From e3c6dcbab0ea30a2694c257e6c2604777123c55e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Mon, 22 Jul 2024 16:35:10 +0200 Subject: [PATCH 1/3] Updated deprecated message filter headers (#1012) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- .github/workflows/basic-build-ci.yaml | 35 ++++++++++++++++++- .../depth_image_proc/point_cloud_xyzi.hpp | 6 ++-- .../point_cloud_xyzi_radial.hpp | 6 ++-- .../depth_image_proc/point_cloud_xyzrgb.hpp | 8 ++--- .../point_cloud_xyzrgb_radial.hpp | 8 ++--- depth_image_proc/src/disparity.cpp | 4 +-- depth_image_proc/src/register.cpp | 6 ++-- .../include/image_view/stereo_view_node.hpp | 6 ++-- image_view/src/stereo_view_node.cpp | 8 ++--- .../src/stereo_image_proc/disparity_node.cpp | 10 +++--- .../stereo_image_proc/point_cloud_node.cpp | 10 +++--- 11 files changed, 70 insertions(+), 37 deletions(-) diff --git a/.github/workflows/basic-build-ci.yaml b/.github/workflows/basic-build-ci.yaml index e308066fb..759927eef 100644 --- 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/depth_image_proc/include/depth_image_proc/point_cloud_xyzi.hpp b/depth_image_proc/include/depth_image_proc/point_cloud_xyzi.hpp index cb079cc1d..8be05e3ce 100644 --- 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 #include 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 index d4838e120..51d7bc546 100644 --- 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 #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 #include 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 index 47c7e0cba..c44c198c8 100644 --- 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 #include 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 index 6db3759f7..8dc3098e4 100644 --- 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 #include diff --git a/depth_image_proc/src/disparity.cpp b/depth_image_proc/src/disparity.cpp index 4cad8eb5d..ce8a06f4a 100644 --- a/depth_image_proc/src/disparity.cpp +++ b/depth_image_proc/src/disparity.cpp @@ -37,8 +37,8 @@ #include #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 #include diff --git a/depth_image_proc/src/register.cpp b/depth_image_proc/src/register.cpp index 6269f4cf4..853671967 100644 --- 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_view/include/image_view/stereo_view_node.hpp b/image_view/include/image_view/stereo_view_node.hpp index f2c40c625..463ed1116 100644 --- 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 #include -#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 diff --git a/image_view/src/stereo_view_node.cpp b/image_view/src/stereo_view_node.cpp index 5113da7f2..3cd75faca 100644 --- a/image_view/src/stereo_view_node.cpp +++ b/image_view/src/stereo_view_node.cpp @@ -53,10 +53,10 @@ #include #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/src/stereo_image_proc/disparity_node.cpp b/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp index a5f9c2d63..188e3ec22 100644 --- 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 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 index c654f231c..14b1a047e 100644 --- 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 #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 From fb58b1d4331c4fa4c96666eff3cf5d20d3a17fa0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Mon, 22 Jul 2024 16:36:27 +0200 Subject: [PATCH 2/3] Changelog MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- camera_calibration/CHANGELOG.rst | 23 +++++++++++++++++++++++ depth_image_proc/CHANGELOG.rst | 5 +++++ image_pipeline/CHANGELOG.rst | 3 +++ image_proc/CHANGELOG.rst | 3 +++ image_publisher/CHANGELOG.rst | 25 +++++++++++++++++++++++++ image_rotate/CHANGELOG.rst | 3 +++ image_view/CHANGELOG.rst | 5 +++++ stereo_image_proc/CHANGELOG.rst | 5 +++++ tracetools_image_pipeline/CHANGELOG.rst | 3 +++ 9 files changed, 75 insertions(+) diff --git a/camera_calibration/CHANGELOG.rst b/camera_calibration/CHANGELOG.rst index 5573d1134..0eed73ba9 100644 --- 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 `_) + 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 `_) + As discussed in `#975 `_ and `#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 `_) + From `#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 `_) diff --git a/depth_image_proc/CHANGELOG.rst b/depth_image_proc/CHANGELOG.rst index 8fc4769ad..81bdec207 100644 --- 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 `_) +* Contributors: Alejandro Hernández Cordero + 6.0.0 (2024-05-27) ------------------ diff --git a/image_pipeline/CHANGELOG.rst b/image_pipeline/CHANGELOG.rst index c87f8d775..166a78cfe 100644 --- 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_proc/CHANGELOG.rst b/image_proc/CHANGELOG.rst index 737d0204a..96074eb86 100644 --- 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_publisher/CHANGELOG.rst