOOKS -fi - -# reset AMENT_CURRENT_PREFIX after each package -# allowing to source multiple package-level setup files -unset AMENT_CURRENT_PREFIX diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.zsh b/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.zsh deleted file mode 100644 index fe161be..0000000 --- a/build/aruco_interfaces/ament_cmake_environment_hooks/local_setup.zsh +++ /dev/null @@ -1,59 +0,0 @@ -# generated from ament_package/template/package_level/local_setup.zsh.in - -AMENT_SHELL=zsh - -# source local_setup.sh from same directory as this file -_this_path=$(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=$_package_local_setup_IFS - unset _package_local_setup_IFS - unset AMENT_ENVIRONMENT_HOOKS -fi - -unset _package_local_setup_AMENT_CURRENT_PREFIX -unset AMENT_CURRENT_PREFIX diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/package.dsv b/build/aruco_interfaces/ament_cmake_environment_hooks/package.dsv deleted file mode 100755 index f11207c..0000000 --- a/build/aruco_interfaces/ament_cmake_environment_hooks/package.dsv +++ /dev/null @@ -1,4 +0,0 @@ -source;share/aruco_interfaces/local_setup.bash -source;share/aruco_interfaces/local_setup.dsv -source;share/aruco_interfaces/local_setup.sh -source;share/aruco_interfaces/local_setup.zsh diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/path.dsv b/build/aruco_interfaces/ament_cmake_environment_hooks/path.dsv deleted file mode 100755 index b94426a..0000000 --- a/build/aruco_interfaces/ament_cmake_environment_hooks/path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate-if-exists;PATH;bin diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/pythonpath.dsv b/build/aruco_interfaces/ament_cmake_environment_hooks/pythonpath.dsv deleted file mode 100755 index 84dbc4c..0000000 --- a/build/aruco_interfaces/ament_cmake_environment_hooks/pythonpath.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;PYTHONPATH;lib/python3.8/site-packages diff --git a/build/aruco_interfaces/ament_cmake_environment_hooks/pythonpath.sh b/build/aruco_interfaces/ament_cmake_environment_hooks/pythonpath.sh deleted file mode 100644 index 7fe2b2f..0000000 --- a/build/aruco_interfaces/ament_cmake_environment_hooks/pythonpath.sh +++ /dev/null @@ -1,3 +0,0 @@ -# generated from ament_package/template/environment_hook/pythonpath.sh.in - -ament_prepend_unique_value PYTHONPATH "$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 deleted file mode 100644 index 320fbe2..0000000 --- a/build/aruco_interfaces/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake +++ /dev/null @@ -1,92 +0,0 @@ -# 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 "${_libraries}") - endif() - endforeach() -endif() diff --git a/build/aruco_interfaces/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake b/build/aruco_interfaces/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake deleted file mode 100644 index 3d3f012..0000000 --- a/build/aruco_interfaces/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake +++ /dev/null @@ -1,16 +0,0 @@ -# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in - -set(_exported_include_dirs "${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 deleted file mode 100644 index 1d01306..0000000 --- a/build/aruco_interfaces/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake +++ /dev/null @@ -1,140 +0,0 @@ -# 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 deleted file mode 100644 index 4a1b798..0000000 --- a/build/aruco_interfaces/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake +++ /dev/null @@ -1,27 +0,0 @@ -# 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 deleted file mode 100755 index 4b40f93..0000000 --- a/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/aruco_interfaces +++ /dev/null @@ -1 +0,0 @@ -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 deleted file mode 100755 index e69de29..0000000 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 deleted file mode 100644 index f590790..0000000 --- a/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/aruco_interfaces +++ /dev/null @@ -1 +0,0 @@ -/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 deleted file mode 100755 index 051e7ca..0000000 --- a/build/aruco_interfaces/ament_cmake_index/share/ament_index/resource_index/rosidl_interfaces/aruco_interfaces +++ /dev/null @@ -1,2 +0,0 @@ -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 deleted file mode 100755 index 028c16d..0000000 --- a/build/aruco_interfaces/ament_cmake_package_templates/templates.cmake +++ /dev/null @@ -1,14 +0,0 @@ -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 deleted file mode 100644 index e4bb759..0000000 --- a/build/aruco_interfaces/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake +++ /dev/null @@ -1,57 +0,0 @@ -# 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) - 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a/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_fastrtps_cpp.so and /dev/null 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 deleted file mode 100755 index ce3f6c1..0000000 Binary files a/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_introspection_c.so and /dev/null 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 deleted file mode 100755 index 3465c9c..0000000 Binary files a/build/aruco_interfaces/libaruco_interfaces__rosidl_typesupport_introspection_cpp.so and /dev/null differ diff --git a/build/aruco_interfaces/rosidl_adapter/aruco_interfaces.idls b/build/aruco_interfaces/rosidl_adapter/aruco_interfaces.idls deleted file mode 100755 index 9a77c65..0000000 --- a/build/aruco_interfaces/rosidl_adapter/aruco_interfaces.idls +++ /dev/null @@ -1 +0,0 @@ -/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 deleted file mode 100755 index 4b732f8..0000000 --- a/build/aruco_interfaces/rosidl_adapter/aruco_interfaces/msg/ArucoMarkerPose.idl +++ /dev/null @@ -1,15 +0,0 @@ -// 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 deleted file mode 100755 index d5fa5c2..0000000 --- a/build/aruco_interfaces/rosidl_adapter__arguments__aruco_interfaces.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "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 deleted file mode 100644 index 26fd8b0..0000000 --- a/build/aruco_interfaces/rosidl_cmake/rosidl_cmake-extras.cmake +++ /dev/null @@ -1,4 +0,0 @@ -# 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 deleted file mode 100644 index b2e546a..0000000 --- a/build/aruco_interfaces/rosidl_cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake +++ /dev/null @@ -1,46 +0,0 @@ -# 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 deleted file mode 100644 index dde11ce..0000000 --- a/build/aruco_interfaces/rosidl_cmake/rosidl_cmake_export_typesupport_targets-extras.cmake +++ /dev/null @@ -1,23 +0,0 @@ -# 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 deleted file mode 100755 index d500977..0000000 --- a/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/aruco_marker_pose.h +++ /dev/null @@ -1,12 +0,0 @@ -// 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 deleted file mode 100755 index ddc97af..0000000 --- a/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__functions.c +++ /dev/null @@ -1,156 +0,0 @@ -// 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 deleted file mode 100755 index 0b3bc3e..0000000 --- a/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__functions.h +++ /dev/null @@ -1,124 +0,0 @@ -// 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 deleted file mode 100755 index e19d61e..0000000 --- a/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__struct.h +++ /dev/null @@ -1,47 +0,0 @@ -// 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 deleted file mode 100755 index 4b2263e..0000000 --- a/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.h +++ /dev/null @@ -1,33 +0,0 @@ -// 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 deleted file mode 100644 index 360a866..0000000 --- a/build/aruco_interfaces/rosidl_generator_c/aruco_interfaces/msg/rosidl_generator_c__visibility_control.h +++ /dev/null @@ -1,42 +0,0 @@ -// 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 deleted file mode 100755 