ros-perception · DavidTorresOcana · May 19, 2020 · May 19, 2020 · May 21, 2020 · Jun 12, 2020
diff --git a/.github/workflows/basic-build-ci.yaml b/.github/workflows/basic-build-ci.yaml
@@ -5,12 +5,12 @@ on:
   - push
 
 jobs:
-  build-noetic:
+  build-melodic:
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
     container:
-      image: ros:noetic-perception
+      image: ros:melodic-perception
     steps:
     - name: Checkout repo
       uses: actions/checkout@v2

diff --git a/README.md b/README.md
@@ -1,7 +1,7 @@
 image_pipeline
 ==============
 
-[![](https://github.com/ros-perception/image_pipeline/workflows/Basic%20Build%20Workflow/badge.svg?branch=noetic)](https://github.com/ros-perception/image_pipeline/actions)
+[![](https://github.com/ros-perception/image_pipeline/workflows/Basic%20Build%20Workflow/badge.svg?branch=melodic)](https://github.com/ros-perception/image_pipeline/actions)
 
 This package fills the gap between getting raw images from a camera driver and higher-level vision processing.
 

diff --git a/camera_calibration/CHANGELOG.rst b/camera_calibration/CHANGELOG.rst
@@ -1,18 +1,9 @@
-1.15.2 (2020-05-19)
+1.15.0 (2020-05-18)
 -------------------
-
-1.15.1 (2020-05-18)
--------------------
-
-1.15.0 (2020-05-14)
--------------------
-* Python 3 compatibility (`#530 <https://github.com/ros-perception/image_pipeline/issues/530>`_)
-* cmake_minimum_required to 3.0.2
-* Adapted to OpenCV4
-* import setup from setuptools instead of distutils-core
-* Apply `#509 <https://github.com/ros-perception/image_pipeline/issues/509>`_ and `#526 <https://github.com/ros-perception/image_pipeline/issues/526>`_ to Noetic Branch (`#528 <https://github.com/ros-perception/image_pipeline/issues/528>`_)
+* Fix import path on camera_calibrator.py (`#509 <https://github.com/ros-perception/image_pipeline/issues/509>`_)
 * Fixes `#501 <https://github.com/ros-perception/image_pipeline/issues/501>`_: self.size is set before dumping calibration parameters in calibrator.py do_calibration(self, dump) (`#502 <https://github.com/ros-perception/image_pipeline/issues/502>`_)
-* Contributors: Joshua Whitley, Stewart Jamieson
+  Not sure how this one made it through. Thanks for the fix!
+* Contributors: Gonçalo Camelo Neves Pereira, Stewart Jamieson
 
 1.14.0 (2020-01-12)
 -------------------

diff --git a/camera_calibration/package.xml b/camera_calibration/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>camera_calibration</name>
-  <version>1.15.2</version>
+  <version>1.15.0</version>
   <description>
      camera_calibration allows easy calibration of monocular or stereo
      cameras using a checkerboard calibration target.

diff --git a/camera_calibration/src/camera_calibration/calibrator.py b/camera_calibration/src/camera_calibration/calibrator.py
@@ -32,6 +32,11 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from __future__ import print_function
+try:
+    from cStringIO import StringIO
+except ImportError:
+    from io import StringIO
 from io import BytesIO
 import cv2
 import cv_bridge
@@ -60,7 +65,7 @@ class CalibrationException(Exception):
     pass
 
 # TODO: Make pattern per-board?
-class ChessboardInfo():
+class ChessboardInfo(object):
     def __init__(self, pattern="chessboard", n_cols = 0, n_rows = 0, dim = 0.0, marker_size = 0.0, aruco_dict = None):
         self.pattern = pattern
         self.n_cols = n_cols
@@ -295,13 +300,13 @@ def _get_dist_model(dist_params, cam_model):
         else:
             dist_model = "plumb_bob"
     elif CAMERA_MODEL.FISHEYE == cam_model:
-        dist_model = "fisheye"
+        dist_model = "equidistant"
     else:
         dist_model = "unknown"
     return dist_model
 
