ros-perception · JWhitleyWork · Nov 7, 2019 · Jul 31, 2019 · Oct 27, 2019 · Oct 27, 2019
diff --git a/camera_calibration_fisheye/CHANGELOG.rst b/camera_calibration_fisheye/CHANGELOG.rst
@@ -0,0 +1,170 @@
+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>`_)
+  Without this commit, specifying a smaller column than row size lead to
+  huge reported errors:
+  ```
+  $ rosrun camera_calibration cameracheck.py --size 6x7 --square 0.0495
+  Linearity RMS Error: 13.545 Pixels      Reprojection RMS Error: 22.766 Pixels
+  $ rosrun camera_calibration cameracheck.py --size 7x6 --square 0.0495
+  Linearity RMS Error: 0.092 Pixels      Reprojection RMS Error: 0.083 Pixels
+  ```
+  This commit switches columns and rows around if necessary.
+* Contributors: Martin Günther
+
+1.12.22 (2017-12-08)
+--------------------
+* Changed flags CV_LOAD_IMAGE_COLOR by IMREAD_COLOR to adapt to Opencv3. (`#252 <https://github.com/ros-perception/image_pipeline/issues/252>`_)
+* Fixed stereo calibration problem with chessboard with the same number of rows and cols by rotating the corners to same direction.
+* Contributors: jbosch
+
+1.12.21 (2017-11-05)
+--------------------
+* re-add the calibration nodes but now using the Python modules.
+  Fixes `#298 <https://github.com/ros-perception/image_pipeline/issues/298>`_
+* Move nodes to Python module.
+* Contributors: Vincent Rabaud
+
+1.12.20 (2017-04-30)
+--------------------
+* properly save bytes buffer as such
+  This is useful for Python 3 and fixes `#256 <https://github.com/ros-perception/image_pipeline/issues/256>`_.
+* Get tests slightly looser.
+  OpenCV 3.2 gives slightly different results apparently.
+* Use floor division where necessary. (`#247 <https://github.com/ros-perception/image_pipeline/issues/247>`_)
+* Fix and Improve Camera Calibration Checker Node (`#254 <https://github.com/ros-perception/image_pipeline/issues/254>`_)
+  * Fix according to calibrator.py API
+  * Add approximate to cameracheck
+* Force first corner off chessboard to be uppler left.
+  Fixes `#140 <https://github.com/ros-perception/image_pipeline/issues/140>`_
+* fix doc jobs
+  This is a proper fix for `#233 <https://github.com/ros-perception/image_pipeline/issues/233>`_
+* During stereo calibration check that the number of corners detected in the left and right images are the same. This fixes `ros-perception/image_pipeline#225 <https://github.com/ros-perception/image_pipeline/issues/225>`_
+* Contributors: Leonard Gerard, Martin Peris, Vincent Rabaud, hgaiser
+
+1.12.19 (2016-07-24)
+--------------------
+* Fix array check in camerachecky.py
+  This closes `#205 <https://github.com/ros-perception/image_pipeline/issues/205>`_
+* Contributors: Vincent Rabaud
+
+1.12.18 (2016-07-12)
+--------------------
+
+1.12.17 (2016-07-11)
+--------------------
+* fix typo np -> numpy
+* fix failing tests
+* Contributors: Shingo Kitagawa, Vincent Rabaud
+
+1.12.16 (2016-03-19)
+--------------------
+* clean OpenCV dependency in package.xml
+* Contributors: Vincent Rabaud
+
+1.12.15 (2016-01-17)
+--------------------
+* better 16 handling in mkgray
+  This re-uses `#150 <https://github.com/ros-perception/image_pipeline/issues/150>`_ and therefore closes `#150 <https://github.com/ros-perception/image_pipeline/issues/150>`_
+* fix OpenCV2 compatibility
+* fix tests with OpenCV3
+* [Calibrator]: add yaml file with calibration data in output
+* Contributors: Vincent Rabaud, sambrose
+
+1.12.14 (2015-07-22)
+--------------------
+* remove camera_hammer and install Python nodes properly
+  camera_hammer was just a test for camera info, nothing to do with
+  calibration. Plus the test was basic.
+* Correct three errors that prevented the node to work properly.
+* Contributors: Filippo Basso, Vincent Rabaud
+
+1.12.13 (2015-04-06)
+--------------------
+* replace Queue by deque of fixed size for simplicity
+  That is a potential fix for `#112 <https://github.com/ros-perception/image_pipeline/issues/112>`_
+* Contributors: Vincent Rabaud
+
+1.12.12 (2014-12-31)
+--------------------
+* try to improve `#112 <https://github.com/ros-perception/image_pipeline/issues/112>`_
+* Contributors: Vincent Rabaud
+
+1.12.11 (2014-10-26)
+--------------------
+
+1.12.10 (2014-09-28)
+--------------------
+* Update calibrator.py
+  bugfix: stereo calibrator crashed after the signature of the method for the computation of the epipolar error changed but the function call was not updated
+* Contributors: Volker Grabe
+
+1.12.9 (2014-09-21)
+-------------------
+* fix bad Python
+* only analyze the latest image
+  fixes `#97 <https://github.com/ros-perception/image_pipeline/issues/97>`_
+* flips width and height during resize to give correct aspect ratio
+* Contributors: Russell Toris, Vincent Rabaud
+
+1.12.8 (2014-08-19)
+-------------------
+* install scripts in the local bin (they are now rosrun-able again)
+  fixes `#93 <https://github.com/ros-perception/image_pipeline/issues/93>`_
+* fix default Constructor for OpenCV flags
+  this does not change anything in practice as the flag is set by the node.
