fix: deleted all ROS2-related files

fix: shortened CMakeLists to avoid linking with ROS2 libs
feat: added type hints to all python files

packages/camera/CMakeLists.txt

@@ -4,25 +4,14 @@ project(camera)
 add_compile_options(-Wall -Wextra -Werror=unused-variable -Wpedantic)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
 
-find_package(cv_bridge REQUIRED)
+# find_package(cv_bridge REQUIRED)
 find_package(OpenCV REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(std_srvs REQUIRED)
-find_package(foxglove_msgs REQUIRED)
-find_package(visualization_msgs REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
-find_package(geometry_msgs REQUIRED)
 find_package(Boost REQUIRED)
-find_package(camera_srvs REQUIRED)
-find_package(common REQUIRED)
 
 add_library(mvsdk SHARED IMPORTED)
 set_target_properties(mvsdk PROPERTIES IMPORTED_LOCATION "/lib/libMVSDK.so")
 
-add_library(queue_lib INTERFACE)
-
 add_executable(camera src/camera.cpp src/camera_status.cpp)
 add_executable(calibration src/calibration_main.cpp src/calibration.cpp
                            src/params.cpp)
@@ -36,10 +25,9 @@ target_include_directories(
                      "/usr/include")
 
 ament_target_dependencies(camera yaml_cpp_vendor)
+ament_target_dependencies(calibration yaml_cpp_vendor Boost OpenCV)
 
-ament_target_dependencies(calibration yaml_cpp_vendor Boost OpenCV camera_srvs)
-
-target_link_libraries(camera mvsdk common::common)
+target_link_libraries(camera mvsdk)
 
 install(TARGETS camera DESTINATION lib/${PROJECT_NAME})
 

packages/camera/package.xml

@@ -9,19 +9,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>cv_bridge</depend>
   <depend>OpenCV</depend>
-  <depend>rclcpp</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>std_srvs</depend>
-  <depend>visuallization_msgs</depend>
-  <depend>foxglove_msgs</depend>
-  <depend>geometry_msgs</depend>
   <depend>yaml_cpp_vendor</depend>
   <depend>Boost</depend>
-  <depend>camera_srvs</depend>
-  <depend>common</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

packages/camera/scripts/binary_parser.py

@@ -7,12 +7,16 @@
 from tqdm import tqdm
 
 
-def save_image(i, img_data, output_folder, width, height):
+def save_image(
+    i: int, img_data: bytes, output_folder: str, width: int, height: int
+) -> None:
     img = np.frombuffer(img_data, dtype=np.uint8).reshape((height, width))
     cv2.imwrite(os.path.join(output_folder, f"image_{str(i).rjust(4, '0')}.png"), img)
 
 
-def read_and_convert(file_path, output_folder, width=1920, height=1200):
+def read_and_convert(
+    file_path: str, output_folder: str, width=1920, height=1200
+) -> None:
     if not os.path.exists(output_folder):
         os.makedirs(output_folder)
 
@@ -30,7 +34,7 @@ def read_and_convert(file_path, output_folder, width=1920, height=1200):
             # save_image(i, img_data, output_folder, width, height)
 
 
-def init_parser():
+def init_parser() -> argparse.ArgumentParser:
     parser = argparse.ArgumentParser()
 
     parser.add_argument(

packages/camera/scripts/dataset_creator.py

@@ -4,14 +4,17 @@
 import cv2
 import numpy as np
 import yaml
+from typing import List
 
 BGR_UNDISTORT_PATH = "bgr_image_undistort"
 BGR_DISTORT_PATH = "bgr_image_distort"
 RAW_UNDISTORT_PATH = "raw_image_undistort"
 
 
 class Intrinsics:
-    def __init__(self, camera_matrix, dist_coefs, image_size):
+    def __init__(
+        self, camera_matrix: np.ndarray, dist_coefs: np.ndarray, image_size: List[int]
+    ) -> None:
         self.camera_matrix = camera_matrix
         self.dist_coefs = dist_coefs
         self.image_size = image_size
@@ -24,7 +27,7 @@ def __init__(self, camera_matrix, dist_coefs, image_size):
             5,
         )
 
-    def undistort_image(self, image):
+    def undistort_image(self, image: np.ndarray) -> np.ndarray:
         cur_image_size = image.shape[:2]
         assert self.image_size == cur_image_size, (
             "Images of different sizes were provided: "
@@ -34,7 +37,7 @@ def undistort_image(self, image):
         return cv2.remap(image, self.mapx, self.mapy, cv2.INTER_NEAREST)
 
     @staticmethod
-    def create_from_yaml(path_to_file):
+    def create_from_yaml(path_to_file: str) -> Intrinsics:
         if not os.path.isfile(path_to_file):
             raise FileNotFoundError
         with open(path_to_file, "r") as stream:
@@ -48,7 +51,7 @@ def create_from_yaml(path_to_file):
             return Intrinsics(camera_matrix, dist_coefs, image_size)
 
 
-def init_parser():
+def init_parser() -> argparse.ArgumentParser:
     parser = argparse.ArgumentParser()
 
     parser.add_argument("--source", help="Directory with raw distorted images")
@@ -63,7 +66,7 @@ def init_parser():
     return parser
 
 
-def main():
+def main() -> None:
     intrinsic_params = None
     parser = init_parser()
     args = parser.parse_args()

packages/camera/scripts/rosbag_parser.py

@@ -2,29 +2,31 @@
 import os
 
 import cv2
+import numpy as np  # for type honts
 import rosbag2_py
+from typing import List
 from cv_bridge import CvBridge
 from rclpy.serialization import deserialize_message
 from rosidl_runtime_py.utilities import get_message
 
 FRAME_SIZE = (1024, 1280)
 
 
-def get_type_by_topic(bag_topics):
+def get_type_by_topic(bag_topics: List[rosbag2_py.TopicMetadata]) -> str:
     type_by_topic = {}
     for topic in bag_topics:
         type_by_topic[topic.name] = topic.type
     return type_by_topic
 
 
-def topic_to_dir(name):
+def topic_to_dir(name: str) -> str:
     dir_name = name.replace("/", "_")
     if dir_name[0] == "_":
         dir_name = dir_name[1:]
     return dir_name
 
 
-def create_dirs(save_dir, topics, equalise=False):
+def create_dirs(save_dir: str, topics: List[str], equalise=False) -> None:
     if not os.path.exists(save_dir):
         os.mkdir(save_dir)
 
@@ -39,7 +41,7 @@ def create_dirs(save_dir, topics, equalise=False):
                 os.mkdir(full_dir)
 
 
-def equalise_hist(img):
+def equalise_hist(img: np.ndarray) -> np.ndarray:
     if len(img.shape) == 3:
         for i in range(3):
             img[:, :, i] = cv2.equalizeHist(img[:, :, i])
@@ -51,7 +53,7 @@ def equalise_hist(img):
     return img
 
 
-def init_parser():
+def init_parser() -> argparse.ArgumentParser:
     parser = argparse.ArgumentParser()
     parser.add_argument("--topics", nargs="*")
     parser.add_argument("--from-bag")
@@ -61,7 +63,7 @@ def init_parser():
     return parser
 
 
-def main():
+def main() -> None:
     parser = init_parser()
     args = parser.parse_args()