 # TODO self.size needs to come from CameraInfo, full resolution
-class Calibrator():
+class Calibrator(object):
     """
     Base class for calibration system
     """
@@ -469,7 +474,7 @@ def mk_object_points(self, boards, use_board_size = False):
             num_pts = b.n_cols * b.n_rows
             opts_loc = numpy.zeros((num_pts, 1, 3), numpy.float32)
             for j in range(num_pts):
-                opts_loc[j, 0, 0] = (j // b.n_cols)
+                opts_loc[j, 0, 0] = (j / b.n_cols)
                 if self.pattern == Patterns.ACircles:
                     opts_loc[j, 0, 1] = 2*(j % b.n_cols) + (opts_loc[j, 0, 0] % 2)
                 else:
@@ -649,7 +654,7 @@ def format_mat(x, precision):
             "  rows: 3",
             "  cols: 3",
             "  data: " + format_mat(k, 5),
-            "distortion_model: " + dist_model,
+            "camera_model: " + dist_model,
             "distortion_coefficients:",
             "  rows: 1",
             "  cols: %d" % d.size,
@@ -684,7 +689,7 @@ def image_from_archive(archive, name):
     imagefiledata.resize((1, imagefiledata.size))
     return cv2.imdecode(imagefiledata, cv2.IMREAD_COLOR)
 
-class ImageDrawable():
+class ImageDrawable(object):
     """
     Passed to CalibrationNode after image handled. Allows plotting of images
     with detected corner points
@@ -753,8 +758,6 @@ def cal_fromcorners(self, good):
         """
         :param good: Good corner positions and boards
         :type good: [(corners, ChessboardInfo)]
-
-
         """
 
         (ipts, ids, boards) = zip(*good)
@@ -872,15 +875,15 @@ def linear_error_from_image(self, image):
         Detect the checkerboard and compute the linear error.
         Mainly for use in tests.
         """
-        _, corners, _, ids, board, _ = self.downsample_and_detect(image)
+        _, corners, _, _, board, _ = self.downsample_and_detect(image)
         if corners is None:
             return None
 
         undistorted = self.undistort_points(corners)
-        return self.linear_error(undistorted, ids, board)
+        return self.linear_error(undistorted, board)
 
     @staticmethod
-    def linear_error(corners, ids, b):
+    def linear_error(corners, b):
 
         """
         Returns the linear error for a set of corners detected in the unrectified image.
@@ -889,46 +892,19 @@ def linear_error(corners, ids, b):
         if corners is None:
             return None
 
-        corners = numpy.squeeze(corners)
-
         def pt2line(x0, y0, x1, y1, x2, y2):
             """ point is (x0, y0), line is (x1, y1, x2, y2) """
             return abs((x2 - x1) * (y1 - y0) - (x1 - x0) * (y2 - y1)) / math.sqrt((x2 - x1) ** 2 + (y2 - y1) ** 2)
 
-        n_cols = b.n_cols
-        n_rows = b.n_rows
-        if b.pattern == 'charuco':
-            n_cols -= 1
-            n_rows -= 1
-        n_pts = n_cols * n_rows
-
-        if ids is None:
-            ids = numpy.arange(n_pts).reshape((n_pts, 1))
-
-        ids_to_idx = dict((ids[i, 0], i) for i in range(len(ids)))
-
+        cc = b.n_cols
+        cr = b.n_rows
         errors = []
-        for row in range(n_rows):
-            row_min = row * n_cols
-            row_max = (row+1) * n_cols
-            pts_in_row = [x for x in ids if row_min <= x < row_max]
-
-            # not enough points to calculate error
-            if len(pts_in_row) <= 2: continue
-
-            left_pt = min(pts_in_row)[0]
-            right_pt = max(pts_in_row)[0]
-            x_left = corners[ids_to_idx[left_pt], 0]
-            y_left = corners[ids_to_idx[left_pt], 1]
-            x_right = corners[ids_to_idx[right_pt], 0]
-            y_right = corners[ids_to_idx[right_pt], 1]
-
-            for pt in pts_in_row:
-                if pt[0] in (left_pt, right_pt): continue
-                x = corners[ids_to_idx[pt[0]], 0]
-                y = corners[ids_to_idx[pt[0]], 1]
-                errors.append(pt2line(x, y, x_left, y_left, x_right, y_right))
-
+        for r in range(cr):
+            (x1, y1) = corners[(cc * r) + 0, 0]
+            (x2, y2) = corners[(cc * r) + cc - 1, 0]
+            for i in range(1, cc - 1):
+                (x0, y0) = corners[(cc * r) + i, 0]
+                errors.append(pt2line(x0, y0, x1, y1, x2, y2))
         if errors:
             return math.sqrt(sum([e**2 for e in errors]) / len(errors))
         else:
@@ -961,7 +937,7 @@ def handle_msg(self, msg):
             if corners is not None:
                 # Report linear error
                 undistorted = self.undistort_points(corners)
-                linear_error = self.linear_error(undistorted, ids, board)
+                linear_error = self.linear_error(undistorted, board)
 
