{"action":"created","comment":{"url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls/comments/66333617","id":66333617,"diff_hunk":"@@ -197,7 +209,23 @@ def _update_camera_info(self):\n \n \n class InterpolatingZoomCameraInfoManager(ZoomCameraInfoManager):\n-    \"\"\"A zoom camera info manager that interpolates between several calibrations taken at different zoom levels.\"\"\"\n+    \"\"\"\n+    A zoom camera info manager that interpolates between several calibrations taken at different zoom levels.\n+    \n+    The calibration results can be as accurate as you need (you increase accuracy by adding more calibration\n+    files). E.g. if the camera has only a few discrete zoom steps, you can just calibrate all of them and reach\n+    the lowest calibration error possible.\n+    \n+    Hints for calibration:\n+    Use the standard camera calibration package, set a fixed zoom level and perform the calibration. Copy the\n+    calibration YAML file to some other location, change the zoom level, and calibrate again. Rename all the \n+    calibration YAML files, so that their names correspond to the calibration_url_template you pass to the\n+    constructor.\n+    It is advised to always perform calibration on (at least) the highest and lowest zoom step.\n+    As the very last, you should run the calibration procedure at the most used zoom level, so that the system","path":"src/camera_info_manager/zoom_camera_info_manager.py","position":225,"original_position":59,"commit_id":"8e5037f77624d252e7958548fc39e0f3bad829d0","original_commit_id":"8e5037f77624d252e7958548fc39e0f3bad829d0","user":{"login":"jack-oquin","id":1471375,"avatar_url":"https://avatars.githubusercontent.com/u/1471375?v=3","gravatar_id":"","url":"https://api.github.com/users/jack-oquin","html_url":"https://github.com/jack-oquin","followers_url":"https://api.github.com/users/jack-oquin/followers","following_url":"https://api.github.com/users/jack-oquin/following{/other_user}","gists_url":"https://api.github.com/users/jack-oquin/gists{/gist_id}","starred_url":"https://api.github.com/users/jack-oquin/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jack-oquin/subscriptions","organizations_url":"https://api.github.com/users/jack-oquin/orgs","repos_url":"https://api.github.com/users/jack-oquin/repos","events_url":"https://api.github.com/users/jack-oquin/events{/privacy}","received_events_url":"https://api.github.com/users/jack-oquin/received_events","type":"User","site_admin":false},"body":"OK. How about using that explanation: \"the last calibration should be on the most-used zoom level, in case some other code doesn't know this is a zoom camera\"?","created_at":"2016-06-08T20:30:24Z","updated_at":"2016-06-08T20:30:24Z","html_url":"https://github.com/ros-perception/camera_info_manager_py/pull/11#discussion_r66333617","pull_request_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls/11","_links":{"self":{"href":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls/comments/66333617"},"html":{"href":"https://github.com/ros-perception/camera_info_manager_py/pull/11#discussion_r66333617"},"pull_request":{"href":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls/11"}}},"pull_request":{"url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls/11","id":68064939,"html_url":"https://github.com/ros-perception/camera_info_manager_py/pull/11","diff_url":"https://github.com/ros-perception/camera_info_manager_py/pull/11.diff","patch_url":"https://github.com/ros-perception/camera_info_manager_py/pull/11.patch","issue_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/issues/11","number":11,"state":"open","locked":false,"title":"Added first version of zoom camera support.","user":{"login":"peci1","id":182533,"avatar_url":"https://avatars.githubusercontent.com/u/182533?v=3","gravatar_id":"","url":"https://api.github.com/users/peci1","html_url":"https://github.com/peci1","followers_url":"https://api.github.com/users/peci1/followers","following_url":"https://api.github.com/users/peci1/following{/other_user}","gists_url":"https://api.github.com/users/peci1/gists{/gist_id}","starred_url":"https://api.github.com/users/peci1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/peci1/subscriptions","organizations_url":"https://api.github.com/users/peci1/orgs","repos_url":"https://api.github.com/users/peci1/repos","events_url":"https://api.github.com/users/peci1/events{/privacy}","received_events_url":"https://api.github.com/users/peci1/received_events","type":"User","site_admin":false},"body":"This is my trial to solve http://answers.ros.org/question/232931/zoom-camera-calibration-in-ros/ . I am open to any suggestions on how to do this better. The calibration part has still been missing, but at least the interpolating version should be able to use several calibrations captured at different zoom levels using the standard calibration package.","created_at":"2016-04-27T14:40:50Z","updated_at":"2016-06-08T20:30:24Z","closed_at":null,"merged_at":null,"merge_commit_sha":"4071ac3cb837d12f5fdbebba6e26838b46a95925","assignee":{"login":"jack-oquin","id":1471375,"avatar_url":"https://avatars.githubusercontent.com/u/1471375?v=3","gravatar_id":"","url":"https://api.github.com/users/jack-oquin","html_url":"https://github.com/jack-oquin","followers_url":"https://api.github.com/users/jack-oquin/followers","following_url":"https://api.github.com/users/jack-oquin/following{/other_user}","gists_url":"https://api.github.com/users/jack-oquin/gists{/gist_id}","starred_url":"https://api.github.com/users/jack-oquin/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jack-oquin/subscriptions","organizations_url":"https://api.github.com/users/jack-oquin/orgs","repos_url":"https://api.github.com/users/jack-oquin/repos","events_url":"https://api.github.com/users/jack-oquin/events{/privacy}","received_events_url":"https://api.github.com/users/jack-oquin/received_events","type":"User","site_admin":false},"milestone":null,"commits_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls/11/commits","review_comments_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls/11/comments","review_comment_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/issues/11/comments","statuses_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/statuses/8e5037f77624d252e7958548fc39e0f3bad829d0","head":{"label":"tradr-project:tradr","ref":"tradr","sha":"8e5037f77624d252e7958548fc39e0f3bad829d0","user":{"login":"tradr-project","id":14055009,"avatar_url":"https://avatars.githubusercontent.com/u/14055009?v=3","gravatar_id":"","url":"https://api.github.com/users/tradr-project","html_url":"https://github.com/tradr-project","followers_url":"https://api.github.com/users/tradr-project/followers","following_url":"https://api.github.com/users/tradr-project/following{/other_user}","gists_url":"https://api.github.com/users/tradr-project/gists{/gist_id}","starred_url":"https://api.github.com/users/tradr-project/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tradr-project/subscriptions","organizations_url":"https://api.github.com/users/tradr-project/orgs","repos_url":"https://api.github.com/users/tradr-project/repos","events_url":"https://api.github.com/users/tradr-project/events{/privacy}","received_events_url":"https://api.github.com/users/tradr-project/received_events","type":"Organization","site_admin":false},"repo":{"id":57199671,"name":"camera_info_manager_py","full_name":"tradr-project/camera_info_manager_py","owner":{"login":"tradr-project","id":14055009,"avatar_url":"https://avatars.githubusercontent.com/u/14055009?v=3","gravatar_id":"","url":"https://api.github.com/users/tradr-project","html_url":"https://github.com/tradr-project","followers_url":"https://api.github.com/users/tradr-project/followers","following_url":"https://api.github.com/users/tradr-project/following{/other_user}","gists_url":"https://api.github.com/users/tradr-project/gists{/gist_id}","starred_url":"https://api.github.com/users/tradr-project/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tradr-project/subscriptions","organizations_url":"https://api.github.com/users/tradr-project/orgs","repos_url":"https://api.github.com/users/tradr-project/repos","events_url":"https://api.github.com/users/tradr-project/events{/privacy}","received_events_url":"https://api.github.com/users/tradr-project/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/tradr-project/camera_info_manager_py","description":"Subset of the C++ camera_info_manager ROS package for Python camera drivers","fork":true,"url":"https://api.github.com/repos/tradr-project/camera_info_manager_py","forks_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/forks","keys_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/keys{/key_id}","collaborators_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/teams","hooks_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/hooks","issue_events_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/issues/events{/number}","events_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/events","assignees_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/assignees{/user}","branches_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/branches{/branch}","tags_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/tags","blobs_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/git/refs{/sha}","trees_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/git/trees{/sha}","statuses_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/statuses/{sha}","languages_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/languages","stargazers_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/stargazers","contributors_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/contributors","subscribers_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/subscribers","subscription_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/subscription","commits_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/commits{/sha}","git_commits_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/git/commits{/sha}","comments_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/comments{/number}","issue_comment_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/issues/comments{/number}","contents_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/contents/{+path}","compare_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/compare/{base}...{head}","merges_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/merges","archive_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/downloads","issues_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/issues{/number}","pulls_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/pulls{/number}","milestones_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/milestones{/number}","notifications_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/labels{/name}","releases_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/releases{/id}","deployments_url":"https://api.github.com/repos/tradr-project/camera_info_manager_py/deployments","created_at":"2016-04-27T09:05:22Z","updated_at":"2016-04-27T09:05:23Z","pushed_at":"2016-06-08T19:51:14Z","git_url":"git://github.com/tradr-project/camera_info_manager_py.git","ssh_url":"git@github.com:tradr-project/camera_info_manager_py.git","clone_url":"https://github.com/tradr-project/camera_info_manager_py.git","svn_url":"https://github.com/tradr-project/camera_info_manager_py","homepage":"http://wiki.ros.org/camera_info_manager_py","size":73,"stargazers_count":0,"watchers_count":0,"language":"Python","has_issues":false,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":0,"mirror_url":null,"open_issues_count":0,"forks":0,"open_issues":0,"watchers":0,"default_branch":"master"}},"base":{"label":"ros-perception:master","ref":"master","sha":"0030747327d6db4c44b3a30fbd84768afd8347d2","user":{"login":"ros-perception","id":2328630,"avatar_url":"https://avatars.githubusercontent.com/u/2328630?v=3","gravatar_id":"","url":"https