lookout-config 1.2.2__py3-none-any.whl → 1.3.0__py3-none-any.whl

lookout_config/__init__.py

@@ -3,80 +3,27 @@
 # To re-generate the json schemas
 import yaml
 import os
-from dataclasses import dataclass, field
-from enum import Enum
-from dacite import from_dict, Config
-from typing import Optional, Any, List, Annotated
-from dc_schema import SchemaAnnotation
-from dataclasses import asdict
+from typing import Any
 from pathlib import Path
-from greenstream_config.types import CameraOverride
+
+from lookout_config.types import LookoutConfig
 
 
 LOOKOUT_CONFIG_FILE_NAME = "lookout.yml"
 LOOKOUT_SCHEMA_URL = "https://greenroom-robotics.github.io/lookout/schemas/lookout.schema.json"
 
 
-def join_lines(*lines: str) -> str:
-    return "\n".join(lines)
-
-
-class Mode(str, Enum):
-    SIMULATOR = "simulator"
-    HARDWARE = "hardware"
-    STUBS = "stubs"
-    ROSBAG = "rosbag"
-
-
-class LogLevel(str, Enum):
-    INFO = "info"
-    DEBUG = "debug"
-
-
-class Network(str, Enum):
-    SHARED = "shared"
-    HOST = "host"
-
-
-@dataclass
-class LookoutConfig:
-    ros_domain_id: int = 0
-    namespace_vessel: str = "vessel"
-    gama_vessel: bool = False
-    mode: Mode = Mode.STUBS
-    log_level: LogLevel = LogLevel.INFO
-    camera_overrides: Optional[List[Optional[CameraOverride]]] = None
-    network: Network = Network.HOST
-    gpu: bool = False
-
-
 def find_config() -> Path:
     """Returns the path to the .config/greenroom directory"""
     return Path.home().joinpath(".config/greenroom")
 
 
-def dacite_to_dict(obj: Any):
-    def dict_factory(data: Any):
-        def convert_value(obj: Any):
-            if isinstance(obj, Enum):
-                return obj.value
-            return obj
-
-        return {k: convert_value(v) for k, v in data}
-
-    return asdict(obj, dict_factory=dict_factory)
-
-
 def get_path():
     return find_config() / LOOKOUT_CONFIG_FILE_NAME
 
 
 def parse(config: dict[str, Any]) -> LookoutConfig:
-    return from_dict(
-        LookoutConfig,
-        config,
-        config=Config(cast=[LogLevel, Mode, Network]),
-    )
+    return LookoutConfig(**config)
 
 
 def read() -> LookoutConfig:
@@ -92,5 +39,5 @@ def write(config: LookoutConfig):
     with open(path, "w") as stream:
         print(f"Writing: {path}")
         headers = f"# yaml-language-server: $schema={LOOKOUT_SCHEMA_URL}"
-        data = "\n".join([headers, yaml.dump(dacite_to_dict(config))])
+        data = "\n".join([headers, yaml.dump(config.model_dump(mode="json"))])
         stream.write(data)

lookout_config/generate_schemas.py

@@ -1,7 +1,6 @@
 import os
 from pathlib import Path
 import json
-from dc_schema import get_schema
 from lookout_config import LookoutConfig
 
 
@@ -9,7 +8,8 @@ def generate_schemas():
     """Generates the schemas for the config files"""
     SCHEMAS_PATH = Path(os.path.dirname(__file__)) / "schemas"
     with open(SCHEMAS_PATH / "lookout.schema.json", "w") as f:
-        json.dump(get_schema(LookoutConfig), f, indent=2)
+        main_model_schema = LookoutConfig.model_json_schema()
+        json.dump(main_model_schema, f, indent=2)
 
 
 if __name__ == "__main__":

