Merge branch 'rolling' into bugfix/image-publisher-camera-info-startup

ros-perception · May 28, 2024 · 8996ed3 · 8996ed3
2 parents 149ed41 + 78d80f7
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diff --git a/camera_calibration/CHANGELOG.rst b/camera_calibration/CHANGELOG.rst
@@ -2,6 +2,55 @@
 Changelog for package camera_calibration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2024-05-27)
+------------------
+* fix: cv2.aruco.interpolateCornersCharuco is deprecated (`#979 <https://github.com/ros-perception/image_pipeline/issues/979>`_)
+  There has been API Changes in the newer releases of opencv2 (from
+  4.8.0). The PR addresses this by supporting both the old and new APIs.
+  updated Syntax
+  ```
+  charucodetector = cv2.aruco.CharucoDetector(board)
+  charuco_corners, charuco_ids, marker_corners, marker_ids = charucodetector.detectBoard(image)
+  ```
+  before 4.8.0
+  ```
+  marker_corners, marker_ids, rejectedImgPoints = cv2.aruco.detectMarkers( image, dictionary)
+  retval, charuco_corners, charuco_ids = cv2.aruco.interpolateCornersCharuco( marker_corners, marker_ids, image, board)
+  ```
+  See the changed examples in the main opencv2 repo:
+  https://github.com/opencv/opencv/blob/f9a59f2592993d3dcc080e495f4f5e02dd8ec7ef/samples/python/calibrate.py#L110
+* Update for compatibility with image_pipeline 4.1.0 (`#968 <https://github.com/ros-perception/image_pipeline/issues/968>`_)
+  This is a PR to fix:
+  - `#966 <https://github.com/ros-perception/image_pipeline/issues/966>`_
+  As noted in `#966 <https://github.com/ros-perception/image_pipeline/issues/966>`_, as of writing image_pipeline [4.1.0 has been
+  released](https://github.com/ros-perception/vision_opencv/releases/tag/4.1.0),
+  is updated on
+  [index.ros.org](https://index.ros.org/p/image_geometry/github-ros-perception-vision_opencv/#rolling),
+  but it has not yet been migrated to
+  [packages.ros.org](http://packages.ros.org/ros2/ubuntu/dists/noble/main/binary-amd64/Packages).
+  As such `camera_calibration` will also require the source of
+  [image_pipeline
+  4.1.0](https://github.com/ros-perception/vision_opencv/releases/tag/4.1.0)
+  or higher to successfully build.
+  I tested to ensure successful build with colcon build & colcon test.
+  Note that colcon test has the following warning that is out of scope of
+  this PR:
+  ```
+  =============================== warnings summary ===============================
+  src/camera_calibration/calibrator.py:47
+  Warning: The distutils package is deprecated and slated for removal in Python 3.12. Use setuptools or check PEP 632 for potential alternatives
+  ```
+  Please let me know if there are any questions, concerns, or requested
+  changes.
+* replace disutils with python3-semver (`#970 <https://github.com/ros-perception/image_pipeline/issues/970>`_)
+  Fix for
+  - `#969 <https://github.com/ros-perception/image_pipeline/issues/969>`_
+  I added a dependency for `python3-semver` to replace version parsing
+  with `disutils`.
+  Please let me know if you have any questions, concerns, or additional
+  requested changes.
+* Contributors: Földi Tamás, Scott Monaghan
+
 5.0.1 (2024-03-26)
 ------------------
 * Fix spelling error for cv2.aruco.DICT from 6x6_50 to 7x7_1000 (`#961 <https://github.com/ros-perception/image_pipeline/issues/961>`_)

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>5.0.1</version>
+  <version>6.0.0</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='5.0.1',
+    version='6.0.0',
     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 +2,9 @@
 Changelog for package depth_image_proc
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2024-05-27)
+------------------
+
 5.0.1 (2024-03-26)
 ------------------
 * Update depth_image_proc::RegisterNode documentation (`#957 <https://github.com/ros-perception/image_pipeline/issues/957>`_)

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>5.0.1</version>
+  <version>6.0.0</version>
   <description>
 
