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fix bugs in SetCameraInfo functions #377

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fix bugs in SetCameraInfo functions #377

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a822d60
fix bugs in SetCameraInfo functions
furbrain Sep 9, 2025
07640d8
Update camera_info_manager.py
furbrain Sep 13, 2025
06a99a6
Make tests pass
furbrain Sep 16, 2025
a66ec5c
Update camera_info_manager.py
furbrain Sep 17, 2025
f147e94
Update camera_info_manager.py
furbrain Sep 17, 2025
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14 changes: 12 additions & 2 deletions camera_info_manager_py/camera_info_manager/camera_info_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,19 +41,30 @@

"""

import array
import errno
import locale
import os
from pathlib import Path

from ament_index_python import get_package_share_directory
from ament_index_python import PackageNotFoundError
import numpy as np
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import CameraInfo
from sensor_msgs.srv import SetCameraInfo
import yaml


def _ndarray_representer(dumper: yaml.Dumper, array: np.ndarray) -> yaml.Node:
"""Make yaml output a numpy array as though it were a simple list."""
return dumper.represent_list(array.tolist())


yaml.SafeDumper.add_representer(np.ndarray, _ndarray_representer)
yaml.SafeDumper.add_representer(array.array, yaml.representer.Representer.represent_list)

default_camera_info_url = 'file://${ROS_HOME}/camera_info/${NAME}.yaml'
# parseURL() type codes:
URL_empty = 0 # empty string
Expand Down Expand Up @@ -326,7 +337,7 @@ def loadCameraInfo(self):
"""
self._loadCalibration(self.url, self.cname)

def setCameraInfo(self, req):
def setCameraInfo(self, req, rsp):
"""
Set camera info request callback.

Expand All @@ -339,7 +350,6 @@ def setCameraInfo(self, req):
"""
self.node.get_logger().debug('SetCameraInfo received for ' + self.cname)
self.camera_info = req.camera_info
rsp = SetCameraInfo.Response()
rsp.success = saveCalibration(req.camera_info, self.url, self.cname)
if not rsp.success:
rsp.status_message = 'Error storing camera calibration.'
Expand Down