Merge remote-tracking branch 'origin/rolling' into ahcord/rolling/rem…

…ove_deprecation_warnings
ros-perception · Jul 23, 2024 · 6093a7a · 6093a7a
2 parents 7597777 + 54b74c0
commit 6093a7a
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diff --git a/.github/workflows/basic-build-ci.yaml b/.github/workflows/basic-build-ci.yaml
@@ -15,7 +15,7 @@ jobs:
       image: osrf/ros2:testing
     steps:
     - name: Checkout repo
-      uses: actions/checkout@v2
+      uses: actions/checkout@v4
     - name: Create Workspace
       run: |
         mkdir src_tmp
@@ -35,3 +35,36 @@ jobs:
         bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
         colcon test; \
         colcon test-result --verbose'
+  build-rolling-testing:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    container:
+      image: osrf/ros2:testing
+    steps:
+    - name: Checkout repo
+      uses: actions/checkout@v4
+    - name: Create Workspace
+      run: |
+        mkdir src_tmp
+        mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/
+        mv src_tmp/ src/
+    - name: Install Prerequisites
+      run: |
+        apt update -qq
+        apt install -qq -y lsb-release wget curl gnupg2 git
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros2-testing-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros2-testing-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+        apt-get update && apt-get upgrade -q -y
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        apt-get update && apt-get upgrade -y && rosdep update; \
+        rosdep install --from-paths src --ignore-src -y'
+    - name: Build Workspace
+      run: |
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        colcon build'
+    - name: Run Tests
+      run: |
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        colcon test; \
+        colcon test-result --verbose'
diff --git a/camera_calibration/CHANGELOG.rst b/camera_calibration/CHANGELOG.rst
@@ -2,6 +2,29 @@
 Changelog for package camera_calibration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.1 (2024-07-22)
+------------------
+* Change camera info message to lower case (`#1005 <https://github.com/ros-perception/image_pipeline/issues/1005>`_)
+  Change camera info message to lower case since message type had been
+  change in rolling and humble.
+  [](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/CameraInfo.msg)
+* Formatting calib code before refactoring (`#999 <https://github.com/ros-perception/image_pipeline/issues/999>`_)
+  As discussed in `#975 <https://github.com/ros-perception/image_pipeline/issues/975>`_ and `#973 <https://github.com/ros-perception/image_pipeline/issues/973>`_
+  doing the linting first.
+  using style from
+  [here](https://github.com/ament/ament_lint/blob/rolling/ament_pycodestyle/ament_pycodestyle/configuration/ament_pycodestyle.ini)
+* Added stereo calibration using charuco board (`#976 <https://github.com/ros-perception/image_pipeline/issues/976>`_)
+  From `#972 <https://github.com/ros-perception/image_pipeline/issues/972>`_
+  Doing this first for rolling.
+  This was a TODO in the repository, opening this PR to add this feature.
+  - The main issue why this wasn't possible imo is the way `mk_obj_points`
+  works. I'm using the inbuilt opencv function to get the points there.
+  - The other is a condition when aruco markers are detected they are
+  added as good points, This is fine in case of mono but in stereo these
+  have to be the same number as the object points to find matches although
+  this should be possible with aruco.
+* Contributors: Myron Rodrigues, SFhmichael
+
 6.0.0 (2024-05-27)
 ------------------
 * fix: cv2.aruco.interpolateCornersCharuco is deprecated (`#979 <https://github.com/ros-perception/image_pipeline/issues/979>`_)

diff --git a/camera_calibration/package.xml b/camera_calibration/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>camera_calibration</name>
-  <version>6.0.0</version>
+  <version>6.0.1</version>
   <description>
      camera_calibration allows easy calibration of monocular or stereo
      cameras using a checkerboard calibration target.

diff --git a/camera_calibration/setup.py b/camera_calibration/setup.py
@@ -5,7 +5,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='6.0.0',
+    version='6.0.1',
     packages=["camera_calibration", "camera_calibration.nodes"],
     data_files=[
         ('share/ament_index/resource_index/packages',

diff --git a/depth_image_proc/CHANGELOG.rst b/depth_image_proc/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package depth_image_proc
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.1 (2024-07-22)
+------------------
+* Updated deprecated message filter headers (`#1012 <https://github.com/ros-perception/image_pipeline/issues/1012>`_)
+* Contributors: Alejandro Hernández Cordero
+
 6.0.0 (2024-05-27)
 ------------------
 

diff --git a/depth_image_proc/include/depth_image_proc/point_cloud_xyzi.hpp b/depth_image_proc/include/depth_image_proc/point_cloud_xyzi.hpp
@@ -38,9 +38,9 @@
 
 #include "depth_image_proc/visibility.h"
 #include "image_geometry/pinhole_camera_model.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/sync_policies/approximate_time.h"
-#include "message_filters/synchronizer.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
+#include "message_filters/synchronizer.hpp"
 