lookout_config/generate_urdf.py

@@ -18,8 +18,9 @@ def generate_urdf(
 
     # generate links and joints for all vessel cameras
     camera_links, camera_joints = get_cameras_urdf(
-        cameras, config.camera_overrides if config.camera_overrides else [None], add_optical_frame
+        cameras, [None], add_optical_frame, namespace=config.namespace_vessel
     )
+    namespace_prefix = f"{config.namespace_vessel}_" if config.namespace_vessel != "" else ""
 
     urdf = URDF(
         name="origins",
@@ -28,10 +29,15 @@ def generate_urdf(
             Material(name="blue", color=[0, 0, 1, 1]),
         ],
         links=[
-            Link(name="ins_link", inertial=None, visuals=None, collisions=None),
-            Link(name="waterline_link", inertial=None, visuals=None, collisions=None),
+            Link(name=f"{namespace_prefix}ins_link", inertial=None, visuals=None, collisions=None),
             Link(
-                name="base_link",
+                name=f"{namespace_prefix}waterline_link",
+                inertial=None,
+                visuals=None,
+                collisions=None,
+            ),
+            Link(
+                name=f"{namespace_prefix}base_link",
                 inertial=None,
                 visuals=[
                     Visual(
@@ -49,9 +55,9 @@ def generate_urdf(
         ],
         joints=[
             Joint(
-                name="base_to_ins",
-                parent="base_link",
-                child="ins_link",
+                name=f"{namespace_prefix}base_to_ins",
+                parent=f"{namespace_prefix}base_link",
+                child=f"{namespace_prefix}ins_link",
                 joint_type="fixed",
                 origin=xyz_rpy_to_matrix(
                     [
@@ -65,9 +71,9 @@ def generate_urdf(
                 ),
             ),
             Joint(
-                name="base_to_waterline",
-                parent="base_link",
-                child="waterline_link",
+                name=f"{namespace_prefix}base_to_{namespace_prefix}waterline",
+                parent=f"{namespace_prefix}base_link",
+                child=f"{namespace_prefix}waterline_link",
                 joint_type="fixed",
                 origin=xyz_rpy_to_matrix([0, 0, -waterline, 0, 0, 0]),
             ),