                 # Draw rectified corners
                 scrib_src = undistorted.copy()
@@ -1016,8 +992,8 @@ def do_tarfile_save(self, tf):
         """ Write images and calibration solution to a tarfile object """
 
         def taradd(name, buf):
-            if isinstance(buf, str):
-                s = BytesIO(buf.encode('utf-8'))
+            if isinstance(buf, basestring):
+                s = StringIO(buf)
             else:
                 s = BytesIO(buf)
             ti = tarfile.TarInfo(name)
@@ -1323,8 +1299,8 @@ def handle_msg(self, msg):
         epierror = -1
 
         # Get display-images-to-be and detections of the calibration target
-        lscrib_mono, lcorners, ldownsampled_corners, lids, lboard, (x_scale, y_scale) = self.downsample_and_detect(lgray)
-        rscrib_mono, rcorners, rdownsampled_corners, rids, rboard, _ = self.downsample_and_detect(rgray)
+        lscrib_mono, lcorners, lids, ldownsampled_corners, lboard, (x_scale, y_scale) = self.downsample_and_detect(lgray)
+        rscrib_mono, rcorners, rids, rdownsampled_corners, rboard, _ = self.downsample_and_detect(rgray)
 
         if self.calibrated:
             # Show rectified images
@@ -1374,7 +1350,7 @@ def handle_msg(self, msg):
                 params = self.get_parameters(lcorners, lids, lboard, (lgray.shape[1], lgray.shape[0]))
                 if self.is_good_sample(params, lcorners, lids, self.last_frame_corners, self.last_frame_ids):
                     self.db.append( (params, lgray, rgray) )
-                    self.good_corners.append( (lcorners, rcorners, lids, rids, lboard) )
+                    self.good_corners.append( (lcorners, rcorners, lboard) )
                     print(("*** Added sample %d, p_x = %.3f, p_y = %.3f, p_size = %.3f, skew = %.3f" % tuple([len(self.db)] + params)))
 
         self.last_frame_corners = lcorners
@@ -1407,8 +1383,8 @@ def do_tarfile_save(self, tf):
                [("right-%04d.png" % i, im) for i,(_, _, im) in enumerate(self.db)])
 
         def taradd(name, buf):
-            if isinstance(buf, str):
-                s = BytesIO(buf.encode('utf-8'))
+            if isinstance(buf, basestring):
+                s = StringIO(buf)
             else:
                 s = BytesIO(buf)
             ti = tarfile.TarInfo(name)

diff --git a/depth_image_proc/CHANGELOG.rst b/depth_image_proc/CHANGELOG.rst
@@ -1,17 +1,7 @@
-1.15.2 (2020-05-19)
+1.15.0 (2020-05-18)
 -------------------
-
-1.15.1 (2020-05-18)
--------------------
-
-1.15.0 (2020-05-14)
--------------------
-* Python 3 compatibility (`#530 <https://github.com/ros-perception/image_pipeline/issues/530>`_)
-* cmake_minimum_required to 3.0.2
-* Adapted to OpenCV4
-* import setup from setuptools instead of distutils-core
 * updated install locations for better portability. (`#500 <https://github.com/ros-perception/image_pipeline/issues/500>`_)
-* Contributors: Joshua Whitley, Sean Yen
+* Contributors: Sean Yen
 
 1.14.0 (2020-01-12)
 -------------------

diff --git a/depth_image_proc/package.xml b/depth_image_proc/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>depth_image_proc</name>
-  <version>1.15.2</version>
+  <version>1.15.0</version>
   <description>
 
      Contains nodelets for processing depth images such as those

diff --git a/image_pipeline/CHANGELOG.rst b/image_pipeline/CHANGELOG.rst
@@ -2,20 +2,9 @@
 Changelog for package image_pipeline
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-1.15.2 (2020-05-19)
+1.15.0 (2020-05-18)
 -------------------
 