      Contains components for processing depth images such as those

diff --git a/image_pipeline/CHANGELOG.rst b/image_pipeline/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package image_pipeline
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2024-05-27)
+------------------
+
 5.0.1 (2024-03-26)
 ------------------
 * DisparityNode: replace full_dp parameter with sgbm_mode (`#945 <https://github.com/ros-perception/image_pipeline/issues/945>`_)

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>5.0.1</version>
+  <version>6.0.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2024-05-27)
+------------------
+
 5.0.1 (2024-03-26)
 ------------------
 * Fix parameter names in components.rst (`#959 <https://github.com/ros-perception/image_pipeline/issues/959>`_)

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>5.0.1</version>
+  <version>6.0.0</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 +2,20 @@
 Changelog for package image_publisher
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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>`_)
+  Continuation of
+  https://github.com/ros-perception/image_pipeline/pull/984.
+  When publishing video stream from a camera, the image was flipped
+  correctly. Yet for a static image, which was loaded once, the flip
+  function was applied every time `ImagePublisher::doWork()` was called,
+  resulting in the published image being flipped back and forth all the
+  time.
+  This PR should be straightforward to port it to `Humble`, `Iron` and
+  `Jazzy`.
+* Contributors: Krzysztof Wojciechowski
+
 5.0.1 (2024-03-26)
 ------------------
 * unified changelog, add missing image, deduplicate tutorials (`#938 <https://github.com/ros-perception/image_pipeline/issues/938>`_)

diff --git a/image_publisher/doc/components.rst b/image_publisher/doc/components.rst
@@ -14,6 +14,7 @@ Published Topics
 Parameters
 ^^^^^^^^^^
  * **filename** (string, default: ""): Name of image file to be published.
+ * **field_of_view** (double, default: 0): Camera field of view (deg) used to calculate focal length for camera info topic.
  * **flip_horizontal** (bool, default: false): Flip output image horizontally.
  * **flip_vertical** (bool, default: false): Flip output image vertically.
  * **frame_id** (string, default: "camera") Frame id inserted in published

diff --git a/image_publisher/include/image_publisher/image_publisher.hpp b/image_publisher/include/image_publisher/image_publisher.hpp
@@ -65,8 +65,10 @@ class ImagePublisher : public rclcpp::Node
   rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_;
 
   std::string filename_;
+  double field_of_view_;
   bool flip_horizontal_;
   bool flip_vertical_;
+  bool image_flipped_;
   bool retry_;  // If enabled will retry loading image from the filename_
   int timeout_;  // Time after which retrying starts
 

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>5.0.1</version>
+  <version>6.0.0</version>
   <description>
 
       Contains a node publish an image stream from single image file

diff --git a/image_publisher/src/image_publisher.cpp b/image_publisher/src/image_publisher.cpp
@@ -31,7 +31,9 @@
 // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
+#include <cmath>
 #include <chrono>
+#include <limits>
 #include <string>
 #include <thread>
 #include <vector>
@@ -60,6 +62,7 @@ ImagePublisher::ImagePublisher(
   std::string topic_name = node_base->resolve_topic_or_service_name("image_raw", false);
   pub_ = image_transport::create_camera_publisher(this, topic_name);
 
+  field_of_view_ = this->declare_parameter("field_of_view", static_cast<double>(0));
   flip_horizontal_ = this->declare_parameter("flip_horizontal", false);
   flip_vertical_ = this->declare_parameter("flip_vertical", false);
   frame_id_ = this->declare_parameter("frame_id", std::string("camera"));
@@ -81,6 +84,10 @@ ImagePublisher::ImagePublisher(
           filename_ = parameter.as_string();
           RCLCPP_INFO(get_logger(), "Reset filename as '%s'", filename_.c_str());
           call_init = true;
+        } else if (parameter.get_name() == "field_of_view") {
+          field_of_view_ = parameter.as_double();
+          RCLCPP_INFO(get_logger(), "Reset field_of_view as '%f'", field_of_view_);
+          call_init = true;
         } else if (parameter.get_name() == "flip_horizontal") {
           flip_horizontal_ = parameter.as_bool();
           RCLCPP_INFO(get_logger(), "Reset flip_horizontal as '%d'", flip_horizontal_);
@@ -152,9 +159,11 @@ void ImagePublisher::doWork()
       if (!cap_.read(image_)) {
         cap_.set(cv::CAP_PROP_POS_FRAMES, 0);
       }
+      image_flipped_ = false;
     }
-    if (flip_image_) {
+    if (flip_image_ && !image_flipped_) {
       cv::flip(image_, image_, flip_value_);
+      image_flipped_ = true;
     }
 