lookout_config/schemas/lookout.schema.json

@@ -1,76 +1,304 @@
 {
-  "$schema": "https://json-schema.org/draft/2020-12/schema",
-  "type": "object",
-  "title": "LookoutConfig",
-  "properties": {
-    "ros_domain_id": {
-      "type": "integer",
-      "default": 0
-    },
-    "namespace_vessel": {
-      "type": "string",
-      "default": "vessel"
-    },
-    "gama_vessel": {
-      "type": "boolean",
-      "default": false
-    },
-    "mode": {
-      "allOf": [
-        {
-          "$ref": "#/$defs/Mode"
+  "$defs": {
+    "CameraExtended": {
+      "properties": {
+        "name": {
+          "title": "Name",
+          "type": "string"
+        },
+        "order": {
+          "title": "Order",
+          "type": "integer"
+        },
+        "elements": {
+          "items": {
+            "type": "string"
+          },
+          "title": "Elements",
+          "type": "array"
+        },
+        "pixel_width": {
+          "title": "Pixel Width",
+          "type": "integer"
+        },
+        "pixel_height": {
+          "title": "Pixel Height",
+          "type": "integer"
+        },
+        "camera_frame_topic": {
+          "anyOf": [
+            {
+              "type": "string"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "title": "Camera Frame Topic"
+        },
+        "camera_info_topic": {
+          "anyOf": [
+            {
+              "type": "string"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "title": "Camera Info Topic"
+        },
+        "k_intrinsic": {
+          "anyOf": [
+            {
+              "items": {
+                "type": "number"
+              },
+              "type": "array"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "title": "K Intrinsic"
+        },
+        "distortion_parameters": {
+          "anyOf": [
+            {
+              "items": {
+                "type": "number"
+              },
+              "type": "array"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "title": "Distortion Parameters"
+        },
+        "distortion_model": {
+          "default": "plumb_bob",
+          "title": "Distortion Model",
+          "type": "string"
+        },
+        "publish_camera_info": {
+          "default": true,
+          "title": "Publish Camera Info",
+          "type": "boolean"
+        },
+        "distortion_kmat_alpha": {
+          "default": 0.5,
+          "title": "Distortion Kmat Alpha",
+          "type": "number"
+        },
+        "offsets": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/Offsets"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null
+        },
+        "type": {
+          "default": "color",
+          "title": "Type",
+          "type": "string"
+        },
+        "ros_throttle_time": {
+          "default": 1e-07,
+          "title": "Ros Throttle Time",
+          "type": "number"
+        },
+        "undistort_image": {
+          "default": false,
+          "title": "Undistort Image",
+          "type": "boolean"
+        },
+        "ptz": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/PTZOnvif"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null
+        },
+        "ignore_regions": {
+          "items": {
+            "$ref": "#/$defs/Polygon"
+          },
+          "title": "Ignore Regions",
+          "type": "array"
         }
+      },
+      "required": [
+        "name",
+        "order",
+        "elements",
+        "pixel_width",
+        "pixel_height",
+        "camera_frame_topic",
+        "camera_info_topic"
       ],
-      "default": "stubs"
+      "title": "CameraExtended",
+      "type": "object"
     },
-    "log_level": {
-      "allOf": [
-        {
-          "$ref": "#/$defs/LogLevel"
-        }
+    "GeolocationMode": {
+      "enum": [
+        "none",
+        "relative_bearing",
+        "absolute_bearing",
+        "range_bearing"
       ],
-      "default": "info"
-    },
-    "greenstream": {
-      "allOf": [
-        {
-          "$ref": "#/$defs/Greenstream"
-        }
-      ]
+      "title": "GeolocationMode",
+      "type": "string"
     },
-    "network": {
-      "allOf": [
-        {
-          "$ref": "#/$defs/Network"
-        }
+    "LogLevel": {
+      "enum": [
+        "info",
+        "debug"
       ],
-      "default": "host"
-    }
-  },
-  "$defs": {
+      "title": "LogLevel",
+      "type": "string"
+    },
     "Mode": {
-      "title": "Mode",
       "enum": [
