rename project to ssct (#8)

* rename project to ssct

* format code

Author: gezp

.github/workflows/ci.yml

@@ -22,15 +22,15 @@ jobs:
           skip-tests: true
       - name: Remove flake8-quotes flake8-import-order for linter
         run: /usr/bin/bash -c "apt-get remove -y python3-flake8-quotes python3-flake8-import-order"
-      - name: Test calibration_interfaces
+      - name: Test ssct_interfaces
         run: |
-          /usr/bin/bash .github/workflows/colcon_test.sh calibration_interfaces
-      - name: Test calibration_common
+          /usr/bin/bash .github/workflows/colcon_test.sh ssct_interfaces
+      - name: Test ssct_common
         run: |
-          /usr/bin/bash .github/workflows/colcon_test.sh calibration_common
-      - name: Test camera_intrinsic_calibration
+          /usr/bin/bash .github/workflows/colcon_test.sh ssct_common
+      - name: Test ssct_camera_intrinsic_calib
         run: |
-          /usr/bin/bash .github/workflows/colcon_test.sh camera_intrinsic_calibration
-      - name: Test lidar_camera_manual_calibration
+          /usr/bin/bash .github/workflows/colcon_test.sh ssct_camera_intrinsic_calib
+      - name: Test ssct_lidar_cam_manual_calib
         run: |
-          /usr/bin/bash .github/workflows/colcon_test.sh lidar_camera_manual_calibration
+          /usr/bin/bash .github/workflows/colcon_test.sh ssct_lidar_cam_manual_calib

README.md

@@ -1,4 +1,4 @@
-# sensor_calibration
+# simple sensor calibration toolbox (SSCT)
 
 [![Build and Test](https://github.com/gezp/sensor_calibration/actions/workflows/ci.yml/badge.svg?branch=humble)](https://github.com/gezp/sensor_calibration/actions/workflows/ci.yml)
 
@@ -40,15 +40,15 @@ colcon build --symlink-install
 
 传感器内参标定
 
-- [x] 实现针孔相机内参标定: `camera_intrinsic_calibration`
-- [ ] 实现鱼眼相机内参标定: `camera_intrinsic_calibration`
-- [ ] 实现全景相机内参标定: `camera_intrinsic_calibration`
+- [x] 实现针孔相机内参标定: `ssct_camera_intrinsic_calib`
+- [ ] 实现鱼眼相机内参标定: `ssct_camera_intrinsic_calib`
+- [ ] 实现全景相机内参标定: `ssct_camera_intrinsic_calib`
 
 sensor2sensor外参标定
 
-- [ ] 实现手动lidar2lidar外参标定: `lidar_lidar_manual_calibration`
-- [ ] 实现基于ICP的自动lidar2lidar外参标定: `lidar_lidar_calibration`
-- [x] 实现手动lidar2camera外参标定: `lidar_camera_manual_calibration`
+- [ ] 实现手动lidar2lidar外参标定: `ssct_lidar_lidar_calib`
+- [ ] 实现基于ICP的自动lidar2lidar外参标定: `ssct_lidar_lidar_calib`
+- [x] 实现手动lidar2camera外参标定: `ssct_lidar_cam_manual_calib`
 
 
 ## Acknowledgement

camera_intrinsic_calibration/CMakeLists.txt renamed to ssct_camera_intrinsic_calib/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(camera_intrinsic_calibration)
+project(ssct_camera_intrinsic_calib)
 
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
@@ -10,8 +10,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(calibration_common REQUIRED)
-find_package(calibration_interfaces REQUIRED)
+find_package(ssct_common REQUIRED)
+find_package(ssct_interfaces REQUIRED)
 find_package(Ceres REQUIRED)
 find_package(Sophus REQUIRED)
 find_package(OpenCV REQUIRED)
@@ -21,8 +21,8 @@ include_directories(include)
 
 # libaray
 set(dependencies
-  calibration_common
-  calibration_interfaces
+  ssct_common
+  ssct_interfaces
 )
 
 add_library(${PROJECT_NAME} SHARED

camera_intrinsic_calibration/README.md renamed to ssct_camera_intrinsic_calib/README.md

@@ -1,4 +1,4 @@
-# camera_intrinsic_calibration
+# ssct_camera_intrinsic_calib
 
 这个包提供了相机内参标定的工具，目前已经实现的`calibrator`有：
 
@@ -21,7 +21,7 @@ mkdir ~/calibration_data
 运行标定demo程序
 
 ```bash
-ros2 launch camera_intrinsic_calibration demo.launch.py 
+ros2 launch ssct_camera_intrinsic_calib demo.launch.py 
 ```
 