index c29f216..0000000 --- a/build/aruco_interfaces/rosidl_generator_c__arguments.json +++ /dev/null @@ -1,148 +0,0 @@ -{ - "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 deleted file mode 100755 index 0436e0c..0000000 --- a/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/aruco_marker_pose.hpp +++ /dev/null @@ -1,11 +0,0 @@ -// 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 deleted file mode 100755 index b293eab..0000000 --- a/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__builder.hpp +++ /dev/null @@ -1,71 +0,0 @@ -// 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 deleted file mode 100755 index da06629..0000000 --- a/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__struct.hpp +++ /dev/null @@ -1,138 +0,0 @@ -// 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 deleted file mode 100755 index c8c4ea8..0000000 --- a/build/aruco_interfaces/rosidl_generator_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__traits.hpp +++ /dev/null @@ -1,42 +0,0 @@ -// 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 deleted file mode 100755 index bae82da..0000000 --- a/build/aruco_interfaces/rosidl_generator_cpp__arguments.json +++ /dev/null @@ -1,150 +0,0 @@ -{ - "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 deleted file mode 100755 index e69de29..0000000 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 deleted file mode 100755 index 1e5a93f..0000000 --- a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_c.c +++ /dev/null @@ -1,171 +0,0 @@ -// 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 deleted file mode 100755 index 78dc785..0000000 --- a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c +++ /dev/null @@ -1,171 +0,0 @@ -// 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 deleted file mode 100755 index 192cfea..0000000 --- a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/_aruco_interfaces_s.ep.rosidl_typesupport_introspection_c.c +++ /dev/null @@ -1,171 +0,0 @@ -// 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 deleted file mode 100755 index 3f19b14..0000000 Binary files a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/aruco_interfaces_s__rosidl_typesupport_c.cpython-38-x86_64-linux-gnu.so and /dev/null differ 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 deleted file mode 100755 index ff07224..0000000 Binary files a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/aruco_interfaces_s__rosidl_typesupport_fastrtps_c.cpython-38-x86_64-linux-gnu.so and /dev/null differ 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 deleted file mode 100755 index af84bee..0000000 Binary files a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/aruco_interfaces_s__rosidl_typesupport_introspection_c.cpython-38-x86_64-linux-gnu.so and /dev/null differ 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 deleted file mode 100755 index 789f0e3..0000000 Binary files a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/libaruco_interfaces__python.so and /dev/null 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 deleted file mode 100755 index b776617..0000000 --- a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/__init__.py +++ /dev/null @@ -1 +0,0 @@ -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 deleted file mode 100755 index f217966..0000000 --- a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/_aruco_marker_pose.py +++ /dev/null @@ -1,174 +0,0 @@ -# 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 deleted file mode 100755 index c677ad5..0000000 --- a/build/aruco_interfaces/rosidl_generator_py/aruco_interfaces/msg/_aruco_marker_pose_s.c +++ /dev/null @@ -1,243 +0,0 @@ -// 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 deleted file mode 100755 index f756c55..0000000 --- a/build/aruco_interfaces/rosidl_generator_py__arguments.json +++ /dev/null @@ -1,148 +0,0 @@ -{ - "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 deleted file mode 100755 index 404abb8..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_c/aruco_interfaces/msg/aruco_marker_pose__type_support.cpp +++ /dev/null @@ -1,96 +0,0 @@ -// 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 deleted file mode 100644 index 5d63588..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_c/aruco_interfaces/msg/rosidl_typesupport_c__visibility_control.h +++ /dev/null @@ -1,43 +0,0 @@ -// 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 deleted file mode 100755 index 4712125..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_c__arguments.json +++ /dev/null @@ -1,141 +0,0 @@ -{ - "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 deleted file mode 100755 index d15c776..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_cpp/aruco_interfaces/msg/aruco_marker_pose__type_support.cpp +++ /dev/null @@ -1,108 +0,0 @@ -// 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 deleted file mode 100755 index c5fb938..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_cpp__arguments.json +++ /dev/null @@ -1,141 +0,0 @@ -{ - "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 deleted file mode 100755 index 4af8e0c..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_fastrtps_c.h +++ /dev/null @@ -1,36 +0,0 @@ -// 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 deleted file mode 100755 index fb0e480..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support_c.cpp +++ /dev/null @@ -1,269 +0,0 @@ -// 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 deleted file mode 100644 index d679585..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_fastrtps_c/aruco_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h +++ /dev/null @@ -1,43 +0,0 @@ -// 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 deleted file mode 100755 index be9a1bc..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_fastrtps_c__arguments.json +++ /dev/null @@ -1,143 +0,0 @@ -{ - "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 deleted file mode 100755 index 821279c..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_fastrtps_cpp.hpp +++ /dev/null @@ -1,79 +0,0 @@ -// 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 deleted file mode 100755 index 301d699..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/detail/dds_fastrtps/aruco_marker_pose__type_support.cpp +++ /dev/null @@ -1,265 +0,0 @@ -// 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 deleted file mode 100644 index 318c8fa..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp/aruco_interfaces/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h +++ /dev/null @@ -1,43 +0,0 @@ -// 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 deleted file mode 100755 index b222192..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_fastrtps_cpp__arguments.json +++ /dev/null @@ -1,143 +0,0 @@ -{ - "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 deleted file mode 100755 index 912b991..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_introspection_c.h +++ /dev/null @@ -1,26 +0,0 @@ -// 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 deleted file mode 100755 index f70f031..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.c +++ /dev/null @@ -1,139 +0,0 @@ -// 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 deleted file mode 100644 index fbd357e..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_introspection_c/aruco_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h +++ /dev/null @@ -1,43 +0,0 @@ -// 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 deleted file mode 100755 index 00ad732..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_introspection_c__arguments.json +++ /dev/null @@ -1,143 +0,0 @@ -{ - "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 deleted file mode 100755 index 2078f7e..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__rosidl_typesupport_introspection_cpp.hpp +++ /dev/null @@ -1,27 +0,0 @@ -// 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 deleted file mode 100755 index 8ed0563..