         "simulator",
         "hardware",
-        "stubs"
-      ]
+        "stubs",
+        "rosbag"
+      ],
+      "title": "Mode",
+      "type": "string"
     },
-    "LogLevel": {
-      "title": "LogLevel",
+    "Network": {
       "enum": [
-        "info",
-        "debug"
-      ]
+        "shared",
+        "host"
+      ],
+      "title": "Network",
+      "type": "string"
     },
-    "Pipeline": {
-      "type": "object",
-      "title": "Pipeline",
+    "Offsets": {
       "properties": {
-        "name": {
+        "roll": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Roll"
+        },
+        "pitch": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Pitch"
+        },
+        "yaw": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Yaw"
+        },
+        "forward": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Forward"
+        },
+        "left": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Left"
+        },
+        "up": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Up"
+        }
+      },
+      "title": "Offsets",
+      "type": "object"
+    },
+    "PTZComponent": {
+      "properties": {
+        "move_type": {
+          "enum": [
+            "pan",
+            "tilt",
+            "zoom"
+          ],
+          "title": "Move Type",
           "type": "string"
         },
-        "order": {
+        "home": {
+          "title": "Home",
+          "type": "number"
+        },
+        "joint_offsets": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/Offsets"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null
+        },
+        "joint_limits": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/PTZLimits"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null
+        },
+        "joystick_axis_index": {
           "anyOf": [
             {
               "type": "integer"
@@ -78,62 +306,289 @@
             {
               "type": "null"
             }
-          ]
+          ],
+          "default": null,
+          "title": "Joystick Axis Index"
         },
-        "elements": {
-          "type": "array",
-          "items": {
-            "type": "string"
-          }
+        "reverse_joystick_input": {
+          "default": false,
+          "title": "Reverse Joystick Input",
+          "type": "boolean"
         }
       },
       "required": [
-        "name",
-        "order",
-        "elements"
-      ]
+        "move_type",
+        "home"
+      ],
+      "title": "PTZComponent",
+      "type": "object"
     },
-    "Greenstream": {
-      "type": "object",
-      "title": "Greenstream",
+    "PTZControlSettings": {
       "properties": {
-        "pipeline_overrides": {
+        "absolute_move_tolerance": {
           "anyOf": [
             {
-              "type": "array",
-              "items": {
-                "anyOf": [
-                  {
-                    "allOf": [
-                      {
-                        "$ref": "#/$defs/Pipeline"
-                      }
-                    ]
-                  },
-                  {
-                    "type": "null"
-                  }
-                ]
-              }
+              "type": "number"
             },
             {
               "type": "null"
             }
           ],
-          "default": null,
-          "description": "A list of greenstream pipelines.\nThese will only take affect if the the mode is 'hardware'\n\nSet these to 'null' to ignore the override.",
-          "examples": [
-            "- null\n- name: bow\n  elements:\n  - v4l2src\n  - video/x-raw, format=RGB,width=1280,height=720"
-          ]
+          "default": 0.0175,
+          "title": "Absolute Move Tolerance"
+        },
+        "query_timeout": {
+          "anyOf": [
+            {
+              "type": "integer"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": 2,
+          "title": "Query Timeout"
+        },
+        "check_camera_rate": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": 1.0,
+          "title": "Check Camera Rate"
+        },
+        "publish_rate": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": 10.0,
+          "title": "Publish Rate"
+        },
+        "wsdl_dir": {
+          "anyOf": [
+            {
+              "type": "string"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": "/home/ros/.local/lib/python3.12/site-packages/wsdl",
+          "title": "Wsdl Dir"
