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Fix/install #96

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Fix/install #96

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f2b50aa
Update readme, ignore packages depending on brisk
ntonci Jan 7, 2020
024882b
Switch to new camera creator in aslam
ntonci Jan 7, 2020
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5 changes: 5 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,11 @@ wstool init
wstool merge hand_eye_calibration/all_dependencies.rosinstall
wstool update -j 8

# Ignore packages depending on brisk
touch aslam_cv2/aslam_cv_tracker/CATKIN_IGNORE
touch aslam_cv2/aslam_cv_detector/CATKIN_IGNORE
touch aslam_cv2/aslam_cv_pipeline/CATKIN_IGNORE

# Build hand_eye_calibration_package
catkin build hand_eye_calibration hand_eye_calibration_target_extractor hand_eye_calibration_batch_estimation
```
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6 changes: 3 additions & 3 deletions hand_eye_calibration_target_extractor/src/target_extractor.cc
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Expand Up @@ -2,6 +2,7 @@
#include <limits>

#include <aslam/calibration/target-aprilgrid.h>
#include <aslam/cameras/camera-factory.h>
#include <aslam/cameras/camera.h>
#include <aslam/common/pose-types.h>
#include <aslam/geometric-vision/pnp-pose-estimator.h>
Expand Down Expand Up @@ -232,9 +233,8 @@ int main(int argc, char** argv) {
}
}

aslam::Camera::ConstPtr camera =
aslam::Camera::loadFromYaml(FLAGS_eval_camera_yaml);
CHECK(camera);
YAML::Node yaml_node = YAML::LoadFile(FLAGS_eval_camera_yaml.c_str());
aslam::Camera::ConstPtr camera = aslam::createCamera(yaml_node);

constexpr bool kRunNonlinearRefinement = true;
const double kPixelSigma = 0.5;
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