Merge branch 'rolling' of https://github.com/CursedRock17/image_pipeline

 into rolling

.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'

README.md

@@ -1,7 +1,7 @@
 image_pipeline
 ==============
 
-[![Build Status](https://build.ros2.org/buildStatus/icon?job=Rdev__image_pipeline__ubuntu_jammy_amd64)](https://build.ros2.org/job/Rdev__image_pipeline__ubuntu_jammy_amd64/)
+[![Build Status](https://build.ros2.org/buildStatus/icon?job=Rdev__image_pipeline__ubuntu_noble_amd64)](https://build.ros2.org/job/Rdev__image_pipeline__ubuntu_noble_amd64/)
 
 This package fills the gap between getting raw images from a camera driver and higher-level vision processing.
 

camera_calibration/CHANGELOG.rst

@@ -2,6 +2,105 @@
 Changelog for package camera_calibration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.3 (2024-08-20)
+------------------
+* Refactoring calibration code (`#1000 <https://github.com/ros-perception/image_pipeline/issues/1000>`_)
+  Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
+* Contributors: Myron Rodrigues
+
+6.0.2 (2024-07-23)
+------------------
+
+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>`_)
+  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>`_)
+  There was mismatch of capitalisation of "X" for OpenCV
+  cv2.aruco.DICT_n**X**n\_ in camera_calibration package for dicts 6x6_50
+  to 7x7_1000
+  Co-authored-by: Vishal Balaji <vishal.balaji@schanzer-racing.de>
+* unified changelog, add missing image, deduplicate tutorials (`#938 <https://github.com/ros-perception/image_pipeline/issues/938>`_)
+  Last bit of documentation updates - putting together a single changelog
+  summary for the whole release (rather than scattering among packages).
+  Unified the camera_info tutorial so it isn't duplicated. Added a missing
+  image from image_rotate (was on local disk, but hadn't committed it)
+* migrate camera_calibration documentation (`#937 <https://github.com/ros-perception/image_pipeline/issues/937>`_)
+* install tarfile_calibration (`#923 <https://github.com/ros-perception/image_pipeline/issues/923>`_)
+  otherwise, it can't be run easily
+* calibration: better warnings around board configuration `#713 <https://github.com/ros-perception/image_pipeline/issues/713>`_ (`#724 <https://github.com/ros-perception/image_pipeline/issues/724>`_)
+* Contributors: Michael Ferguson, Vishal Balaji, jonathanTIE
+
 5.0.0 (2024-01-24)
 ------------------
 * ROS 2: Added more aruco dicts, fixed aruco linerror bug (`#873 <https://github.com/ros-perception/image_pipeline/issues/873>`_)

camera_calibration/doc/api.rst

@@ -1,8 +1,8 @@
 API Documentation
 =================
 
-.. autoclass:: camera_calibration.calibrator.MonoCalibrator
+.. autoclass:: camera_calibration.mono_calibrator.MonoCalibrator
     :members:
 
-.. autoclass:: camera_calibration.calibrator.StereoCalibrator
+.. autoclass:: camera_calibration.stereo_calibrator.StereoCalibrator
     :members:

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>5.0.0</version>
+  <version>6.0.3</version>
   <description>
      camera_calibration allows easy calibration of monocular or stereo
      cameras using a checkerboard calibration target.
@@ -27,6 +27,7 @@
   <depend>rclpy</depend>
   <depend>std_srvs</depend>
   <depend>sensor_msgs</depend>
+  <depend>python3-semver</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

camera_calibration/setup.py

@@ -5,12 +5,12 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='5.0.0',
+    version='6.0.3',
     packages=["camera_calibration", "camera_calibration.nodes"],
     data_files=[
-    ('share/ament_index/resource_index/packages',
-      ['resource/' + PACKAGE_NAME]),
-    ('share/' + PACKAGE_NAME, ['package.xml']),
+        ('share/ament_index/resource_index/packages',
+         ['resource/' + PACKAGE_NAME]),
+        ('share/' + PACKAGE_NAME, ['package.xml']),
     ],
     py_modules=[],
     package_dir={'': 'src'},