+        },
+        "continuous_state_publishing": {
+          "anyOf": [
+            {
+              "type": "boolean"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": true,
+          "title": "Continuous State Publishing"
+        },
+        "frd_to_flu_transform": {
+          "default": true,
+          "title": "Frd To Flu Transform",
+          "type": "boolean"
         }
-      }
+      },
+      "title": "PTZControlSettings",
+      "type": "object"
     },
-    "Network": {
-      "title": "Network",
-      "enum": [
-        "shared",
-        "host"
-      ]
+    "PTZLimits": {
+      "properties": {
+        "min": {
+          "title": "Min",
+          "type": "number"
+        },
+        "max": {
+          "title": "Max",
+          "type": "number"
+        }
+      },
+      "required": [
+        "min",
+        "max"
+      ],
+      "title": "PTZLimits",
+      "type": "object"
+    },
+    "PTZOnvif": {
+      "properties": {
+        "ip_address": {
+          "title": "Ip Address",
+          "type": "string"
+        },
+        "port": {
+          "title": "Port",
+          "type": "integer"
+        },
+        "username": {
+          "title": "Username",
+          "type": "string"
+        },
+        "password": {
+          "title": "Password",
+          "type": "string"
+        },
+        "joystick_topic": {
+          "anyOf": [
+            {
+              "type": "string"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "title": "Joystick Topic"
+        },
+        "ptz_components": {
+          "items": {
+            "$ref": "#/$defs/PTZComponent"
+          },
+          "title": "Ptz Components",
+          "type": "array"
+        },
+        "settings": {
+          "allOf": [
+            {
+              "$ref": "#/$defs/PTZControlSettings"
+            }
+          ],
+          "default": {
+            "absolute_move_tolerance": 0.0175,
+            "query_timeout": 2,
+            "check_camera_rate": 1.0,
+            "publish_rate": 10.0,
+            "wsdl_dir": "/home/ros/.local/lib/python3.12/site-packages/wsdl",
+            "continuous_state_publishing": true,
+            "frd_to_flu_transform": true
+          }
+        }
+      },
+      "required": [
+        "ip_address",
+        "port",
+        "username",
+        "password",
+        "joystick_topic",
+        "ptz_components"
+      ],
+      "title": "PTZOnvif",
+      "type": "object"
+    },
+    "Point": {
+      "properties": {
+        "x": {
+          "title": "X",
+          "type": "integer"
+        },
+        "y": {
+          "title": "Y",
+          "type": "integer"
+        }
+      },
+      "required": [
+        "x",
+        "y"
+      ],
+      "title": "Point",
+      "type": "object"
+    },
+    "Polygon": {
+      "properties": {
+        "points": {
+          "items": {
+            "$ref": "#/$defs/Point"
+          },
+          "title": "Points",
+          "type": "array"
+        }
+      },
+      "required": [
+        "points"
+      ],
+      "title": "Polygon",
+      "type": "object"
+    }
+  },
+  "properties": {
+    "ros_domain_id": {
+      "default": 0,
+      "title": "Ros Domain Id",
+      "type": "integer"
+    },
+    "namespace_vessel": {
+      "default": "vessel",
+      "title": "Namespace Vessel",
+      "type": "string"
+    },
+    "gama_vessel": {
+      "default": false,
+      "title": "Gama Vessel",
+      "type": "boolean"
+    },
+    "mode": {
+      "allOf": [
+        {
+          "$ref": "#/$defs/Mode"
+        }
+      ],
+      "default": "stubs"
+    },
+    "log_level": {
+      "allOf": [
+        {
+          "$ref": "#/$defs/LogLevel"
+        }
+      ],
+      "default": "info"
+    },
+    "cameras": {
+      "items": {
+        "$ref": "#/$defs/CameraExtended"
+      },
+      "title": "Cameras",
+      "type": "array"
+    },
+    "network": {
+      "allOf": [
+        {
+          "$ref": "#/$defs/Network"
+        }
+      ],
+      "default": "host"
+    },
+    "gpu": {
+      "default": false,
+      "title": "Gpu",
+      "type": "boolean"
+    },
+    "geolocation_mode": {
+      "allOf": [
+        {
+          "$ref": "#/$defs/GeolocationMode"
+        }
+      ],
+      "default": "none"
+    },
+    "dev_mode": {
+      "default": true,
+      "title": "Dev Mode",
+      "type": "boolean"
     }
-  }
+  },
+  "title": "LookoutConfig",
+  "type": "object"
 }