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_introspection_cpp/aruco_interfaces/msg/detail/aruco_marker_pose__type_support.cpp +++ /dev/null @@ -1,176 +0,0 @@ -// 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 deleted file mode 100755 index 06475e2..0000000 --- a/build/aruco_interfaces/rosidl_typesupport_introspection_cpp__arguments.json +++ /dev/null @@ -1,143 +0,0 @@ -{ - "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 deleted file mode 100755 index e69de29..0000000 diff --git a/build/camera_calibration/build/lib/camera_calibration/calibrator.py b/build/camera_calibration/build/lib/camera_calibration/calibrator.py deleted file mode 100755 index 6ee8814..0000000 --- a/build/camera_calibration/build/lib/camera_calibration/calibrator.py +++ /dev/null @@ -1,1146 +0,0 @@ -#!/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 deleted file mode 100755 index 98d0c72..0000000 --- a/build/camera_calibration/build/lib/camera_calibration/camera_calibrator.py +++ /dev/null @@ -1,366 +0,0 @@ -#!/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 deleted file mode 100755 index 214e7e5..0000000 --- a/build/camera_calibration/build/lib/camera_calibration/camera_checker.py +++ /dev/null @@ -1,201 +0,0 @@ -#!/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 deleted file mode 100755 index e69de29..0000000 diff --git a/build/camera_calibration/build/lib/camera_calibration/nodes/cameracalibrator.py b/build/camera_calibration/build/lib/camera_calibration/nodes/cameracalibrator.py deleted file mode 100755 index aeacbf1..0000000 --- a/build/camera_calibration/build/lib/camera_calibration/nodes/cameracalibrator.py +++ /dev/null @@ -1,153 +0,0 @@ -#!/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 deleted file mode 100755 index a6831f6..0000000 --- a/build/camera_calibration/build/lib/camera_calibration/nodes/cameracheck.py +++ /dev/null @@ -1,58 +0,0 @@ -#!/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 deleted file mode 100755 index 0b50efe..0000000 --- a/build/camera_calibration/camera_calibration.egg-info/PKG-INFO +++ /dev/null @@ -1,12 +0,0 @@ -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 deleted file mode 100755 index 362ea84..0000000 --- a/build/camera_calibration/camera_calibration.egg-info/SOURCES.txt +++ /dev/null @@ -1,20 +0,0 @@ -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 deleted file mode 100755 index 8b13789..0000000 --- a/build/camera_calibration/camera_calibration.egg-info/dependency_links.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/build/camera_calibration/camera_calibration.egg-info/entry_points.txt b/build/camera_calibration/camera_calibration.egg-info/entry_points.txt deleted file mode 100755 index 519f9b0..0000000 --- a/build/camera_calibration/camera_calibration.egg-info/entry_points.txt +++ /dev/null @@ -1,4 +0,0 @@ -[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 deleted file mode 100755 index 49fe098..0000000 --- a/build/camera_calibration/camera_calibration.egg-info/requires.txt +++ /dev/null @@ -1 +0,0 @@ -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 deleted file mode 100755 index 72757c4..0000000 --- a/build/camera_calibration/camera_calibration.egg-info/top_level.txt +++ /dev/null @@ -1 +0,0 @@ -camera_calibration diff --git a/build/camera_calibration/camera_calibration.egg-info/zip-safe b/build/camera_calibration/camera_calibration.egg-info/zip-safe deleted file mode 100755 index 8b13789..0000000 --- a/build/camera_calibration/camera_calibration.egg-info/zip-safe +++ /dev/null @@ -1 +0,0 @@ - diff --git a/build/camera_calibration/colcon_build.rc b/build/camera_calibration/colcon_build.rc deleted file mode 100755 index 573541a..0000000 --- a/build/camera_calibration/colcon_build.rc +++ /dev/null @@ -1 +0,0 @@ -0 diff --git a/build/camera_calibration/colcon_command_prefix_setup_py.sh b/build/camera_calibration/colcon_command_prefix_setup_py.sh deleted file mode 100755 index f9867d5..0000000 --- a/build/camera_calibration/colcon_command_prefix_setup_py.sh +++ /dev/null @@ -1 +0,0 @@ -# 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 deleted file mode 100755 index 14e728e..0000000 --- a/build/camera_calibration/colcon_command_prefix_setup_py.sh.env +++ /dev/null @@ -1,70 +0,0 @@ -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 deleted file mode 100755 index a0487ea..0000000 --- a/build/camera_calibration/install.log +++ /dev/null @@ -1,25 +0,0 @@ -/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 deleted file mode 100755 index e69de29..0000000 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 deleted file mode 100755 index 50d6866..0000000 --- a/build/turtle_follower_py/build/lib/turtle_follower_py/turtle_follower_py.py +++ /dev/null @@ -1,153 +0,0 @@ -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 deleted file mode 100755 index 573541a..0000000 --- a/build/turtle_follower_py/colcon_build.rc +++ /dev/null @@ -1 +0,0 @@ -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 deleted file mode 100755 index ecb4e03..0000000 --- a/build/turtle_follower_py/colcon_command_prefix_setup_py.sh +++ /dev/null @@ -1,2 +0,0 @@ -# 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 deleted file mode 100755 index a25d033..0000000 --- a/build/turtle_follower_py/colcon_command_prefix_setup_py.sh.env +++ /dev/null @@ -1,70 +0,0 @@ -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 deleted file mode 100755 index 9cfafce..0000000 --- a/build/turtle_follower_py/install.log +++ /dev/null @@ -1,14 +0,0 @@ -/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 deleted file mode 100755 index f292fae..0000000 --- a/build/turtle_follower_py/turtle_follower_py.egg-info/PKG-INFO +++ /dev/null @@ -1,10 +0,0 @@ -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 deleted file mode 100755 index 20bfaf3..0000000 --- a/build/turtle_follower_py/turtle_follower_py.egg-info/SOURCES.txt +++ /dev/null @@ -1,16 +0,0 @@ -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 deleted file mode 100755 index 8b13789..0000000 --- a/build/turtle_follower_py/turtle_follower_py.egg-info/dependency_links.txt +++ /dev/null @@ -1 +0,0 @@ - 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 deleted file mode 100755 index 0c9cbe8..0000000 --- a/build/turtle_follower_py/turtle_follower_py.egg-info/entry_points.txt +++ /dev/null @@ -1,3 +0,0 @@ -[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 deleted file mode 100755 index 49fe098..0000000 --- a/build/turtle_follower_py/turtle_follower_py.egg-info/requires.txt +++ /dev/null @@ -1 +0,0 @@ -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 deleted file mode 100755 index a78a6ed..0000000 --- a/build/turtle_follower_py/turtle_follower_py.egg-info/top_level.txt +++ /dev/null @@ -1 +0,0 @@ -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 deleted file mode 100755 index 8b13789..0000000 --- a/build/turtle_follower_py/turtle_follower_py.egg-info/zip-safe +++ /dev/null @@ -1 +0,0 @@ - diff --git a/build/v4l2_camera/CMakeCache.txt b/build/v4l2_camera/CMakeCache.txt deleted file mode 100755 index 0a0c3ad..0000000 --- a/build/v4l2_camera/CMakeCache.txt +++ /dev/null @@ -1,781 +0,0 @@ -# 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. -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 - 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-memory -- -stdexcept -- -utility -- -rcl/wait.h -/opt/ros/foxy/include/rclcpp/wait_set_policies/detail/rcl/wait.h -rclcpp/exceptions.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/detail/rclcpp/exceptions.hpp -rclcpp/logging.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/detail/rclcpp/logging.hpp -rclcpp/macros.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/detail/rclcpp/macros.hpp -rclcpp/visibility_control.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/detail/rclcpp/visibility_control.hpp -rclcpp/waitable.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/detail/rclcpp/waitable.hpp - -/opt/ros/foxy/include/rclcpp/wait_set_policies/detail/synchronization_policy_common.hpp -chrono -- -functional -- - -/opt/ros/foxy/include/rclcpp/wait_set_policies/detail/write_preferring_read_write_lock.hpp -condition_variable -- -functional -- -mutex -- -rclcpp/visibility_control.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/detail/rclcpp/visibility_control.hpp - -/opt/ros/foxy/include/rclcpp/wait_set_policies/dynamic_storage.hpp -algorithm -- -memory -- -utility -- -vector -- -rclcpp/client.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/client.hpp -rclcpp/guard_condition.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/guard_condition.hpp -rclcpp/macros.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/macros.hpp -rclcpp/service.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/service.hpp -rclcpp/subscription_base.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/subscription_base.hpp -rclcpp/subscription_wait_set_mask.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/subscription_wait_set_mask.hpp -rclcpp/timer.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/timer.hpp -rclcpp/visibility_control.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/visibility_control.hpp -rclcpp/wait_set_policies/detail/storage_policy_common.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/wait_set_policies/detail/storage_policy_common.hpp -rclcpp/waitable.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/waitable.hpp - -/opt/ros/foxy/include/rclcpp/wait_set_policies/sequential_synchronization.hpp -chrono -- -functional -- -memory -- -utility -- -rclcpp/client.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/client.hpp -rclcpp/exceptions.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/exceptions.hpp -rclcpp/guard_condition.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/guard_condition.hpp -rclcpp/macros.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/macros.hpp -rclcpp/service.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/service.hpp -rclcpp/subscription_base.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/subscription_base.hpp -rclcpp/subscription_wait_set_mask.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/subscription_wait_set_mask.hpp -rclcpp/timer.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/timer.hpp -rclcpp/visibility_control.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/visibility_control.hpp -rclcpp/wait_result.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/wait_result.hpp -rclcpp/wait_result_kind.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/wait_result_kind.hpp -rclcpp/wait_set_policies/detail/synchronization_policy_common.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/wait_set_policies/detail/synchronization_policy_common.hpp -rclcpp/waitable.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/waitable.hpp - -/opt/ros/foxy/include/rclcpp/wait_set_policies/static_storage.hpp -array -- -memory -- -utility -- -rclcpp/client.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/client.hpp -rclcpp/guard_condition.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/guard_condition.hpp -rclcpp/macros.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/macros.hpp -rclcpp/service.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/service.hpp -rclcpp/subscription_base.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/subscription_base.hpp -rclcpp/subscription_wait_set_mask.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/subscription_wait_set_mask.hpp -rclcpp/timer.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/timer.hpp -rclcpp/visibility_control.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/visibility_control.hpp -rclcpp/wait_set_policies/detail/storage_policy_common.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/wait_set_policies/detail/storage_policy_common.hpp -rclcpp/waitable.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/waitable.hpp - -/opt/ros/foxy/include/rclcpp/wait_set_policies/thread_safe_synchronization.hpp -chrono -- -functional -- -memory -- -utility -- -rclcpp/client.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/client.hpp -rclcpp/exceptions.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/exceptions.hpp -rclcpp/guard_condition.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/guard_condition.hpp -rclcpp/macros.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/macros.hpp -rclcpp/service.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/service.hpp -rclcpp/subscription_base.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/subscription_base.hpp -rclcpp/subscription_wait_set_mask.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/subscription_wait_set_mask.hpp -rclcpp/timer.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/timer.hpp -rclcpp/visibility_control.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/visibility_control.hpp -rclcpp/wait_result.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/wait_result.hpp -rclcpp/wait_result_kind.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/wait_result_kind.hpp -rclcpp/wait_set_policies/detail/synchronization_policy_common.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/wait_set_policies/detail/synchronization_policy_common.hpp -rclcpp/wait_set_policies/detail/write_preferring_read_write_lock.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/wait_set_policies/detail/write_preferring_read_write_lock.hpp -rclcpp/waitable.hpp -/opt/ros/foxy/include/rclcpp/wait_set_policies/rclcpp/waitable.hpp - -/opt/ros/foxy/include/rclcpp/wait_set_template.hpp -chrono -- -memory -- -utility -- -rcl/wait.h -/opt/ros/foxy/include/rclcpp/rcl/wait.h -rclcpp/client.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/client.hpp -rclcpp/context.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/context.hpp -rclcpp/contexts/default_context.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/contexts/default_context.hpp -rclcpp/guard_condition.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/guard_condition.hpp -rclcpp/macros.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/macros.hpp -rclcpp/scope_exit.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/scope_exit.hpp -rclcpp/service.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/service.hpp -rclcpp/subscription_base.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/subscription_base.hpp -rclcpp/subscription_wait_set_mask.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/subscription_wait_set_mask.hpp -rclcpp/timer.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/timer.hpp -rclcpp/visibility_control.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/visibility_control.hpp -rclcpp/wait_result.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/wait_result.hpp -rclcpp/waitable.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/waitable.hpp - -/opt/ros/foxy/include/rclcpp/waitable.hpp -atomic -- -rclcpp/macros.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/macros.hpp -rclcpp/visibility_control.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/visibility_control.hpp -rcl/wait.h -/opt/ros/foxy/include/rclcpp/rcl/wait.h - -/opt/ros/foxy/include/rcpputils/join.hpp -algorithm -- -iterator -- -sstream -- -string -- - -/opt/ros/foxy/include/rcpputils/pointer_traits.hpp -memory -- -type_traits -- - -/opt/ros/foxy/include/rcpputils/thread_safety_annotations.hpp -mutex -- - -/opt/ros/foxy/include/rcutils/allocator.h -stdbool.h -- -stddef.h -- -rcutils/macros.h -/opt/ros/foxy/include/rcutils/rcutils/macros.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/error_handling.h -assert.h -- -stdbool.h -- -stddef.h -- -stdint.h -- -stdio.h -- -stdlib.h -- -string.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/rcutils/allocator.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/rcutils/macros.h -rcutils/snprintf.h -/opt/ros/foxy/include/rcutils/rcutils/snprintf.h -rcutils/testing/fault_injection.h -/opt/ros/foxy/include/rcutils/rcutils/testing/fault_injection.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/logging.h -stdarg.h -- -stdbool.h -- -stdio.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/rcutils/allocator.h -rcutils/error_handling.h -/opt/ros/foxy/include/rcutils/rcutils/error_handling.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/rcutils/macros.h -rcutils/time.h -/opt/ros/foxy/include/rcutils/rcutils/time.