Fix/18.04 (#241)

* switch to PIL library for Image

* deactivate threading for cv image displays

* Update MulticamGraph.py

Preserve some backward compatibility with older python versions.

* fix opencv windows

* add option to manually input forcal length

* remove debug option

* PR review @LBern

* switch to double in the first place

* Revert "Merge pull request #304 from ethz-asl/feature/input_focal_length_guess"

This reverts commit 2999e18, reversing
changes made to ee2b09d.

Co-authored-by: Hannes Sommer <hannes.sommer@enlightware.ch>

aslam_cv/aslam_cameras/src/GridDetector.cpp

@@ -32,8 +32,7 @@ GridDetector::GridDetector(boost::shared_ptr<CameraGeometryBase> geometry,
 void GridDetector::initializeDetector()
 {
  if (_options.plotCornerReprojection) {
- cv::namedWindow("Corner reprojection");
- cvStartWindowThread();
+ cv::namedWindow("Corner reprojection", cv::WINDOW_NORMAL);
  }
 }
 

aslam_cv/aslam_cameras_april/src/GridCalibrationTargetAprilgrid.cpp

@@ -56,9 +56,8 @@ GridCalibrationTargetAprilgrid::GridCalibrationTargetAprilgrid() :
 void GridCalibrationTargetAprilgrid::initialize()
 {
  if (_options.showExtractionVideo) {
- cv::namedWindow("Aprilgrid: Tag detection");
- cv::namedWindow("Aprilgrid: Tag corners");
- cvStartWindowThread();
+ cv::namedWindow("Aprilgrid: Tag detection", cv::WINDOW_NORMAL);
+ cv::namedWindow("Aprilgrid: Tag corners", cv::WINDOW_NORMAL);
  }
 
  //create the tag detector

aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py

@@ -598,8 +598,11 @@ def printParameters(cself, dest=sys.stdout):
  corners, reprojs, rerrs = getReprojectionErrors(cself, cidx) 
  if len(rerrs)>0:
  me, se = getReprojectionErrorStatistics(rerrs)
- print >> dest, "\t reprojection error: [%f, %f] +- [%f, %f]" % (me[0], me[1], se[0], se[1])
- print >> dest
+ try:
+ print >> dest, "\t reprojection error: [%f, %f] +- [%f, %f]" % (me[0], me[1], se[0], se[1])
+ except:
+ print >> dest, "\t Failed printing the reprojection error."
+ print >> dest
 
  #print baselines
  for bidx, baseline in enumerate(cself.baselines):

aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/MulticamGraph.py

@@ -9,7 +9,10 @@
 import itertools
 import sys
 import pylab as pl
-import Image
+try:
+ from PIL import Image # Modern
+except ImportError:
+ import Image # Old import (backward compatibility)
 import time
 
 # make numpy print prettier