lookout_config/types.py

@@ -0,0 +1,100 @@
+# Updates here should also be made to:
+# * lookout_interfaces/msg/Config.msg
+# * lookout_config_manager/mappers.py
+
+from typing import List
+from enum import Enum
+from pydantic import BaseModel, field_validator, ConfigDict
+from pydantic.fields import Field
+
+from greenstream_config.types import Camera
+
+
+class Mode(str, Enum):
+    SIMULATOR = "simulator"
+    HARDWARE = "hardware"
+    STUBS = "stubs"
+    ROSBAG = "rosbag"
+
+    def __str__(self):
+        return self.value
+
+
+class LogLevel(str, Enum):
+    INFO = "info"
+    DEBUG = "debug"
+
+    def __str__(self):
+        return self.value
+
+
+class Network(str, Enum):
+    SHARED = "shared"
+    HOST = "host"
+
+    def __str__(self):
+        return self.value
+
+
+class GeolocationMode(str, Enum):
+    NONE = "none"
+    RELATIVE_BEARING = "relative_bearing"
+    ABSOLUTE_BEARING = "absolute_bearing"
+    RANGE_BEARING = "range_bearing"
+
+    def __str__(self):
+        return self.value
+
+
+class Point(BaseModel):
+    x: int
+    y: int
+
+    def __eq__(self, other):
+        if isinstance(other, Point):
+            return self.x == other.x and self.y == other.y
+        return False
+
+
+class Polygon(BaseModel):
+    points: List[Point]
+
+
+class CameraExtended(Camera):
+    ignore_regions: List[Polygon] = Field(default_factory=List)
+
+    @field_validator("ignore_regions")
+    def check_polygon(cls, ignore_regions):
+        if ignore_regions:
+            for polygon in ignore_regions:
+                if len(polygon.points) < 4:  # 3 points for a triangle, 1 to close the polygon
+                    raise ValueError("Polygon must have at least 3 sides (4 points)")
+                if polygon.points[0] != polygon.points[-1]:
+                    raise ValueError("Polygon must close. Must have same start and end point")
+        return ignore_regions
+
+
+class LookoutConfig(BaseModel):
+    # So enum values are written and read to the yml correctly
+    model_config = ConfigDict(
+        use_enum_values=False,
+        json_encoders={
+            Mode: lambda v: v.value,
+            LogLevel: lambda v: v.value,
+            Network: lambda v: v.value,
+            GeolocationMode: lambda v: v.value,
+        },
+    )
+    ros_domain_id: int = 0
+    static_peers: List[str] = Field(default_factory=list)
+    namespace_vessel: str = "vessel_1"
+    gama_vessel: bool = False
+    mode: Mode = Mode.HARDWARE
+    log_level: LogLevel = LogLevel.INFO
+    cameras: List[CameraExtended] = Field(default_factory=list)
+    network: Network = Network.HOST
+    gpu: bool = True
+    geolocation_mode: GeolocationMode = GeolocationMode.NONE
+    prod: bool = True
+    log_directory: str = "~/greenroom/lookout/logs"
+    recording_directory: str = "~/greenroom/lookout/recordings"