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/logging_macros.h -rcutils/logging.h -/opt/ros/foxy/include/rcutils/rcutils/logging.h -stdio.h -- -stdlib.h -- - -/opt/ros/foxy/include/rcutils/macros.h -TargetConditionals.h -- -Availability.h -- -rcutils/testing/fault_injection.h -/opt/ros/foxy/include/rcutils/rcutils/testing/fault_injection.h - -/opt/ros/foxy/include/rcutils/qsort.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/rcutils/macros.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/snprintf.h -stdarg.h -- -stddef.h -- -rcutils/macros.h -/opt/ros/foxy/include/rcutils/rcutils/macros.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/testing/fault_injection.h -stdbool.h -- -stdio.h -- -stdint.h -- -rcutils/macros.h -/opt/ros/foxy/include/rcutils/testing/rcutils/macros.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/testing/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/time.h -stdint.h -- -rcutils/macros.h -/opt/ros/foxy/include/rcutils/rcutils/macros.h -rcutils/types.h -/opt/ros/foxy/include/rcutils/rcutils/types.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/types.h -rcutils/types/array_list.h -/opt/ros/foxy/include/rcutils/rcutils/types/array_list.h -rcutils/types/char_array.h -/opt/ros/foxy/include/rcutils/rcutils/types/char_array.h -rcutils/types/hash_map.h -/opt/ros/foxy/include/rcutils/rcutils/types/hash_map.h -rcutils/types/string_array.h -/opt/ros/foxy/include/rcutils/rcutils/types/string_array.h -rcutils/types/string_map.h -/opt/ros/foxy/include/rcutils/rcutils/types/string_map.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/rcutils/types/rcutils_ret.h -rcutils/types/uint8_array.h -/opt/ros/foxy/include/rcutils/rcutils/types/uint8_array.h - -/opt/ros/foxy/include/rcutils/types/array_list.h -string.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/types/rcutils/allocator.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/types/rcutils/macros.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/types/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/types/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/types/char_array.h -stdarg.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/types/rcutils/allocator.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/types/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/types/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/types/hash_map.h -string.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/types/rcutils/allocator.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/types/rcutils/types/rcutils_ret.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/types/rcutils/macros.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/types/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/types/rcutils_ret.h - -/opt/ros/foxy/include/rcutils/types/string_array.h -string.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/types/rcutils/allocator.h -rcutils/error_handling.h -/opt/ros/foxy/include/rcutils/types/rcutils/error_handling.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/types/rcutils/macros.h -rcutils/qsort.h -/opt/ros/foxy/include/rcutils/types/rcutils/qsort.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/types/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/types/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/types/string_map.h -string.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/types/rcutils/allocator.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/types/rcutils/types/rcutils_ret.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/types/rcutils/macros.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/types/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/types/uint8_array.h -stdint.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/types/rcutils/allocator.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/types/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/types/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/visibility_control.h -rcutils/visibility_control_macros.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control_macros.h - -/opt/ros/foxy/include/rcutils/visibility_control_macros.h - -/opt/ros/foxy/include/rmw/domain_id.h - -/opt/ros/foxy/include/rmw/error_handling.h -rcutils/error_handling.h -- - -/opt/ros/foxy/include/rmw/get_topic_names_and_types.h 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-- -rclcpp/macros.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/macros.hpp -rclcpp/visibility_control.hpp -/opt/ros/foxy/include/rclcpp/rclcpp/visibility_control.hpp -rcl/wait.h -/opt/ros/foxy/include/rclcpp/rcl/wait.h - -/opt/ros/foxy/include/rcpputils/join.hpp -algorithm -- -iterator -- -sstream -- -string -- - -/opt/ros/foxy/include/rcpputils/pointer_traits.hpp -memory -- -type_traits -- - -/opt/ros/foxy/include/rcpputils/thread_safety_annotations.hpp -mutex -- - -/opt/ros/foxy/include/rcutils/allocator.h -stdbool.h -- -stddef.h -- -rcutils/macros.h -/opt/ros/foxy/include/rcutils/rcutils/macros.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/error_handling.h -assert.h -- -stdbool.h -- -stddef.h -- -stdint.h -- -stdio.h -- -stdlib.h -- -string.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/rcutils/allocator.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/rcutils/macros.h -rcutils/snprintf.h -/opt/ros/foxy/include/rcutils/rcutils/snprintf.h -rcutils/testing/fault_injection.h -/opt/ros/foxy/include/rcutils/rcutils/testing/fault_injection.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/logging.h -stdarg.h -- -stdbool.h -- -stdio.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/rcutils/allocator.h -rcutils/error_handling.h -/opt/ros/foxy/include/rcutils/rcutils/error_handling.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/rcutils/macros.h -rcutils/time.h -/opt/ros/foxy/include/rcutils/rcutils/time.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/logging_macros.h -rcutils/logging.h -/opt/ros/foxy/include/rcutils/rcutils/logging.h -stdio.h -- -stdlib.h -- - -/opt/ros/foxy/include/rcutils/macros.h -TargetConditionals.h -- -Availability.h -- -rcutils/testing/fault_injection.h -/opt/ros/foxy/include/rcutils/rcutils/testing/fault_injection.h - -/opt/ros/foxy/include/rcutils/qsort.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/rcutils/macros.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/snprintf.h -stdarg.h -- -stddef.h -- -rcutils/macros.h -/opt/ros/foxy/include/rcutils/rcutils/macros.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/testing/fault_injection.h -stdbool.h -- -stdio.h -- -stdint.h -- -rcutils/macros.h -/opt/ros/foxy/include/rcutils/testing/rcutils/macros.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/testing/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/time.h -stdint.h -- -rcutils/macros.h -/opt/ros/foxy/include/rcutils/rcutils/macros.h -rcutils/types.h -/opt/ros/foxy/include/rcutils/rcutils/types.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/types.h -rcutils/types/array_list.h -/opt/ros/foxy/include/rcutils/rcutils/types/array_list.h -rcutils/types/char_array.h -/opt/ros/foxy/include/rcutils/rcutils/types/char_array.h -rcutils/types/hash_map.h -/opt/ros/foxy/include/rcutils/rcutils/types/hash_map.h -rcutils/types/string_array.h -/opt/ros/foxy/include/rcutils/rcutils/types/string_array.h -rcutils/types/string_map.h -/opt/ros/foxy/include/rcutils/rcutils/types/string_map.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/rcutils/types/rcutils_ret.h -rcutils/types/uint8_array.h -/opt/ros/foxy/include/rcutils/rcutils/types/uint8_array.h - -/opt/ros/foxy/include/rcutils/types/array_list.h -string.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/types/rcutils/allocator.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/types/rcutils/macros.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/types/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/types/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/types/char_array.h -stdarg.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/types/rcutils/allocator.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/types/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/types/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/types/hash_map.h -string.