[Personalrobots-commit] SF.net SVN: personalrobots:[21364] pkg/trunk/stacks

[<jl...@us...>]

Revision: 21364
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21364&view=rev
Author:   jleibs
Date:     2009-08-10 08:53:09 +0000 (Mon, 10 Aug 2009)

Log Message:
-----------
Migration of RawStereo message.

Modified Paths:
--------------
    pkg/trunk/stacks/common_msgs/sensor_msgs/migration_rules/sensor_msgs.bmr
    pkg/trunk/stacks/stereo/stereo_msgs/manifest.xml
    pkg/trunk/stacks/stereo/test_stereo_msgs/test/test_stereo_msgs_migration.py

Modified: pkg/trunk/stacks/common_msgs/sensor_msgs/migration_rules/sensor_msgs.bmr
===================================================================
--- pkg/trunk/stacks/common_msgs/sensor_msgs/migration_rules/sensor_msgs.bmr	2009-08-10 08:46:24 UTC (rev 21363)
+++ pkg/trunk/stacks/common_msgs/sensor_msgs/migration_rules/sensor_msgs.bmr	2009-08-10 08:53:09 UTC (rev 21364)
@@ -315,6 +315,9 @@
 
 	valid = True
 
+        def update_empty(self, old_msg, new_msg):
+                pass
+
 	def update_mono_uint8(self, old_msg, new_msg):
                 assert (len(old_msg.uint8_data.layout.dim) == 3 and
                         old_msg.uint8_data.layout.dim[0].label == 'height' and
@@ -361,7 +364,8 @@
 		new_msg.is_bigendian = 0
 
         def update(self, old_msg, new_msg):
-                encoding_map = {('mono', 'uint8'): self.update_mono_uint8,
+                encoding_map = {('',''): self.update_empty,
+                                ('mono', 'uint8'): self.update_mono_uint8,
                                 ('rgb', 'uint8'): self.update_rgb_uint8,
                                 ('bgr', 'uint8'): self.update_bgr_uint8}
                 key = (old_msg.encoding, old_msg.depth)

Modified: pkg/trunk/stacks/stereo/stereo_msgs/manifest.xml
===================================================================
--- pkg/trunk/stacks/stereo/stereo_msgs/manifest.xml	2009-08-10 08:46:24 UTC (rev 21363)
+++ pkg/trunk/stacks/stereo/stereo_msgs/manifest.xml	2009-08-10 08:53:09 UTC (rev 21364)
@@ -9,9 +9,12 @@
   <review status="unreviewed" notes=""/>
   <url>http://pr.willowgarage.com/wiki/stereo_msgs</url>
   <depend package="sensor_msgs"/>
+  <depend package="rosbagmigration"/>
   <export>
     <cpp cflags="-I${prefix}/msg/cpp"/>
+    <rosbagmigration rule_file="migration_rules/stereo_msgs.bmr"/>
   </export>
+
 </package>
 
 

Modified: pkg/trunk/stacks/stereo/test_stereo_msgs/test/test_stereo_msgs_migration.py
===================================================================
--- pkg/trunk/stacks/stereo/test_stereo_msgs/test/test_stereo_msgs_migration.py	2009-08-10 08:46:24 UTC (rev 21363)
+++ pkg/trunk/stacks/stereo/test_stereo_msgs/test/test_stereo_msgs_migration.py	2009-08-10 08:53:09 UTC (rev 21364)
@@ -172,12 +172,11 @@
   def get_new_raw_stereo(self):
     from stereo_msgs.msg import RawStereo
     from stereo_msgs.msg import StereoInfo
-    from stereo_msgs.msg import CamInfo
+    from stereo_msgs.msg import DisparityInfo
+    from sensor_msgs.msg import CameraInfo
     from sensor_msgs.msg import RegionOfInterest
     from sensor_msgs.msg import Image
 
-    from sensor_msgs.msg import DisparityInfo
-
     import random
     r = random.Random(5678)
     
@@ -206,7 +205,7 @@
                                    0.0, 1.0, 0.0, -240.53899000000001,
                                    0.0, 0.0, 0.0, 722.28197999999998,
                                    0.0, 0.0, 11.262630896461046, -0.0)),
-                     CamInfo(None,
+                     CameraInfo(None,
                              480, 640,
                              RegionOfInterest(0,0,480,640),
                                (-0.45795000000000002, 0.29532999999999998, 0.0, 0.0, 0.0),
@@ -221,7 +220,7 @@
                               0.0, 0.0, 1.0, 0.0)),
                      RawStereo.IMAGE,
                      left_img,
-                     CamInfo(None,
+                     CameraInfo(None,
                              480, 640,
                              RegionOfInterest(0,0,480,640),
                              (-0.46471000000000001, 0.28405999999999998, 0.0, 0.0, 0.0),
@@ -297,10 +296,10 @@
     m.deserialize(buff.getvalue())
     
     #Compare
-    print "old"
-    print roslib.message.strify_message(msgs[0][1])
-    print "new"
-    print roslib.message.strify_message(m)
+#    print "old"
+#    print roslib.message.strify_message(msgs[0][1])
+#    print "new"
+#    print roslib.message.strify_message(m)
 
     # Strifying them helps make the comparison easier until I figure out why the equality operator is failing
     self.assertTrue(roslib.message.strify_message(msgs[0][1]) == roslib.message.strify_message(m))


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