Update for compatibility with image_pipeline 4.1.0

ros-perception · Apr 23, 2024 · bfdd7ac · bfdd7ac
1 parent 30b982a
commit bfdd7ac
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/camera_calibration/src/camera_calibration/calibrator.py b/camera_calibration/src/camera_calibration/calibrator.py
@@ -1317,9 +1317,9 @@ def chessboard_size(self, lcorners, rcorners, board, msg = None):
         cam = image_geometry.StereoCameraModel()
         if msg == None:
             msg = self.as_message()
-        cam.fromCameraInfo(*msg)
+        cam.from_camera_info(*msg)
         disparities = lcorners[:,:,0] - rcorners[:,:,0]
-        pt3d = [cam.projectPixelTo3d((lcorners[i,0,0], lcorners[i,0,1]), disparities[i,0]) for i in range(lcorners.shape[0]) ]
+        pt3d = [cam.project_pixel_to_3d((lcorners[i,0,0], lcorners[i,0,1]), disparities[i,0]) for i in range(lcorners.shape[0]) ]
         def l2(p0, p1):
             return math.sqrt(sum([(c0 - c1) ** 2 for (c0, c1) in zip(p0, p1)]))