     sensor_msgs::msg::Image::SharedPtr out_img =
@@ -221,15 +230,22 @@ void ImagePublisher::onInit()
   } else {
     flip_image_ = false;
   }
+  image_flipped_ = false;  // Image newly read, needs to be flipped
 
   camera_info_.width = image_.cols;
   camera_info_.height = image_.rows;
   camera_info_.distortion_model = "plumb_bob";
   camera_info_.d = {0, 0, 0, 0, 0};
-  camera_info_.k = {1, 0, static_cast<float>(camera_info_.width / 2), 0, 1,
+
+  double f_approx = 1.0;  // FOV equal to 0 disables the approximation
+  if (std::abs(field_of_view_) > std::numeric_limits<double>::epsilon()) {
+    // Based on https://learnopencv.com/approximate-focal-length-for-webcams-and-cell-phone-cameras/
+    f_approx = (camera_info_.width / 2) / std::tan((field_of_view_ * M_PI / 180) / 2);
+  }
+  camera_info_.k = {f_approx, 0, static_cast<float>(camera_info_.width / 2), 0, f_approx,
     static_cast<float>(camera_info_.height / 2), 0, 0, 1};
   camera_info_.r = {1, 0, 0, 0, 1, 0, 0, 0, 1};
-  camera_info_.p = {1, 0, static_cast<float>(camera_info_.width / 2), 0, 0, 1,
+  camera_info_.p = {f_approx, 0, static_cast<float>(camera_info_.width / 2), 0, 0, f_approx,
     static_cast<float>(camera_info_.height / 2), 0, 0, 0, 1, 0};
 
   ImagePublisher::reconfigureCallback();

diff --git a/image_rotate/CHANGELOG.rst b/image_rotate/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package image_rotate
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2024-05-27)
+------------------
+
 5.0.1 (2024-03-26)
 ------------------
 * fix image publisher remapping (`#941 <https://github.com/ros-perception/image_pipeline/issues/941>`_)

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>5.0.1</version>
+  <version>6.0.0</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 +2,9 @@
 Changelog for package image_view
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2024-05-27)
+------------------
+
 5.0.1 (2024-03-26)
 ------------------
 * unified changelog, add missing image, deduplicate tutorials (`#938 <https://github.com/ros-perception/image_pipeline/issues/938>`_)

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>5.0.1</version>
+  <version>6.0.0</version>
   <description>
   A simple viewer for ROS image topics. Includes a specialized viewer
   for stereo + disparity images.

diff --git a/stereo_image_proc/CHANGELOG.rst b/stereo_image_proc/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package stereo_image_proc
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2024-05-27)
+------------------
+
 5.0.1 (2024-03-26)
 ------------------
 * DisparityNode: replace full_dp parameter with sgbm_mode (`#945 <https://github.com/ros-perception/image_pipeline/issues/945>`_)

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>5.0.1</version>
+  <version>6.0.0</version>
   <description>Stereo and single image rectification and disparity processing.</description>
 
   <maintainer email="[email protected]">Vincent Rabaud</maintainer>

diff --git a/tracetools_image_pipeline/CHANGELOG.rst b/tracetools_image_pipeline/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package tracetools_image_pipeline
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2024-05-27)
+------------------
+
 5.0.1 (2024-03-26)
 ------------------
 

diff --git a/tracetools_image_pipeline/package.xml b/tracetools_image_pipeline/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>tracetools_image_pipeline</name>
-  <version>5.0.1</version>
+  <version>6.0.0</version>
   <description>
     LTTng tracing provider wrapper for image_pipeline ROS 2 meta-package.
   </description>