Merge remote-tracking branch 'upstream/melodic' into Branch_8d01c930e…

…66bdeb58c4b138539a64ddea0b17e10

.circleci/config.yml

@@ -0,0 +1,66 @@
+version: 2
+jobs:
+  kinetic:
+    docker:
+      - image: ros:kinetic-perception
+    steps:
+      - checkout
+      - run:
+          name: Set Up Container
+          command: |
+            apt-get update -qq && apt-get install -y python-catkin-tools
+            source `find /opt/ros -name setup.bash | sort | head -1`
+            rosdep update
+            rosdep install --from-paths . --ignore-src
+            cd ..
+            catkin init
+            catkin config --extend /opt/ros/$ROS_DISTRO
+      - run:
+          name: Build
+          command: |
+            cd ..
+            catkin build --no-status -j4
+      - run:
+          name: Run Tests
+          command: |
+            source `find /opt/ros -name setup.bash | sort | head -1`
+            cd ..
+            catkin run_tests -j4
+            catkin_test_results
+    working_directory: ~/src
+
+  melodic:
+    docker:
+      - image: ros:melodic-perception
+    steps:
+      - checkout
+      - run:
+          name: Set Up Container
+          command: |
+            apt update -qq && apt install -y python-catkin-tools
+            source `find /opt/ros -name setup.bash | sort | head -1`
+            rosdep update
+            rosdep install --from-paths . --ignore-src
+            cd ..
+            catkin init
+            catkin config --extend /opt/ros/$ROS_DISTRO
+      - run:
+          name: Build
+          command: |
+            cd ..
+            catkin build --no-status -j4
+      - run:
+          name: Run Tests
+          command: |
+            source `find /opt/ros -name setup.bash | sort | head -1`
+            cd ..
+            catkin run_tests -j4
+            catkin_test_results
+    working_directory: ~/src
+
+workflows:
+  version: 2
+  ros_build:
+    jobs:
+      - kinetic
+      - melodic

README.md

@@ -0,0 +1,10 @@
+image_pipeline
+==============
+
+[![CircleCI](https://circleci.com/gh/ros-perception/image_pipeline.svg?style=svg)](https://circleci.com/gh/ros-perception/image_pipeline)
+
+This package fills the gap between getting raw images from a camera driver and higher-level vision processing.
+
+For more information on this metapackage and underlying packages, please see [the ROS wiki entry](http://wiki.ros.org/image_pipeline).
+
+For examples, see the [image_pipeline tutorials entry](http://wiki.ros.org/image_pipeline/Tutorials) on the ROS Wiki.

camera_calibration/CHANGELOG.rst

@@ -1,3 +1,18 @@
+1.13.0 (2019-06-12)
+-------------------
+* Merge pull request `#356 <https://github.com/ros-perception/image_pipeline/issues/356>`_ from sevangelatos/feature/calibrator_rolling_shutter
+* Add max-chessboard-speed option to allow more accurate calibration of rolling shutter cameras.
+* Merge pull request `#334 <https://github.com/ros-perception/image_pipeline/issues/334>`_ from Fruchtzwerg94/patch-2
+  Scale pixels down from 16 to 8 bits instead of just clipping
+* Merge pull request `#340 <https://github.com/ros-perception/image_pipeline/issues/340>`_ from k-okada/286
+  use waitKey(0) instead of while loop
+* Merge pull request `#395 <https://github.com/ros-perception/image_pipeline/issues/395>`_ from ros-perception/steve_maintain
+* adding autonomoustuff mainainer
+* adding stevemacenski as maintainer to get emails
+* Scale pixels down from 16 to 8 bits instead of just clipping
+  Clipping 16 bit pixels just to 8 bit pixels leads to white images if the original image uses the full range of the 16 bits. Instead the pixel should be scaled down to 8 bits.
+* Contributors: Joshua Whitley, Kei Okada, Philipp, Spiros Evangelatos, Yoshito Okada, stevemacenski
+
 1.12.23 (2018-05-10)
 --------------------
 * camera_checker: Ensure cols + rows are in correct order (`#319 <https://github.com/ros-perception/image_pipeline/issues/319>`_)

camera_calibration/nodes/cameracalibrator.py

@@ -32,10 +32,10 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from __future__ import print_function
 import cv2
 import functools
 import message_filters
-import os
 import rospy
 from camera_calibration.camera_calibrator import OpenCVCalibrationNode
 from camera_calibration.calibrator import ChessboardInfo, Patterns
@@ -68,6 +68,9 @@ def main():
     group.add_option("--no-service-check",
                      action="store_false", dest="service_check", default=True,
                      help="disable check for set_camera_info services at startup")
+    group.add_option("--queue-size",
+                     type="int", default=1,
+                     help="image queue size (default %default, set to 0 for unlimited)")
     parser.add_option_group(group)
     group = OptionGroup(parser, "Calibration Optimizer Options")
     group.add_option("--fix-principal-point",
@@ -84,6 +87,9 @@ def main():
                      help="number of radial distortion coefficients to use (up to 6, default %default)")
     group.add_option("--disable_calib_cb_fast_check", action='store_true', default=False,
                      help="uses the CALIB_CB_FAST_CHECK flag for findChessboardCorners")
+    group.add_option("--max-chessboard-speed", type="float", default=-1.0,
+                     help="Do not use samples where the calibration pattern is moving faster \
+                     than this speed in px/frame. Set to eg. 0.5 for rolling shutter cameras.")
     parser.add_option_group(group)
     options, args = parser.parse_args()
 
@@ -143,7 +149,8 @@ def main():
 
     rospy.init_node('cameracalibrator')
     node = OpenCVCalibrationNode(boards, options.service_check, sync, calib_flags, pattern, options.camera_name,
-                                 checkerboard_flags=checkerboard_flags)
+                                 checkerboard_flags=checkerboard_flags, max_chessboard_speed=options.max_chessboard_speed,
+                                 queue_size=options.queue_size)
     rospy.spin()
 
 if __name__ == "__main__":

camera_calibration/package.xml

@@ -1,13 +1,15 @@
 <package>
   <name>camera_calibration</name>
-  <version>1.12.23</version>
+  <version>1.13.0</version>
   <description>
      camera_calibration allows easy calibration of monocular or stereo
      cameras using a checkerboard calibration target.
   </description>
   <author>James Bowman</author>
   <author>Patrick Mihelich</author>
   <maintainer email="[email protected]">Vincent Rabaud</maintainer>
+  <maintainer email="[email protected]">Steven Macenski</maintainer>
+  <maintainer email="[email protected]">Autonomoustuff team</maintainer>
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 

camera_calibration/scripts/tarfile_calibration.py

@@ -32,8 +32,8 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from __future__ import print_function
 import os
-import sys
 import numpy
 
 import cv2
@@ -45,16 +45,10 @@
 import rospy
 import sensor_msgs.srv
 
-def waitkey():
-    k = cv2.waitKey(6)
-    return k
-
 def display(win_name, img):
     cv2.namedWindow(win_name, cv2.WINDOW_NORMAL)
     cv2.imshow( win_name,  numpy.asarray( img[:,:] ))
-    k=-1
-    while k ==-1:
-        k=waitkey()
+    k = cv2.waitKey(0)
     cv2.destroyWindow(win_name)
     if k in [27, ord('q')]:
         rospy.signal_shutdown('Quit')