 #include <image_transport/subscriber_filter.hpp>
 #include <rclcpp/rclcpp.hpp>

diff --git a/depth_image_proc/include/depth_image_proc/point_cloud_xyzi_radial.hpp b/depth_image_proc/include/depth_image_proc/point_cloud_xyzi_radial.hpp
@@ -39,9 +39,9 @@
 #include <vector>
 
 #include "depth_image_proc/visibility.h"
-#include "message_filters/subscriber.h"
-#include "message_filters/synchronizer.h"
-#include "message_filters/sync_policies/exact_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/synchronizer.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
 
 #include <image_transport/subscriber_filter.hpp>
 #include <opencv2/core/mat.hpp>

diff --git a/depth_image_proc/include/depth_image_proc/point_cloud_xyzrgb.hpp b/depth_image_proc/include/depth_image_proc/point_cloud_xyzrgb.hpp
@@ -38,10 +38,10 @@
 
 #include "depth_image_proc/visibility.h"
 #include "image_geometry/pinhole_camera_model.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/synchronizer.h"
-#include "message_filters/sync_policies/exact_time.h"
-#include "message_filters/sync_policies/approximate_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/synchronizer.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
 
 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>

diff --git a/depth_image_proc/include/depth_image_proc/point_cloud_xyzrgb_radial.hpp b/depth_image_proc/include/depth_image_proc/point_cloud_xyzrgb_radial.hpp
@@ -40,10 +40,10 @@
 
 #include "depth_image_proc/visibility.h"
 #include "image_geometry/pinhole_camera_model.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/synchronizer.h"
-#include "message_filters/sync_policies/exact_time.h"
-#include "message_filters/sync_policies/approximate_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/synchronizer.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
 
 #include <opencv2/core/mat.hpp>
 #include <rclcpp/rclcpp.hpp>

diff --git a/depth_image_proc/package.xml b/depth_image_proc/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>depth_image_proc</name>
-  <version>6.0.0</version>
+  <version>6.0.1</version>
   <description>
 
      Contains components for processing depth images such as those

diff --git a/depth_image_proc/src/disparity.cpp b/depth_image_proc/src/disparity.cpp
@@ -37,8 +37,8 @@
 #include <string>
 
 #include "depth_image_proc/visibility.h"
-#include "message_filters/subscriber.h"
-#include "message_filters/time_synchronizer.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/time_synchronizer.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <image_transport/image_transport.hpp>

diff --git a/depth_image_proc/src/register.cpp b/depth_image_proc/src/register.cpp
@@ -38,9 +38,9 @@
 #include "Eigen/Geometry"
 #include "depth_image_proc/visibility.h"
 #include "image_geometry/pinhole_camera_model.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/synchronizer.h"
-#include "message_filters/sync_policies/approximate_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/synchronizer.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
 

diff --git a/image_pipeline/CHANGELOG.rst b/image_pipeline/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package image_pipeline
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.1 (2024-07-22)
+------------------
+
 6.0.0 (2024-05-27)
 ------------------
 

diff --git a/image_pipeline/package.xml b/image_pipeline/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>image_pipeline</name>
-  <version>6.0.0</version>
+  <version>6.0.1</version>
   <description>image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.</description>
 
   <maintainer email="[email protected]">Vincent Rabaud</maintainer>

diff --git a/image_proc/CHANGELOG.rst b/image_proc/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package image_proc
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.1 (2024-07-22)
+------------------
+
 6.0.0 (2024-05-27)
 ------------------
 

diff --git a/image_proc/package.xml b/image_proc/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>image_proc</name>
-  <version>6.0.0</version>
+  <version>6.0.1</version>
   <description>Single image rectification and color processing.</description>
 
   <maintainer email="[email protected]">Vincent Rabaud</maintainer>

diff --git a/image_publisher/CHANGELOG.rst b/image_publisher/CHANGELOG.rst
@@ -2,6 +2,31 @@
 Changelog for package image_publisher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.1 (2024-07-22)
+------------------
+* [rolling] image_publisher: Fix loading of the camera info parameters on startup (`#983 <https://github.com/ros-perception/image_pipeline/issues/983>`_)
+  As described in
+  https://github.com/ros-perception/image_pipeline/issues/965 camera info
+  is not loaded from the file on node initialization, but only when the
+  parameter is reloaded.
+  This PR resolves this issue and should be straightforward to port it to
+  `Humble`, `Iron` and `Jazzy`.
+* [rolling] image_publisher: add field of view parameter (`#985 <https://github.com/ros-perception/image_pipeline/issues/985>`_)
+  Currently, the default value for focal length when no camera info is
+  provided defaults to `1.0` rendering whole approximate intrinsics and
+  projection matrices useless. Based on [this
+  article](https://learnopencv.com/approximate-focal-length-for-webcams-and-cell-phone-cameras/),
+  I propose a better approximation of the focal length based on the field
+  of view of the camera.
+  For most of the use cases, users will either know the field of view of
+  the camera the used, or they already calibrated it ahead of time.
+  If there is some documentation to fill. please let me know.
+  This PR should be straightforward to port it to `Humble`, `Iron` and
+  `Jazzy`.
+  ---------
+  Co-authored-by: Alejandro Hernández Cordero <[email protected]>
+* Contributors: Krzysztof Wojciechowski
+
 6.0.0 (2024-05-27)
 ------------------
 * [rolling] image_publisher: Fix image, constantly flipping when static image is published (`#986 <https://github.com/ros-perception/image_pipeline/issues/986>`_)