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/types/rcutils/allocator.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/types/rcutils/types/rcutils_ret.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/types/rcutils/macros.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/types/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/types/rcutils_ret.h - -/opt/ros/foxy/include/rcutils/types/string_array.h -string.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/types/rcutils/allocator.h -rcutils/error_handling.h -/opt/ros/foxy/include/rcutils/types/rcutils/error_handling.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/types/rcutils/macros.h -rcutils/qsort.h -/opt/ros/foxy/include/rcutils/types/rcutils/qsort.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/types/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/types/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/types/string_map.h -string.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/types/rcutils/allocator.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/types/rcutils/types/rcutils_ret.h -rcutils/macros.h -/opt/ros/foxy/include/rcutils/types/rcutils/macros.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/types/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/types/uint8_array.h -stdint.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rcutils/types/rcutils/allocator.h -rcutils/types/rcutils_ret.h -/opt/ros/foxy/include/rcutils/types/rcutils/types/rcutils_ret.h -rcutils/visibility_control.h -/opt/ros/foxy/include/rcutils/types/rcutils/visibility_control.h - -/opt/ros/foxy/include/rcutils/visibility_control.h -rcutils/visibility_control_macros.h -/opt/ros/foxy/include/rcutils/rcutils/visibility_control_macros.h - -/opt/ros/foxy/include/rcutils/visibility_control_macros.h - -/opt/ros/foxy/include/rmw/domain_id.h - -/opt/ros/foxy/include/rmw/error_handling.h -rcutils/error_handling.h -- - -/opt/ros/foxy/include/rmw/get_topic_names_and_types.h -rmw/macros.h -/opt/ros/foxy/include/rmw/rmw/macros.h -rmw/names_and_types.h -/opt/ros/foxy/include/rmw/rmw/names_and_types.h -rmw/types.h -/opt/ros/foxy/include/rmw/rmw/types.h -rmw/visibility_control.h -/opt/ros/foxy/include/rmw/rmw/visibility_control.h - -/opt/ros/foxy/include/rmw/incompatible_qos_events_statuses.h -stdint.h -- -rmw/visibility_control.h -/opt/ros/foxy/include/rmw/rmw/visibility_control.h - -/opt/ros/foxy/include/rmw/init.h -stdint.h -- -rmw/init_options.h -/opt/ros/foxy/include/rmw/rmw/init_options.h -rmw/macros.h -/opt/ros/foxy/include/rmw/rmw/macros.h -rmw/ret_types.h -/opt/ros/foxy/include/rmw/rmw/ret_types.h -rmw/visibility_control.h -/opt/ros/foxy/include/rmw/rmw/visibility_control.h - -/opt/ros/foxy/include/rmw/init_options.h -stdint.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rmw/rcutils/allocator.h -rmw/domain_id.h -/opt/ros/foxy/include/rmw/rmw/domain_id.h -rmw/localhost.h -/opt/ros/foxy/include/rmw/rmw/localhost.h -rmw/macros.h -/opt/ros/foxy/include/rmw/rmw/macros.h -rmw/ret_types.h -/opt/ros/foxy/include/rmw/rmw/ret_types.h -rmw/security_options.h -/opt/ros/foxy/include/rmw/rmw/security_options.h -rmw/visibility_control.h -/opt/ros/foxy/include/rmw/rmw/visibility_control.h - -/opt/ros/foxy/include/rmw/localhost.h -rmw/visibility_control.h -/opt/ros/foxy/include/rmw/rmw/visibility_control.h - -/opt/ros/foxy/include/rmw/macros.h -rcutils/macros.h -/opt/ros/foxy/include/rmw/rcutils/macros.h - -/opt/ros/foxy/include/rmw/message_sequence.h -stddef.h -- -rmw/macros.h -/opt/ros/foxy/include/rmw/rmw/macros.h -rmw/visibility_control.h -/opt/ros/foxy/include/rmw/rmw/visibility_control.h -rmw/types.h -/opt/ros/foxy/include/rmw/rmw/types.h - -/opt/ros/foxy/include/rmw/names_and_types.h -stddef.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rmw/rcutils/allocator.h -rcutils/types.h -/opt/ros/foxy/include/rmw/rcutils/types.h -rmw/macros.h -/opt/ros/foxy/include/rmw/rmw/macros.h -rmw/types.h -/opt/ros/foxy/include/rmw/rmw/types.h -rmw/visibility_control.h -/opt/ros/foxy/include/rmw/rmw/visibility_control.h - -/opt/ros/foxy/include/rmw/qos_profiles.h -rmw/types.h -/opt/ros/foxy/include/rmw/rmw/types.h - -/opt/ros/foxy/include/rmw/ret_types.h -stdint.h -- - -/opt/ros/foxy/include/rmw/rmw.h -stdbool.h -- -stddef.h -- -stdint.h -- -rcutils/macros.h -/opt/ros/foxy/include/rmw/rcutils/macros.h -rcutils/types.h -/opt/ros/foxy/include/rmw/rcutils/types.h -rosidl_runtime_c/message_type_support_struct.h -/opt/ros/foxy/include/rmw/rosidl_runtime_c/message_type_support_struct.h -rosidl_runtime_c/service_type_support_struct.h -/opt/ros/foxy/include/rmw/rosidl_runtime_c/service_type_support_struct.h -rosidl_runtime_c/sequence_bound.h -/opt/ros/foxy/include/rmw/rosidl_runtime_c/sequence_bound.h -rmw/init.h -/opt/ros/foxy/include/rmw/rmw/init.h -rmw/macros.h -/opt/ros/foxy/include/rmw/rmw/macros.h -rmw/qos_profiles.h -/opt/ros/foxy/include/rmw/rmw/qos_profiles.h -rmw/subscription_options.h -/opt/ros/foxy/include/rmw/rmw/subscription_options.h -rmw/message_sequence.h -/opt/ros/foxy/include/rmw/rmw/message_sequence.h -rmw/types.h -/opt/ros/foxy/include/rmw/rmw/types.h -rmw/visibility_control.h -/opt/ros/foxy/include/rmw/rmw/visibility_control.h - -/opt/ros/foxy/include/rmw/security_options.h -stdbool.h -- -rcutils/allocator.h -/opt/ros/foxy/include/rmw/rcutils/allocator.h -rmw/ret_types.h -/opt/ros/foxy/include/rmw/rmw/ret_types.h -rmw/visibility_control.h -/opt/ros/foxy/include/rmw/rmw/visibility_control.h - -/opt/ros/foxy/include/rmw/serialized_message.h -rcutils/types/uint8_array.h -/opt/ros/foxy/include/rmw/rcutils/types/uint8_array.h - -/opt/ros/foxy/include/rmw/subscription_options.h -rmw/types.h -/opt/ros/foxy/include/rmw/rmw/types.h - -/opt/ros/foxy/include/rmw/topic_endpoint_info.h -rcutils/allocator.h -/opt/ros/foxy/include/rmw/rcutils/allocator.h -rmw/types.h -/opt/ros/foxy/include/rmw/rmw/types.h -rmw/visibility_control.h -/opt/ros/foxy/include/rmw/rmw/visibility_control.h - -/opt/ros/foxy/include/rmw/topic_endpoint_info_array.h -rcutils/allocator.h -/opt/ros/foxy/include/rmw/rcutils/allocator.h -rmw/topic_endpoint_info.h -/opt/ros/foxy/include/rmw/rmw/topic_endpoint_info.h -rmw/visibility_control.h -/opt/ros/foxy/include/rmw/rmw/visibility_control.h - -/opt/ros/foxy/include/rmw/types.h -stdbool.h -- -stddef.h -- -stdint.h -- -rcutils/logging.h -- -rmw/init.h -/opt/ros/foxy/include/rmw/rmw/init.h -rmw/init_options.h -/opt/ros/foxy/include/rmw/rmw/init_options.h -rmw/ret_types.h -/opt/ros/foxy/include/rmw/rmw/ret_types.h -rmw/security_options.h -/opt/ros/foxy/include/rmw/rmw/security_options.h -rmw/serialized_message.h -/opt/ros/foxy/include/rmw/rmw/serialized_message.h -rmw/visibility_control.h -/opt/ros/foxy/include/rmw/rmw/visibility_control.h - -/opt/ros/foxy/include/rmw/visibility_control.h - -/opt/ros/foxy/include/rosidl_runtime_c/message_initialization.h - -/opt/ros/foxy/include/rosidl_runtime_c/message_type_support_struct.h -rosidl_runtime_c/visibility_control.h -/opt/ros/foxy/include/rosidl_runtime_c/rosidl_runtime_c/visibility_control.h -rosidl_typesupport_interface/macros.h -/opt/ros/foxy/include/rosidl_runtime_c/rosidl_typesupport_interface/macros.h - -/opt/ros/foxy/include/rosidl_runtime_c/sequence_bound.h -rosidl_runtime_c/visibility_control.h -/opt/ros/foxy/include/rosidl_runtime_c/rosidl_runtime_c/visibility_control.h -rosidl_typesupport_interface/macros.h -/opt/ros/foxy/include/rosidl_runtime_c/rosidl_typesupport_interface/macros.h - -/opt/ros/foxy/include/rosidl_runtime_c/service_type_support_struct.h -rosidl_runtime_c/visibility_control.h -/opt/ros/foxy/include/rosidl_runtime_c/rosidl_runtime_c/visibility_control.h -rosidl_typesupport_interface/macros.h -/opt/ros/foxy/include/rosidl_runtime_c/rosidl_typesupport_interface/macros.h - -/opt/ros/foxy/include/rosidl_runtime_c/visibility_control.h - -/opt/ros/foxy/include/rosidl_runtime_cpp/bounded_vector.hpp -algorithm -- -memory -- -stdexcept -- -utility -- -vector -- - -/opt/ros/foxy/include/rosidl_runtime_cpp/message_initialization.hpp -rosidl_runtime_c/message_initialization.h -- - -/opt/ros/foxy/include/rosidl_runtime_cpp/message_type_support_decl.hpp -rosidl_runtime_c/message_type_support_struct.h -- -rosidl_runtime_c/visibility_control.h -- - -/opt/ros/foxy/include/rosidl_runtime_cpp/service_type_support_decl.hpp -rosidl_runtime_c/service_type_support_struct.h -- -rosidl_runtime_c/visibility_control.h -- - -/opt/ros/foxy/include/rosidl_runtime_cpp/traits.hpp -type_traits -- - -/opt/ros/foxy/include/rosidl_typesupport_cpp/message_type_support.hpp -rosidl_runtime_c/message_type_support_struct.h -- -rosidl_runtime_c/visibility_control.h -- - -/opt/ros/foxy/include/rosidl_typesupport_cpp/service_type_support.hpp -rosidl_runtime_c/service_type_support_struct.h -- -rosidl_runtime_c/visibility_control.h -- - -/opt/ros/foxy/include/rosidl_typesupport_interface/macros.h - -/opt/ros/foxy/include/sensor_msgs/msg/camera_info.hpp -sensor_msgs/msg/detail/camera_info__struct.hpp -/opt/ros/foxy/include/sensor_msgs/msg/sensor_msgs/msg/detail/camera_info__struct.hpp -sensor_msgs/msg/detail/camera_info__builder.hpp -/opt/ros/foxy/include/sensor_msgs/msg/sensor_msgs/msg/detail/camera_info__builder.hpp -sensor_msgs/msg/detail/camera_info__traits.hpp -/opt/ros/foxy/include/sensor_msgs/msg/sensor_msgs/msg/detail/camera_info__traits.hpp - -/opt/ros/foxy/include/sensor_msgs/msg/detail/camera_info__builder.hpp -sensor_msgs/msg/detail/camera_info__struct.hpp -/opt/ros/foxy/include/sensor_msgs/msg/detail/sensor_msgs/msg/detail/camera_info__struct.hpp -rosidl_runtime_cpp/message_initialization.hpp -- -algorithm -- -utility -- - -/opt/ros/foxy/include/sensor_msgs/msg/detail/camera_info__struct.hpp -rosidl_runtime_cpp/bounded_vector.hpp -- -rosidl_runtime_cpp/message_initialization.hpp -- -algorithm -- -array -- -memory -- -string -- -vector -- -std_msgs/msg/detail/header__struct.hpp -/opt/ros/foxy/include/sensor_msgs/msg/detail/std_msgs/msg/detail/header__struct.hpp -sensor_msgs/msg/detail/region_of_interest__struct.hpp -/opt/ros/foxy/include/sensor_msgs/msg/detail/sensor_msgs/msg/detail/region_of_interest__struct.hpp - -/opt/ros/foxy/include/sensor_msgs/msg/detail/camera_info__traits.hpp -sensor_msgs/msg/detail/camera_info__struct.hpp -/opt/ros/foxy/include/sensor_msgs/msg/detail/sensor_msgs/msg/detail/camera_info__struct.hpp -rosidl_runtime_cpp/traits.hpp -- -stdint.h -- -type_traits -- -std_msgs/msg/detail/header__traits.hpp -/opt/ros/foxy/include/sensor_msgs/msg/detail/std_msgs/msg/detail/header__traits.hpp -sensor_msgs/msg/detail/region_of_interest__traits.hpp -/opt/ros/foxy/include/sensor_msgs/msg/detail/sensor_msgs/msg/detail/region_of_interest__traits.hpp - -/opt/ros/foxy/include/sensor_msgs/msg/detail/image__builder.hpp -sensor_msgs/msg/detail/image__struct.hpp 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-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 deleted file mode 100755 index 0285512..0000000 --- a/build/v4l2_camera/ament_cmake_core/package.cmake +++ /dev/null @@ -1,14 +0,0 @@ -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 deleted file mode 100755 index 42d17f1..0000000 --- a/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp +++ /dev/null @@ -1,92 +0,0 @@ -# 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 "${_libraries}") - endif() - endforeach() -endif() diff --git a/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp b/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp deleted file mode 100755 index 0cb444e..0000000 --- a/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp +++ /dev/null @@ -1,16 +0,0 @@ -# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in - -set(_exported_include_dirs "${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 deleted file mode 100755 index 31dec03..0000000 --- a/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp +++ /dev/null @@ -1,140 +0,0 @@ -# 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 deleted file mode 100755 index 4725d85..0000000 --- a/build/v4l2_camera/ament_cmake_core/stamps/ament_cmake_export_targets-extras.cmake.stamp +++ /dev/null @@ -1,27 +0,0 @@ -# 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 ${_targets}) - endforeach() -endif() diff --git a/build/v4l2_camera/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/v4l2_camera/ament_cmake_core/stamps/ament_prefix_path.sh.stamp deleted file mode 100755 index 02e441b..0000000 --- a/build/v4l2_camera/ament_cmake_core/stamps/ament_prefix_path.sh.stamp +++ /dev/null @@ -1,4 +0,0 @@ -# copied from -# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh - -ament_prepend_unique_value AMENT_PREFIX_PATH "$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 deleted file mode 100755 index 292e518..0000000 --- a/build/v4l2_camera/ament_cmake_core/stamps/library_path.sh.stamp +++ /dev/null @@ -1,16 +0,0 @@ -# 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 "$AMENT_CURRENT_PREFIX/lib" -fi -unset _IS_DARWIN diff --git a/build/v4l2_camera/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/v4l2_camera/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp deleted file mode 100755 index ee49c9f..0000000 --- a/build/v4l2_camera/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp +++ /dev/null @@ -1,14 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig-version.cmake.in -set(PACKAGE_VERSION "@PACKAGE_VERSION@") - -set(PACKAGE_VERSION_EXACT False) -set(PACKAGE_VERSION_COMPATIBLE False) - -if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_EXACT True) - set(PACKAGE_VERSION_COMPATIBLE True) -endif() - -if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_COMPATIBLE True) -endif() diff --git a/build/v4l2_camera/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/v4l2_camera/ament_cmake_core/stamps/nameConfig.cmake.in.stamp deleted file mode 100755 index 6fb3fe7..0000000 --- a/build/v4l2_camera/ament_cmake_core/stamps/nameConfig.cmake.in.stamp +++ /dev/null @@ -1,42 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig.cmake.in - -# prevent multiple inclusion -if(_@PROJECT_NAME@_CONFIG_INCLUDED) - # ensure to keep the found flag the same - if(NOT DEFINED @PROJECT_NAME@_FOUND) - # explicitly set it to FALSE, otherwise CMake will set it to TRUE - set(@PROJECT_NAME@_FOUND FALSE) - elseif(NOT @PROJECT_NAME@_FOUND) - # use separate condition to avoid uninitialized variable warning - set(@PROJECT_NAME@_FOUND FALSE) - endif() - return() -endif() -set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE) - -# output package information -if(NOT @PROJECT_NAME@_FIND_QUIETLY) - message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@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 deleted file mode 100755 index 6bf2ddd..0000000 --- a/build/v4l2_camera/ament_cmake_core/stamps/package.xml.stamp +++ /dev/null @@ -1,30 +0,0 @@ - - - - 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 deleted file mode 100755 index 6f82f12..0000000 --- a/build/v4l2_camera/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp +++ /dev/null @@ -1,143 +0,0 @@ -#!/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 deleted file mode 100755 index e59b749..0000000 --- a/build/v4l2_camera/ament_cmake_core/stamps/path.sh.stamp +++ /dev/null @@ -1,5 +0,0 @@ -# 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 deleted file mode 100755 index b7c0faf..0000000 --- a/build/v4l2_camera/ament_cmake_core/stamps/templates_2_cmake.py.stamp +++ /dev/null @@ -1,112 +0,0 @@ -#!