Fix camera and projector extrinsics in 3dScene (#183)

* fix camera object extrinsics * fix camera projection * Update rosys/vision/camera_projector.py --------- Co-authored-by: Falko Schindler <[email protected]>
zauberzeug · Aug 27, 2024 · 8321a69 · 8321a69
1 parent df9a32f
commit 8321a69
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/rosys/vision/camera_objects_.py b/rosys/vision/camera_objects_.py
@@ -23,6 +23,7 @@ def __init__(self,
                  *,
                  px_per_m: float = 10000,
                  debug: bool = False,
+                 interval: float = 1.0
                  ) -> None:
         super().__init__()
 
@@ -33,7 +34,7 @@ def __init__(self,
         self.textures: dict[str, Texture] = {}
         self.image_shrink_factor = 2
 
-        ui.timer(1.0, self.update)
+        ui.timer(interval, self.update)
 
     @property
     def calibrated_cameras(self) -> dict[str, CalibratableCamera]:
@@ -72,8 +73,9 @@ async def update_cameras(self) -> None:
                             camera.calibration.intrinsics.size.height / self.px_per_m,
                             camera.calibration.intrinsics.matrix[0][0] / self.px_per_m,
                         )
-            camera_groups[uid].move(*camera.calibration.extrinsics.translation)
-            camera_groups[uid].rotate_R(camera.calibration.extrinsics.resolve().rotation.R)
+            world_extrinsics = camera.calibration.extrinsics.resolve()
+            camera_groups[uid].move(*world_extrinsics.translation)
+            camera_groups[uid].rotate_R(world_extrinsics.rotation.R)
 
     async def update_images(self) -> None:
         newest_images = [camera.latest_captured_image

diff --git a/rosys/vision/camera_projector.py b/rosys/vision/camera_projector.py
@@ -24,12 +24,12 @@ class CameraProjector:
     It is mainly used for visualization purposes.
     """
 
-    def __init__(self, camera_provider: CalibratableCameraProvider) -> None:
+    def __init__(self, camera_provider: CalibratableCameraProvider, *, interval: float = 1.0) -> None:
         self.camera_provider = camera_provider
 
         self.projections: dict[str, Projection] = {}
 
-        rosys.on_repeat(self.step, 1.0)
+        rosys.on_repeat(self.step, interval)
 
     async def step(self) -> None:
         for id_ in list(self.projections):
@@ -39,8 +39,6 @@ async def step(self) -> None:
         for id_, camera in self.camera_provider.cameras.items():
             if not camera.calibration:
                 continue
-            if id_ in self.projections and self.projections[id_].camera_calibration == camera.calibration:
-                continue
             self.projections[id_] = Projection(
                 camera_id=id_,
                 camera_calibration=deepcopy(camera.calibration),