diff --git a/image_publisher/package.xml b/image_publisher/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>image_publisher</name>
-  <version>6.0.0</version>
+  <version>6.0.1</version>
   <description>
 
       Contains a node publish an image stream from single image file

diff --git a/image_rotate/CHANGELOG.rst b/image_rotate/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package image_rotate
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.1 (2024-07-22)
+------------------
+
 6.0.0 (2024-05-27)
 ------------------
 

diff --git a/image_rotate/package.xml b/image_rotate/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>image_rotate</name>
-  <version>6.0.0</version>
+  <version>6.0.1</version>
   <description>
     <p>
       Contains a node that rotates an image stream in a way that minimizes

diff --git a/image_view/CHANGELOG.rst b/image_view/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package image_view
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.1 (2024-07-22)
+------------------
+* Updated deprecated message filter headers (`#1012 <https://github.com/ros-perception/image_pipeline/issues/1012>`_)
+* Contributors: Alejandro Hernández Cordero
+
 6.0.0 (2024-05-27)
 ------------------
 

diff --git a/image_view/include/image_view/stereo_view_node.hpp b/image_view/include/image_view/stereo_view_node.hpp
@@ -53,9 +53,9 @@
 #include <mutex>
 #include <string>
 
-#include "message_filters/subscriber.h"
-#include "message_filters/sync_policies/approximate_time.h"
-#include "message_filters/sync_policies/exact_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
 
 #include <opencv2/highgui/highgui.hpp>
 

diff --git a/image_view/package.xml b/image_view/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>image_view</name>
-  <version>6.0.0</version>
+  <version>6.0.1</version>
   <description>
   A simple viewer for ROS image topics. Includes a specialized viewer
   for stereo + disparity images.

diff --git a/image_view/src/stereo_view_node.cpp b/image_view/src/stereo_view_node.cpp
@@ -53,10 +53,10 @@
 #include <string>
 
 #include "cv_bridge/cv_bridge.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/sync_policies/approximate_time.h"
-#include "message_filters/sync_policies/exact_time.h"
-#include "message_filters/synchronizer.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
+#include "message_filters/synchronizer.hpp"
 
 #include "image_view/stereo_view_node.hpp"
 

diff --git a/stereo_image_proc/CHANGELOG.rst b/stereo_image_proc/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package stereo_image_proc
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.1 (2024-07-22)
+------------------
+* Updated deprecated message filter headers (`#1012 <https://github.com/ros-perception/image_pipeline/issues/1012>`_)
+* Contributors: Alejandro Hernández Cordero
+
 6.0.0 (2024-05-27)
 ------------------
 

diff --git a/stereo_image_proc/package.xml b/stereo_image_proc/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>stereo_image_proc</name>
-  <version>6.0.0</version>
+  <version>6.0.1</version>
   <description>Stereo and single image rectification and disparity processing.</description>
 
   <maintainer email="[email protected]">Vincent Rabaud</maintainer>

diff --git a/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp b/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp
@@ -40,11 +40,11 @@
 
 #include "cv_bridge/cv_bridge.hpp"
 #include "image_geometry/stereo_camera_model.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/synchronizer.h"
-#include "message_filters/sync_policies/approximate_time.h"
-#include "message_filters/sync_policies/approximate_epsilon_time.h"
-#include "message_filters/sync_policies/exact_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/synchronizer.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
+#include "message_filters/sync_policies/approximate_epsilon_time.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
 
 #include <stereo_image_proc/stereo_processor.hpp>
 

diff --git a/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp b/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp
@@ -35,11 +35,11 @@
 #include <string>
 
 #include "image_geometry/stereo_camera_model.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/synchronizer.h"
-#include "message_filters/sync_policies/approximate_time.h"
-#include "message_filters/sync_policies/approximate_epsilon_time.h"
-#include "message_filters/sync_policies/exact_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/synchronizer.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
+#include "message_filters/sync_policies/approximate_epsilon_time.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
 #include "rcutils/logging_macros.h"
 
 #include <image_transport/camera_common.hpp>