 * 默认情况下需要使用GUI客户端启动标定流程，如果想要标定程序自动开启标定流程并保存结果，并不使用GUI，可设置`calibration_node`的参数`autostart`为`True`。
@@ -31,7 +31,7 @@ ros2 launch camera_intrinsic_calibration demo.launch.py
 运行标定GUI客户端
 
 ```bash
-ros2 run camera_intrinsic_calibration calibration_client.py
+ros2 run ssct_camera_intrinsic_calib calibration_client.py
 ```
 
 * 基于Qt的图形化界面，可以查看标定过程的标定信息，以及控制标定程序的流程。

camera_intrinsic_calibration/config/calibrator.yaml renamed to ssct_camera_intrinsic_calib/config/calibrator.yaml

@@ -20,14 +20,14 @@
 #include <deque>
 
 #include "rclcpp/rclcpp.hpp"
-#include "calibration_common/publisher/image_publisher.hpp"
-#include "calibration_common/subscriber/image_subscriber.hpp"
-#include "calibration_common/calibration_params.hpp"
-#include "camera_intrinsic_calibration/pinhole_calibrator.hpp"
-#include "calibration_interfaces/msg/calibration_status.hpp"
-#include "calibration_interfaces/msg/calibration_command.hpp"
+#include "ssct_common/publisher/image_publisher.hpp"
+#include "ssct_common/subscriber/image_subscriber.hpp"
+#include "ssct_common/calibration_params.hpp"
+#include "ssct_camera_intrinsic_calib/pinhole_calibrator.hpp"
+#include "ssct_interfaces/msg/calibration_status.hpp"
+#include "ssct_interfaces/msg/calibration_command.hpp"
 
-namespace camera_intrinsic_calibration
+namespace ssct_camera_intrinsic_calib
 {
 
 class CalibrationNode
@@ -57,10 +57,10 @@ class CalibrationNode
 private:
   rclcpp::Node::SharedPtr node_;
   rclcpp::TimerBase::SharedPtr timer_;
-  std::shared_ptr<calibration_common::ImageSubscriber> image_sub_;
-  rclcpp::Subscription<calibration_interfaces::msg::CalibrationCommand>::SharedPtr cmd_sub_;
-  rclcpp::Publisher<calibration_interfaces::msg::CalibrationStatus>::SharedPtr status_pub_;
-  std::shared_ptr<calibration_common::ImagePublisher> debug_image_pub_;
+  std::shared_ptr<ssct_common::ImageSubscriber> image_sub_;
+  rclcpp::Subscription<ssct_interfaces::msg::CalibrationCommand>::SharedPtr cmd_sub_;
+  rclcpp::Publisher<ssct_interfaces::msg::CalibrationStatus>::SharedPtr status_pub_;
+  std::shared_ptr<ssct_common::ImagePublisher> debug_image_pub_;
   std::shared_ptr<PinholeCalibrator> calibrator_;
   // param
   std::string frame_id_{"camera"};
@@ -72,16 +72,16 @@ class CalibrationNode
   bool exit_{false};
   // data
   std::deque<SensorData> sensor_data_buffer_;
-  std::shared_ptr<calibration_common::CalibrationParams> calibration_params_;
+  std::shared_ptr<ssct_common::CalibrationParams> calibration_params_;
   uint8_t state_;
   bool success_{false};
   bool is_auto_mode_{true};
   bool need_collect_once_{false};
   bool need_optimize_once_{false};
-  calibration_interfaces::msg::CalibrationStatus status_msg_;
+  ssct_interfaces::msg::CalibrationStatus status_msg_;
   std::mutex status_mutex_;
   //
-  std::deque<calibration_interfaces::msg::CalibrationCommand> command_msgs_;
+  std::deque<ssct_interfaces::msg::CalibrationCommand> command_msgs_;
   std::mutex command_mutex_;
 };
-}  // namespace camera_intrinsic_calibration
+}  // namespace ssct_camera_intrinsic_calib

camera_intrinsic_calibration/include/camera_intrinsic_calibration/calibration_node.hpp renamed to ssct_camera_intrinsic_calib/include/ssct_camera_intrinsic_calib/calibration_node.hpp