{lookout_config-1.2.2.dist-info → lookout_config-1.3.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: lookout_config
-Version: 1.2.2
+Version: 1.3.0
 Summary: A library for reading / writing Lookout config files
 Home-page: https://github.com/Greenroom-Robotics/lookout
 Author: Greenroom Robotics
@@ -19,7 +19,7 @@ Requires-Dist: setuptools
 Requires-Dist: dacite
 Requires-Dist: PyYAML
 Requires-Dist: dc-schema
-Requires-Dist: greenstream-config ==2.13.3
+Requires-Dist: greenstream-config==3.5.3
 Requires-Dist: gr-urchin
 
 # Lookout Config

lookout_config-1.3.0.dist-info/RECORD

@@ -0,0 +1,11 @@
+lookout_config/__init__.py,sha256=Y0dlyMr5ls4zDDR8dT-mpzd_aPRtaJgZsY1VowQndas,1210
+lookout_config/generate_schemas.py,sha256=yFNvrZ6gie1tnTM_1TO8_wBa0lFHJAABSI3ZAZqw_Wg,457
+lookout_config/generate_urdf.py,sha256=_LaBPlp6BDFP68DMxF-VQS1SDt4iX1pmb0kITQM-I9E,3103
+lookout_config/types.py,sha256=CjtZdggsOEQhZNs1tFZi-jJ7Dn1ETSc-KUTEPKL4NfQ,2705
+lookout_config/schemas/lookout.schema.json,sha256=rhZt2jtprghkTq_GU4MG3A3IFZOhnSJbYT-prC9lV_U,12381
+lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
+lookout_config-1.3.0.dist-info/METADATA,sha256=156erE3XcuiUL4D3ENet9HpTAwhdeRPrt2HN7CrSDsk,1436
+lookout_config-1.3.0.dist-info/WHEEL,sha256=OVMc5UfuAQiSplgO0_WdW7vXVGAt9Hdd6qtN4HotdyA,91
+lookout_config-1.3.0.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
+lookout_config-1.3.0.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
+lookout_config-1.3.0.dist-info/RECORD,,