://api.github.com/users/ros-perception","html_url":"https://github.com/ros-perception","followers_url":"https://api.github.com/users/ros-perception/followers","following_url":"https://api.github.com/users/ros-perception/following{/other_user}","gists_url":"https://api.github.com/users/ros-perception/gists{/gist_id}","starred_url":"https://api.github.com/users/ros-perception/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ros-perception/subscriptions","organizations_url":"https://api.github.com/users/ros-perception/orgs","repos_url":"https://api.github.com/users/ros-perception/repos","events_url":"https://api.github.com/users/ros-perception/events{/privacy}","received_events_url":"https://api.github.com/users/ros-perception/received_events","type":"Organization","site_admin":false},"repo":{"id":11884176,"name":"camera_info_manager_py","full_name":"ros-perception/camera_info_manager_py","owner":{"login":"ros-perception","id":2328630,"avatar_url":"https://avatars.githubusercontent.com/u/2328630?v=3","gravatar_id":"","url":"https://api.github.com/users/ros-perception","html_url":"https://github.com/ros-perception","followers_url":"https://api.github.com/users/ros-perception/followers","following_url":"https://api.github.com/users/ros-perception/following{/other_user}","gists_url":"https://api.github.com/users/ros-perception/gists{/gist_id}","starred_url":"https://api.github.com/users/ros-perception/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ros-perception/subscriptions","organizations_url":"https://api.github.com/users/ros-perception/orgs","repos_url":"https://api.github.com/users/ros-perception/repos","events_url":"https://api.github.com/users/ros-perception/events{/privacy}","received_events_url":"https://api.github.com/users/ros-perception/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/ros-perception/camera_info_manager_py","description":"Subset of the C++ camera_info_manager ROS package for Python camera drivers","fork":true,"url":"https://api.github.com/repos/ros-perception/camera_info_manager_py","forks_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/forks","keys_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/keys{/key_id}","collaborators_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/teams","hooks_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/hooks","issue_events_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/issues/events{/number}","events_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/events","assignees_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/assignees{/user}","branches_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/branches{/branch}","tags_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/tags","blobs_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/git/refs{/sha}","trees_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/git/trees{/sha}","statuses_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/statuses/{sha}","languages_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/languages","stargazers_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/stargazers","contributors_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/contributors","subscribers_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/subscribers","subscription_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/subscription","commits_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/commits{/sha}","git_commits_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/git/commits{/sha}","comments_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/comments{/number}","issue_comment_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/issues/comments{/number}","contents_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/contents/{+path}","compare_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/compare/{base}...{head}","merges_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/merges","archive_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/downloads","issues_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/issues{/number}","pulls_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls{/number}","milestones_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/milestones{/number}","notifications_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/labels{/name}","releases_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/releases{/id}","deployments_url":"https://api.github.com/repos/ros-perception/camera_info_manager_py/deployments","created_at":"2013-08-04T20:04:04Z","updated_at":"2015-05-06T15:09:43Z","pushed_at":"2016-06-08T19:51:14Z","git_url":"git://github.com/ros-perception/camera_info_manager_py.git","ssh_url":"git@github.com:ros-perception/camera_info_manager_py.git","clone_url":"https://github.com/ros-perception/camera_info_manager_py.git","svn_url":"https://github.com/ros-perception/camera_info_manager_py","homepage":"http://wiki.ros.org/camera_info_manager_py","size":87,"stargazers_count":1,"watchers_count":1,"language":"Python","has_issues":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":4,"mirror_url":null,"open_issues_count":8,"forks":4,"open_issues":8,"watchers":1,"default_branch":"master"}},"_links":{"self":{"href":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls/11"},"html":{"href":"https://github.com/ros-perception/camera_info_manager_py/pull/11"},"issue":{"href":"https://api.github.com/repos/ros-perception/camera_info_manager_py/issues/11"},"comments":{"href":"https://api.github.com/repos/ros-perception/camera_info_manager_py/issues/11/comments"},"review_comments":{"href":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls/11/comments"},"review_comment":{"href":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/ros-perception/camera_info_manager_py/pulls/11/commits"},"statuses":{"href":"https://api.github.com/repos/ros-perception/camera_info_manager_py/statuses/8e5037f77624d252e7958548fc39e0f3bad829d0"}}}}
{"actor":{"display_login":"jack-oquin"}}