/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 deleted file mode 100644 index e2fcea4..0000000 --- a/build/v4l2_camera/ament_cmake_core/v4l2_cameraConfig-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# 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 deleted file mode 100644 index 2deb2b6..0000000 --- a/build/v4l2_camera/ament_cmake_core/v4l2_cameraConfig.cmake +++ /dev/null @@ -1,42 +0,0 @@ -# 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}/${_extra}") -endforeach() diff --git a/build/v4l2_camera/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/v4l2_camera/ament_cmake_environment_hooks/ament_prefix_path.dsv deleted file mode 100755 index 79d4c95..0000000 --- a/build/v4l2_camera/ament_cmake_environment_hooks/ament_prefix_path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/build/v4l2_camera/ament_cmake_environment_hooks/library_path.dsv b/build/v4l2_camera/ament_cmake_environment_hooks/library_path.dsv deleted file mode 100755 index 89bec93..0000000 --- a/build/v4l2_camera/ament_cmake_environment_hooks/library_path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;LD_LIBRARY_PATH;lib diff --git a/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.bash b/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.bash deleted file mode 100644 index 49782f2..0000000 --- a/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.bash +++ /dev/null @@ -1,46 +0,0 @@ -# generated from ament_package/template/package_level/local_setup.bash.in - -# source local_setup.sh from same directory as this file -_this_path=$(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 deleted file mode 100755 index faf99b9..0000000 --- a/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.dsv +++ /dev/null @@ -1,3 +0,0 @@ -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 deleted file mode 100644 index 688607f..0000000 --- a/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.sh +++ /dev/null @@ -1,134 +0,0 @@ -# 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=$_package_local_setup_IFS - unset _package_local_setup_IFS - unset AMENT_ENVIRONMENT_HOOKS -fi - -# reset AMENT_CURRENT_PREFIX after each package -# allowing to source multiple package-level setup files -unset AMENT_CURRENT_PREFIX diff --git a/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.zsh b/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.zsh deleted file mode 100644 index fe161be..0000000 --- a/build/v4l2_camera/ament_cmake_environment_hooks/local_setup.zsh +++ /dev/null @@ -1,59 +0,0 @@ -# generated from ament_package/template/package_level/local_setup.zsh.in - -AMENT_SHELL=zsh - -# source local_setup.sh from same directory as this file -_this_path=$(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 deleted file mode 100755 index 39322cb..0000000 --- a/build/v4l2_camera/ament_cmake_environment_hooks/package.dsv +++ /dev/null @@ -1,4 +0,0 @@ -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 deleted file mode 100755 index b94426a..0000000 --- a/build/v4l2_camera/ament_cmake_environment_hooks/path.dsv +++ /dev/null @@ -1 +0,0 @@ -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 deleted file mode 100644 index 42d17f1..0000000 --- a/build/v4l2_camera/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake +++ /dev/null @@ -1,92 +0,0 @@ -# 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 "${_libraries}") - endif() - endforeach() -endif() diff --git a/build/v4l2_camera/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake b/build/v4l2_camera/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake deleted file mode 100644 index 0cb444e..0000000 --- a/build/v4l2_camera/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake +++ /dev/null @@ -1,16 +0,0 @@ -# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in - -set(_exported_include_dirs "${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 deleted file mode 100644 index 31dec03..0000000 --- a/build/v4l2_camera/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake +++ /dev/null @@ -1,140 +0,0 @@ -# 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 deleted file mode 100644 index 4725d85..0000000 --- a/build/v4l2_camera/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake +++ /dev/null @@ -1,27 +0,0 @@ -# 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 deleted file mode 100755 index 0e4836c..0000000 --- a/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/v4l2_camera +++ /dev/null @@ -1 +0,0 @@ -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 deleted file mode 100755 index e69de29..0000000 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 deleted file mode 100644 index f590790..0000000 --- a/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/v4l2_camera +++ /dev/null @@ -1 +0,0 @@ -/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 deleted file mode 100755 index e7d8db6..0000000 --- a/build/v4l2_camera/ament_cmake_index/share/ament_index/resource_index/rclcpp_components/v4l2_camera +++ /dev/null @@ -1 +0,0 @@ -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 deleted file mode 100755 index 028c16d..0000000 --- a/build/v4l2_camera/ament_cmake_package_templates/templates.cmake +++ /dev/null @@ -1,14 +0,0 @@ -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") 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573541a..0000000 --- a/build/v4l2_camera/colcon_build.rc +++ /dev/null @@ -1 +0,0 @@ -0 diff --git a/build/v4l2_camera/colcon_command_prefix_build.sh b/build/v4l2_camera/colcon_command_prefix_build.sh deleted file mode 100755 index f9867d5..0000000 --- a/build/v4l2_camera/colcon_command_prefix_build.sh +++ /dev/null @@ -1 +0,0 @@ -# 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 deleted file mode 100755 index 0050193..0000000 --- a/build/v4l2_camera/colcon_command_prefix_build.sh.env +++ /dev/null @@ -1,70 +0,0 @@ -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 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-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 deleted file mode 100755 index ce9d0c5..0000000 --- a/build/v4l2_camera/install_manifest.txt +++ /dev/null @@ -1,34 +0,0 @@ -/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 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-/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 deleted file mode 100755 index 360b032..0000000 Binary files a/build/v4l2_camera/libv4l2_camera.so and /dev/null differ diff --git a/build/v4l2_camera/v4l2_camera_compose_test b/build/v4l2_camera/v4l2_camera_compose_test deleted file mode 100755 index 6ade456..0000000 Binary files a/build/v4l2_camera/v4l2_camera_compose_test and /dev/null differ diff --git a/build/v4l2_camera/v4l2_camera_node b/build/v4l2_camera/v4l2_camera_node deleted file mode 100755 index 73cb66b..0000000 Binary files a/build/v4l2_camera/v4l2_camera_node and /dev/null differ diff --git a/launch/aruco_launch.py b/launch/aruco_launch.py index f36cad0..c9be4b8 100755 --- a/launch/aruco_launch.py +++ b/launch/aruco_launch.py @@ -1,7 +1,4 @@ -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(): @@ -11,7 +8,7 @@ def generate_launch_description(): package='aruco_detector', executable='aruco_detector_node', parameters=[ - {'url_yaml_file' : "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml"}, + {'url_yaml_file' : "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml"}, # !! insert here your own yaml file url ] ), Node( @@ -21,7 +18,7 @@ def generate_launch_description(): {'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"}, + {'camera_info_url' : "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml"}, # !! insert here your own yaml file url #uncomment for Full_HD #{'image_width' : 1920}, diff --git a/launch/turtle_launch.py b/launch/turtle_launch.py deleted file mode 100755 index b3e7b97..0000000 --- a/launch/turtle_launch.py +++ /dev/null @@ -1,14 +0,0 @@ -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/aruco_detector_node.py b/src/aruco_detector/aruco_detector/aruco_detector_node.py index e714344..2534486 100644 --- a/src/aruco_detector/aruco_detector/aruco_detector_node.py +++ b/src/aruco_detector/aruco_detector/aruco_detector_node.py @@ -1,13 +1,11 @@ -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 +import numpy as np from transforms3d.euler import mat2euler from aruco_detector import yaml_handling @@ -17,29 +15,32 @@ from geometry_msgs.msg import Pose from aruco_interfaces.msg import ArucoMarkerPose + +######################################################## +# Node 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" +######################################################## + 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") diff --git a/src/aruco_detector/aruco_detector/transformations.py b/src/aruco_detector/aruco_detector/transformations.py deleted file mode 100644 index b7a0f1a..0000000 --- a/src/aruco_detector/aruco_detector/transformations.py +++ /dev/null @@ -1,1706 +0,0 @@ -# -*- 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