@@ -24,7 +24,7 @@
 
 #include "opencv2/opencv.hpp"
 
-namespace camera_intrinsic_calibration
+namespace ssct_camera_intrinsic_calib
 {
 
 class PinholeCalibrator
@@ -68,4 +68,4 @@ class PinholeCalibrator
   cv::Mat debug_image_;
 };
 
-}  // namespace camera_intrinsic_calibration
+}  // namespace ssct_camera_intrinsic_calib

camera_intrinsic_calibration/include/camera_intrinsic_calibration/pinhole_calibrator.hpp renamed to ssct_camera_intrinsic_calib/include/ssct_camera_intrinsic_calib/pinhole_calibrator.hpp

@@ -24,18 +24,18 @@ def generate_launch_description():
         os.environ["HOME"], "calibration_data", "SensorsCalibration"
     )
     camera_data_dir = os.path.join(data_dir, "camera_intrinsic")
-    pkg_camera_intrinsic_calibration = get_package_share_directory(
-        "camera_intrinsic_calibration"
+    pkg_ssct_camera_intrinsic_calib = get_package_share_directory(
+        "ssct_camera_intrinsic_calib"
     )
     calibrator_config = os.path.join(
-        pkg_camera_intrinsic_calibration, "config", "calibrator.yaml"
+        pkg_ssct_camera_intrinsic_calib, "config", "calibrator.yaml"
     )
     calibration_result = os.path.join(
         os.environ["HOME"], "calibration_data", "result.yaml"
     )
     dummy_camera_node = Node(
         name="dummy_camera_node",
-        package="calibration_common",
+        package="ssct_common",
         executable="dummy_camera_node",
         parameters=[
             {
@@ -48,7 +48,7 @@ def generate_launch_description():
     )
     calibration_node = Node(
         name="camera_intrisic_calibration_node",
-        package="camera_intrinsic_calibration",
+        package="ssct_camera_intrinsic_calib",
         executable="calibration_node",
         parameters=[
             {
@@ -62,7 +62,7 @@ def generate_launch_description():
     )
     calibration_client = Node(
         name="calibration_client",
-        package="camera_intrinsic_calibration",
+        package="ssct_camera_intrinsic_calib",
         executable="calibration_client.py",
         output="screen",
     )

camera_intrinsic_calibration/launch/demo.launch.py renamed to ssct_camera_intrinsic_calib/launch/demo.launch.py

@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
-  <name>camera_intrinsic_calibration</name>
+  <name>ssct_camera_intrinsic_calib</name>
   <version>0.1.0</version>
-  <description>The camera_intrinsic_calibration package</description>
+  <description>The ssct_camera_intrinsic_calib package</description>
   <maintainer email="zhenpeng.ge@qq.com">Zhenpeng Ge</maintainer>
   <license>Apache-2.0</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>calibration_common</depend>
-  <depend>calibration_interfaces</depend>
+  <depend>ssct_common</depend>
+  <depend>ssct_interfaces</depend>
   <depend>libceres-dev</depend>
   <depend>sophus</depend>
 

camera_intrinsic_calibration/package.xml renamed to ssct_camera_intrinsic_calib/package.xml

@@ -35,7 +35,7 @@
 import cv2
 from cv_bridge import CvBridge
 
-from calibration_interfaces.msg import CalibrationCommand, CalibrationStatus
+from ssct_interfaces.msg import CalibrationCommand, CalibrationStatus
 import sensor_msgs
 
 
@@ -149,7 +149,7 @@ def btn_refresh_callback(self):
         topics = self.ros_node.get_topic_names_and_types()
         valid_topics = []
         for data in topics:
-            if data[1][0] == "calibration_interfaces/msg/CalibrationStatus":
+            if data[1][0] == "ssct_interfaces/msg/CalibrationStatus":
                 valid_topics.append(data[0])
         self.comboBox.clear()
         self.comboBox.addItems(valid_topics)
@@ -207,7 +207,7 @@ def initialize_calibration_status(self, msg: CalibrationStatus):
         for btn in self.btn_commands:
             btn.setEnabled(True)
         self.initialized = True
-        if msg.calibration_type != "camera_intrinsic_calibration":
+        if msg.calibration_type != "ssct_camera_intrinsic_calib":
             return
         # debug image
         debug_topic = "/calibration/camera_intrinsic/" + msg.frame_id + "/debug_image"