b/image_publisher/CHANGELOG.rst index 6d22cd070..c051db611 100644 --- 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 `_) + 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 `_) + 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 +* Contributors: Krzysztof Wojciechowski + 6.0.0 (2024-05-27) ------------------ * [rolling] image_publisher: Fix image, constantly flipping when static image is published (`#986 `_) diff --git a/image_rotate/CHANGELOG.rst b/image_rotate/CHANGELOG.rst index f8d42c088..b2f87637a 100644 --- 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_view/CHANGELOG.rst b/image_view/CHANGELOG.rst index 6b79705c3..7dd8dd4fc 100644 --- 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 `_) +* Contributors: Alejandro Hernández Cordero + 6.0.0 (2024-05-27) ------------------ diff --git a/stereo_image_proc/CHANGELOG.rst b/stereo_image_proc/CHANGELOG.rst index 319e0fbca..a11352737 100644 --- 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 `_) +* Contributors: Alejandro Hernández Cordero + 6.0.0 (2024-05-27) ------------------ diff --git a/tracetools_image_pipeline/CHANGELOG.rst b/tracetools_image_pipeline/CHANGELOG.rst index e08bb9660..13240beac 100644 --- a/tracetools_image_pipeline/CHANGELOG.rst +++ b/tracetools_image_pipeline/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tracetools_image_pipeline ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +6.0.1 (2024-07-22) +------------------ + 6.0.0 (2024-05-27) ------------------ From 54b74c009a0b4079604f99f1d4f2dc46d645e029 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Mon, 22 Jul 2024 16:36:30 +0200 Subject: [PATCH 3/3] 6.0.1 --- camera_calibration/package.xml | 2 +- camera_calibration/setup.py | 2 +- depth_image_proc/package.xml | 2 +- image_pipeline/package.xml | 2 +- image_proc/package.xml | 2 +- image_publisher/package.xml | 2 +- image_rotate/package.xml | 2 +- image_view/package.xml | 2 +- stereo_image_proc/package.xml | 2 +- tracetools_image_pipeline/package.xml | 2 +- 10 files changed, 10 insertions(+), 10 deletions(-) diff --git a/camera_calibration/package.xml b/camera_calibration/package.xml index 3096d2bb2..2685997a0 100644 --- a/camera_calibration/package.xml +++ b/camera_calibration/package.xml @@ -2,7 +2,7 @@ camera_calibration - 6.0.0 + 6.0.1 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 index 922371266..a662801c2 100644 --- 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/package.xml b/depth_image_proc/package.xml index cc8c8d165..1a24048f1 100644 --- a/depth_image_proc/package.xml +++ b/depth_image_proc/package.xml @@ -2,7 +2,7 @@ depth_image_proc - 6.0.0 + 6.0.1 Contains components for processing depth images such as those diff --git a/image_pipeline/package.xml b/image_pipeline/package.xml index e5bcaa5c2..7502fd3bc 100644 --- a/image_pipeline/package.xml +++ b/image_pipeline/package.xml @@ -2,7 +2,7 @@ image_pipeline - 6.0.0 + 6.0.1 image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing. Vincent Rabaud diff --git a/image_proc/package.xml b/image_proc/package.xml index 2bca015d0..dcf2a8892 100644 --- a/image_proc/package.xml +++ b/image_proc/package.xml @@ -2,7 +2,7 @@ image_proc - 6.0.0 + 6.0.1 Single image rectification and color processing. Vincent Rabaud diff --git a/image_publisher/package.xml b/image_publisher/package.xml index e01a8732d..fcfa25e5c 100644 --- a/image_publisher/package.xml +++ b/image_publisher/package.xml @@ -2,7 +2,7 @@ image_publisher - 6.0.0 + 6.0.1 Contains a node publish an image stream from single image file diff --git a/image_rotate/package.xml b/image_rotate/package.xml index 4fac7e250..477f48079 100644 --- a/image_rotate/package.xml +++ b/image_rotate/package.xml @@ -2,7 +2,7 @@ image_rotate - 6.0.0 + 6.0.1

Contains a node that rotates an image stream in a way that minimizes diff --git a/image_view/package.xml b/image_view/package.xml index 9bc247b4e..6b9fe9005 100644 --- a/image_view/package.xml +++ b/image_view/package.xml @@ -2,7 +2,7 @@ image_view - 6.0.0 + 6.0.1 A simple viewer for ROS image topics. Includes a specialized viewer for stereo + disparity images. diff --git a/stereo_image_proc/package.xml b/stereo_image_proc/package.xml index 080aa51ef..3ddf5ae65 100644 --- a/stereo_image_proc/package.xml +++ b/stereo_image_proc/package.xml @@ -2,7 +2,7 @@ stereo_image_proc - 6.0.0 + 6.0.1 Stereo and single image rectification and disparity processing. Vincent Rabaud diff --git a/tracetools_image_pipeline/package.xml b/tracetools_image_pipeline/package.xml index b3fb0e09a..51caaf6c0 100644 --- a/tracetools_image_pipeline/package.xml +++ b/tracetools_image_pipeline/package.xml @@ -2,7 +2,7 @@ tracetools_image_pipeline - 6.0.0 + 6.0.1 LTTng tracing provider wrapper for image_pipeline ROS 2 meta-package.