chore: ci/cd fixes

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp

@@ -181,17 +181,17 @@ void CeresCameraIntrinsicsOptimizer::dataToPlaceholders()
     intrinsics_placeholder_[index++] = k6;
   }
 
-  // Convert the revcs, tvecs into the placeholders
+  // Convert the revcs, tvecs into the placeholders // cSpell:ignore rvecs,tvecs
   pose_placeholders_.resize(object_points_.size());
 
   for (std::size_t i = 0; i < object_points_.size(); i++) {
-    cv::Mat rmat;
-    cv::Rodrigues(rvecs_[i], rmat);
+    cv::Mat rotation_cv;
+    cv::Rodrigues(rvecs_[i], rotation_cv);
 
     Eigen::Vector3d translation;
     Eigen::Matrix3d rotation;
     cv::cv2eigen(tvecs_[i], translation);
-    cv::cv2eigen(rmat, rotation);
+    cv::cv2eigen(rotation_cv, rotation);
     Eigen::Quaterniond quat(rotation);
 
     std::array<double, POSE_OPT_DIM> & placeholder = pose_placeholders_[i];
@@ -367,7 +367,7 @@ void CeresCameraIntrinsicsOptimizer::solve()
   }
 
   ceres::Solver::Options options;
-  options.linear_solver_type = ceres::DENSE_SCHUR;
+  options.linear_solver_type = ceres::DENSE_SCHUR;  // cSpell:ignore SCHUR
   options.minimizer_progress_to_stdout = verbose_;
   options.max_num_iterations = 500;
   options.function_tolerance = 1e-10;

calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_intrinsic_camera_calibrator_py.cpp

@@ -154,6 +154,7 @@ namespace py = pybind11;
 
 PYBIND11_MODULE(ceres_intrinsic_camera_calibrator_py, m)
 {
+  // cSpell:ignore pbdoc,currentmodule,autosummary,toctree
   m.doc() = R"pbdoc(
         Ceres-based camera intrinsics calibrator module
         -----------------------
@@ -177,7 +178,7 @@ PYBIND11_MODULE(ceres_intrinsic_camera_calibrator_py, m)
             initial_camera_matrix (np.array): The initial camera matrix
             initial_dist_coeffs (np.array): The initial distortion coefficients
             num_radial_coeffs (int): The number of radial distortion coefficients used during calibration
-            use_tangential_distortion (bool): Whether we should use tangential distortion durin calibration
+            use_tangential_distortion (bool): Whether we should use tangential distortion during calibration
 
         Returns:
             The RMS reprojection error, the optimized camera intrinsics, and the board extrinsics

calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/main.cpp

@@ -181,31 +181,6 @@ int main(int argc, char ** argv)
 
   int flags = 0;
 
-  /* if (!use_tangent_distortion) {
-    flags |= cv::CALIB_ZERO_TANGENT_DIST;
-  }
-
-  if (num_radial_distortion_coeffs < 3) {
-    flags |= cv::CALIB_FIX_K3;
-  }
-
-  if (num_radial_distortion_coeffs < 2) {
-    flags |= cv::CALIB_FIX_K2;
-  }
-
-  if (num_radial_distortion_coeffs < 1) {
-    flags |= cv::CALIB_FIX_K1;
-  } */
-
-  /* flags |= cv2.CALIB_ZERO_TANGENT_DIST if not self.use_tangential_distortion.value else 0
-  flags |= cv2.CALIB_RATIONAL_MODEL if self.radial_distortion_coefficients.value > 3 else 0
-  flags |= cv2.CALIB_FIX_K6 if self.radial_distortion_coefficients.value < 6 else 0
-  flags |= cv2.CALIB_FIX_K5 if self.radial_distortion_coefficients.value < 5 else 0
-  flags |= cv2.CALIB_FIX_K4 if self.radial_distortion_coefficients.value < 4 else 0
-  flags |= cv2.CALIB_FIX_K3 if self.radial_distortion_coefficients.value < 3 else 0
-  flags |= cv2.CALIB_FIX_K2 if self.radial_distortion_coefficients.value < 2 else 0
-  flags |= cv2.CALIB_FIX_K1 if self.radial_distortion_coefficients.value < 1 else 0 */
-
   flags |= use_tangent_distortion ? 0 : cv::CALIB_ZERO_TANGENT_DIST;
   flags |= num_rational_distortion_coeffs > 0 ? cv::CALIB_RATIONAL_MODEL : 0;
   flags |= num_rational_distortion_coeffs < 3 ? cv::CALIB_FIX_K6 : 0;
@@ -216,7 +191,7 @@ int main(int argc, char ** argv)
   flags |= num_radial_distortion_coeffs < 1 ? cv::CALIB_FIX_K1 : 0;
 
   auto mini_opencv_start = std::chrono::high_resolution_clock::now();
-  double mini_reproj_error = cv::calibrateCamera(
+  double mini_reprojection_error = cv::calibrateCamera(
     mini_calibration_object_points, mini_calibration_image_points, size, mini_opencv_camera_matrix,
     mini_opencv_dist_coeffs, mini_opencv_calibration_rvecs, mini_opencv_calibration_tvecs, flags);
 
@@ -237,7 +212,7 @@ int main(int argc, char ** argv)
 
   auto opencv_start = std::chrono::high_resolution_clock::now();
 
-  double reproj_error = cv::calibrateCamera(
+  double reprojection_error = cv::calibrateCamera(
     calibration_object_points, calibration_image_points, size, opencv_camera_matrix,
     opencv_dist_coeffs, opencv_calibration_rvecs, opencv_calibration_tvecs, flags);
 
@@ -247,9 +222,9 @@ int main(int argc, char ** argv)
   std::cout << "\tcamera_matrix: \n" << opencv_camera_matrix << std::endl;
   std::cout << "\tdist_coeffs: \n" << opencv_dist_coeffs << std::endl;
 
-  std::cout << "Mini OpenCV calibration error (reported by the calibrator)=" << mini_reproj_error
-            << std::endl;
-  std::cout << "OpenCV calibration error (reported by the calibrator)=" << reproj_error
+  std::cout << "Mini OpenCV calibration error (reported by the calibrator)="
+            << mini_reprojection_error << std::endl;
+  std::cout << "OpenCV calibration error (reported by the calibrator)=" << reprojection_error
             << std::endl;
 
   // Need to compute the whole rvecs, tvecs for the whole calibration set
@@ -282,9 +257,8 @@ int main(int argc, char ** argv)
   optimizer.solve();
   optimizer.placeholdersToData();
   optimizer.evaluate();
-  double rms_rror = optimizer.getSolution(
+  [[maybe_unused]] double rms_error = optimizer.getSolution(
     ceres_camera_matrix, ceres_dist_coeffs, ceres_calibration_rvecs, ceres_calibration_tvecs);
-  (void)rms_rror;
 
   auto ceres_stop = std::chrono::high_resolution_clock::now();