{lookout_config-1.2.2.dist-info → lookout_config-1.3.0.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: bdist_wheel (0.43.0)
+Generator: setuptools (75.2.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

lookout_config/generate_cameras.py

@@ -1,190 +0,0 @@
-from typing import List
-from greenstream_config import Camera, Offsets
-from lookout_config import Mode
-from math import radians
-
-
-def generate_cameras_armidale(mode: Mode, namespace: str):
-    # !! IMPORTANT !!
-    # Changes here should probably be made in gama also
-
-    k_intrinsic = [1097.44852, 0.0, 992.544475, 0.0, 1101.33980, 552.247413, 0.0, 0.0, 1.0]
-    # Distortion parameters are broken in foxglove :(
-    # distortion_parameters = [
-    #     -0.388772321,
-    #     0.194568646,
-    #     -0.000662550588,
-    #     0.000224063281,
-    #     -0.0503775800,
-    # ]
-
-    cameras: List[Camera] = [
-        Camera(
-            name="port",
-            type="color",
-            order=0,
-            elements=[
-                "rtspsrc location=rtsp://admin:@192.168.2.21:554/live/0/MAIN latency=10",
-                "rtph264depay",
-                "h264parse",
-                "avdec_h264",
-                "videoconvert",
-            ],
-            pixel_height=1080,
-            pixel_width=1920,
-            sensor_height_mm=2.21,
-            sensor_width_mm=3.92,
-            fov=125.0,
-            camera_frame_topic="perception/frames/port_color",
-            camera_info_topic="sensors/cameras/port_color/camera_info",
-            camera_info_ext_topic="sensors/cameras/port_color/camera_info_ext",
-            k_intrinsic=k_intrinsic,
-            # distortion_parameters=distortion_parameters,
-            offsets=Offsets(
-                roll=0.0,
-                pitch=radians(20.0),
-                yaw=radians(45.0),
-                forward=2.275,
-                left=2.850,
-                up=-0.155,
-            ),
-        ),
-        Camera(
-            name="bow",
-            type="color",
-            order=1,
-            elements=[
-                "rtspsrc location=rtsp://admin:@192.168.2.22:554/live/0/MAIN latency=10",
-                "rtph264depay",
-                "h264parse",
-                "avdec_h264",
-                "videoconvert",
-            ],
-            pixel_height=1080,
-            pixel_width=1920,
-            sensor_height_mm=2.21,
-            sensor_width_mm=3.92,
-            fov=125.0,
-            camera_frame_topic="perception/frames/bow_color",
-            camera_info_topic="sensors/cameras/bow_color/camera_info",
-            camera_info_ext_topic="sensors/cameras/bow_color/camera_info_ext",
-            k_intrinsic=k_intrinsic,
-            # distortion_parameters=distortion_parameters,
-            offsets=Offsets(
-                roll=radians(2.0),
-                pitch=radians(5.85),
-                yaw=0.0,
-                forward=3.190,
-                left=0.015,
-                up=-0.205,
-            ),
-        ),
-        Camera(
-            name="stbd",
-            type="color",
-            order=2,
-            elements=[
-                "rtspsrc location=rtsp://admin:@192.168.2.23:554/live/0/MAIN latency=10",
-                "rtph264depay",
-                "h264parse",
-                "avdec_h264",
-                "videoconvert",
-            ],
-            pixel_height=1080,
-            pixel_width=1920,
-            sensor_height_mm=2.21,
-            sensor_width_mm=3.92,
-            fov=125.0,
-            camera_frame_topic="perception/frames/stbd_color",
-            camera_info_topic="sensors/cameras/stbd_color/camera_info",
-            camera_info_ext_topic="sensors/cameras/stbd_color/camera_info_ext",
-            k_intrinsic=k_intrinsic,
-            # distortion_parameters=distortion_parameters,
-            offsets=Offsets(
-                roll=0.0,
-                pitch=radians(20.0),
-                yaw=radians(-45.0),
-                forward=2.275,
-                left=-2.850,
-                up=-0.155,
-            ),
-        ),
-        Camera(
-            name="stern_port",
-            type="color",
-            order=3,
-            elements=[
-                "rtspsrc location=rtsp://admin:@192.168.2.24:554/live/0/MAIN latency=10",
-                "rtph264depay",
-                "h264parse",
-                "avdec_h264",
-                "videoconvert",
-            ],
-            pixel_height=1080,
-            pixel_width=1920,
-            sensor_height_mm=2.21,
-            sensor_width_mm=3.92,
-            fov=125.0,
-            camera_frame_topic="perception/frames/stern_port_color",
-            camera_info_topic="sensors/cameras/stern_port_color/camera_info",
-            camera_info_ext_topic="sensors/cameras/stern_port_color/camera_info_ext",
-            k_intrinsic=k_intrinsic,
-            # distortion_parameters=distortion_parameters,
-            offsets=Offsets(
-                roll=0.0,
-                pitch=radians(20.0),
-                yaw=radians(135.0),
-                forward=-4.980,
-                left=2.850,
-                up=-0.155,
-            ),
-        ),
-        Camera(
-            name="stern_stbd",
-            type="color",
-            order=4,
-            elements=[
-                "rtspsrc location=rtsp://admin:@192.168.2.25:554/live/0/MAIN latency=10",
-                "rtph264depay",
-                "h264parse",
-                "avdec_h264",
-                "videoconvert",
-            ],
-            pixel_height=1080,
-            pixel_width=1920,
-            sensor_height_mm=2.21,
-            sensor_width_mm=3.92,
-            fov=125.0,
-            camera_frame_topic="perception/frames/stern_stbd_color",
-            camera_info_topic="sensors/cameras/stern_stbd_color/camera_info",
-            camera_info_ext_topic="sensors/cameras/stern_stbd_color/camera_info_ext",
-            k_intrinsic=k_intrinsic,
-            # distortion_parameters=distortion_parameters,
-            offsets=Offsets(
-                roll=0.0,
-                pitch=radians(20.0),
-                yaw=radians(-135.0),
-                forward=-4.980,
-                left=-2.850,
-                up=-0.155,
-            ),
-        ),
-    ]
-
-    if mode == Mode.STUBS:
-        for camera in cameras:
-            camera.elements = [
-                "videotestsrc pattern=ball",
-                "video/x-raw, format=RGB,width=1920,height=1080",
-            ]
-    elif mode == Mode.SIMULATOR or mode == Mode.ROSBAG:
-        for camera in cameras:
-            camera.elements = [
-                f"rosimagesrc ros-topic=sensors/cameras/{camera.name}_{camera.type}/image_raw ros-name='gst_rosimagesrc_{camera.name}_{camera.type}' ros-namespace='{namespace}'"
-            ]
-
-    return cameras
-
-
-def generate_cameras(mode: Mode, namespace: str):
-    return generate_cameras_armidale(mode, namespace)

lookout_config-1.2.2.dist-info/RECORD

@@ -1,11 +0,0 @@
-lookout_config/__init__.py,sha256=UtYJZvu6j8Zkm5GGTS10E33hZbE-NCG5ACtexvGoQRE,2438
-lookout_config/generate_cameras.py,sha256=MiaUX-SeePm8YBdC99QY8OfIQUSxfRuHyPhYlRFeY4s,6530
-lookout_config/generate_schemas.py,sha256=NvE79GwkazdMBAdz-tWu7hB6lBmALaMnq2pvGB9garM,436
-lookout_config/generate_urdf.py,sha256=wMZ15pSwORgEguMHApKSTIYMEQAv5geY4LM5wf8_z8A,2762
-lookout_config/schemas/lookout.schema.json,sha256=HwgQWsrKwiJF8HeTm0JPIGoIMrsWKbmYtp8aO_1QccI,2769
-lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
-lookout_config-1.2.2.dist-info/METADATA,sha256=d5vmN8q8VEbZNnt-8xrmE6Ty-uGwDrLUn9icJ5kGtck,1438
-lookout_config-1.2.2.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-lookout_config-1.2.2.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
-lookout_config-1.2.2.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
-lookout_config-1.2.2.dist-info/RECORD,,