-1.15.1 (2020-05-18)
--------------------
-
-1.15.0 (2020-05-14)
--------------------
-* Python 3 compatibility (`#530 <https://github.com/ros-perception/image_pipeline/issues/530>`_)
-* cmake_minimum_required to 3.0.2
-* Adapted to OpenCV4
-* import setup from setuptools instead of distutils-core
-* Contributors: Joshua Whitley
-
 1.14.0 (2020-01-12)
 -------------------
 

diff --git a/image_pipeline/package.xml b/image_pipeline/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>image_pipeline</name>
-  <version>1.15.2</version>
+  <version>1.15.0</version>
   <description>image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.</description>
   <author>Patrick Mihelich</author>
   <author>James Bowman</author>

diff --git a/image_proc/CHANGELOG.rst b/image_proc/CHANGELOG.rst
@@ -1,17 +1,7 @@
-1.15.2 (2020-05-19)
+1.15.0 (2020-05-18)
 -------------------
-
-1.15.1 (2020-05-18)
--------------------
-
-1.15.0 (2020-05-14)
--------------------
-* Python 3 compatibility (`#530 <https://github.com/ros-perception/image_pipeline/issues/530>`_)
-* cmake_minimum_required to 3.0.2
-* Adapted to OpenCV4
-* import setup from setuptools instead of distutils-core
 * updated install locations for better portability. (`#500 <https://github.com/ros-perception/image_pipeline/issues/500>`_)
-* Contributors: Joshua Whitley, Sean Yen
+* Contributors: Sean Yen
 
 1.14.0 (2020-01-12)
 -------------------

diff --git a/image_proc/package.xml b/image_proc/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>image_proc</name>
-  <version>1.15.2</version>
+  <version>1.15.0</version>
   <description>Single image rectification and color processing.</description>
   <author>Patrick Mihelich</author>
   <author>Kurt Konolige</author>

diff --git a/image_publisher/CHANGELOG.rst b/image_publisher/CHANGELOG.rst
@@ -16,6 +16,11 @@ Changelog for package image_publisher
 * updated install locations for better portability. (`#500 <https://github.com/ros-perception/image_pipeline/issues/500>`_)
 * Contributors: Joshua Whitley, Sean Yen
 
+1.15.0 (2020-05-18)
+-------------------
+* updated install locations for better portability. (`#500 <https://github.com/ros-perception/image_pipeline/issues/500>`_)
+* Contributors: Sean Yen
+
 1.14.0 (2020-01-12)
 -------------------
 

diff --git a/image_publisher/CMakeLists.txt b/image_publisher/CMakeLists.txt
@@ -1,15 +1,9 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 2.8)
 project(image_publisher)
 
 find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure camera_info_manager sensor_msgs image_transport nodelet roscpp)
 
-find_package(OpenCV REQUIRED COMPONENTS core)
-message(STATUS "opencv version ${OpenCV_VERSION}")
-if(OpenCV_VERSION VERSION_LESS "4.0.0")
-  find_package(OpenCV 3 REQUIRED COMPONENTS core imgcodecs videoio)
-else()
-  find_package(OpenCV 4 REQUIRED COMPONENTS core imgcodecs videoio)
-endif()
+find_package(OpenCV REQUIRED COMPONENTS core imgcodecs videoio)
 
 # generate the dynamic_reconfigure config file
 generate_dynamic_reconfigure_options(cfg/ImagePublisher.cfg)

diff --git a/image_publisher/package.xml b/image_publisher/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>image_publisher</name>
-  <version>1.15.2</version>
+  <version>1.15.0</version>
   <description>
     <p>
       Contains a node publish an image stream from single image file

diff --git a/image_rotate/CHANGELOG.rst b/image_rotate/CHANGELOG.rst
@@ -1,17 +1,7 @@
-1.15.2 (2020-05-19)
+1.15.0 (2020-05-18)
 -------------------
-
-1.15.1 (2020-05-18)
--------------------
-
-1.15.0 (2020-05-14)
--------------------
-* Python 3 compatibility (`#530 <https://github.com/ros-perception/image_pipeline/issues/530>`_)
-* cmake_minimum_required to 3.0.2
-* Adapted to OpenCV4
-* import setup from setuptools instead of distutils-core
 * updated install locations for better portability. (`#500 <https://github.com/ros-perception/image_pipeline/issues/500>`_)
-* Contributors: Joshua Whitley, Sean Yen
+* Contributors: Sean Yen
 
 1.14.0 (2020-01-12)
 -------------------