+  It just fixes the test.
+* Contributors: Vincent Rabaud
+
+1.12.6 (2014-07-27)
+-------------------
+* make sure the GUI is started in its processing thread and fix a typo
+  This fully fixes `#85 <https://github.com/ros-perception/image_pipeline/issues/85>`_
+* fix bad call to save an image
+* have display be in its own thread
+  that could be a fix for `#85 <https://github.com/ros-perception/image_pipeline/issues/85>`_
+* fix bad usage of Numpy
+  fixes `#89 <https://github.com/ros-perception/image_pipeline/issues/89>`_
+* fix asymmetric circle calibration
+  fixes `#35 <https://github.com/ros-perception/image_pipeline/issues/35>`_
+* add more tests
+* improve unittests to include all patterns
+* install Python scripts properly
+  and fixes `#86 <https://github.com/ros-perception/image_pipeline/issues/86>`_
+* fix typo that leads to segfault
+  fixes `#84 <https://github.com/ros-perception/image_pipeline/issues/84>`_
+* also print self.report() on calibrate ... allows to use the params without having to commit them (e.g. for extrensic calibration between to cameras not used as stereo pair)
+* fixes `#76 <https://github.com/ros-perception/image_pipeline/issues/76>`_
+  Move Python approximate time synchronizer to ros_comm
+* remove all trace of cv in Python (use cv2)
+* remove deprecated file (as mentioned in its help)
+* fixes `#25 <https://github.com/ros-perception/image_pipeline/issues/25>`_
+  This is just removing deprecated options that were around since diamondback
+* fixes `#74 <https://github.com/ros-perception/image_pipeline/issues/74>`_
+  calibrator.py is now using the cv2 only API when using cv_bridge.
+  The API got changed too but it seems to only be used internally.
+* Contributors: Vincent Rabaud, ahb
+
+1.12.5 (2014-05-11)
+-------------------
+* Fix `#68 <https://github.com/ros-perception/image_pipeline/issues/68>`_: StringIO issues in calibrator.py
+* fix architecture independent
+* Contributors: Miquel Massot, Vincent Rabaud
+
+1.12.4 (2014-04-28)
+-------------------
+
+1.12.3 (2014-04-12)
+-------------------
+* camera_calibration: Fix Python import order
+* Contributors: Scott K Logan
+
+1.12.2 (2014-04-08)
+-------------------
+* Fixes a typo on stereo camera info service calls
+  Script works after correcting the call names.
+* Contributors: JoonasMelin
+
+1.11.4 (2013-11-23 13:10:55 +0100)
+----------------------------------
+- add visualization during calibration and several calibration flags (#48)
diff --git a/camera_calibration_fisheye/CMakeLists.txt b/camera_calibration_fisheye/CMakeLists.txt
@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 2.8)
+project(camera_calibration_fisheye)
+
+find_package(catkin REQUIRED)
+catkin_package()
+
+catkin_python_setup()
+
+# if(CATKIN_ENABLE_TESTING)
+  # # Unit test of calibrator.py
+  # catkin_add_nosetests(test/directed.py)
+
+  # # Tests simple calibration dataset
+  # catkin_download_test_data(camera_calibration.tar.gz http://download.ros.org/data/camera_calibration/camera_calibration.tar.gz
+    # DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
+    # MD5 6da43ea314640a4c15dd7a90cbc3aee0
+  # )
+
+  # # Tests multiple checkerboards
+  # catkin_download_test_data(multi_board_calibration.tar.gz http://download.ros.org/data/camera_calibration/multi_board_calibration.tar.gz
+    # DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
+    # MD5 ddc0f69582d140e33f9d3bfb681956bb
+  # )
+  # catkin_add_nosetests(test/multiple_boards.py)
+# endif()
+
+catkin_install_python(PROGRAMS nodes/cameracalibrator.py
+  nodes/cameracheck.py
+  scripts/tarfile_calibration.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/camera_calibration_fisheye/README.md b/camera_calibration_fisheye/README.md
@@ -0,0 +1,55 @@
+# camera_calibration_fisheye
+
+Same as [camera_calibration](http://wiki.ros.org/camera_calibration) but implementing OpenCV3 fisheye calibration functionality for monoCameras
+
+
+# Usage
+Camera Calibrator
+To run the cameracalibrator.py node for a monocular camera using an 8x6 chessboard with 108mm squares:
+
+
+```
+rosrun camera_calibration_fisheye cameracalibrator.py --size 8x6 --square 0.108 image:=/my_camera/image camera:=/my_camera
+```
+When you click on the "Save" button after a succesfull calibration, the data (calibration data and images used for calibration) will be written to /tmp/calibrationdata.tar.gz.
+
+To run the cameracalibrator.py node for a stereo camera:
+
+```
+rosrun camera_calibration_fisheye cameracalibrator.py --size 8x6 --square 0.108 right:=/my_stereo/right/image_raw left:=/my_stereo/left/image_raw left_camera:=/my_stereo/left right_camera:=/my_stereo/right
+```
+
+cameracalibrator.py supports the following options:
+
+```
+  Chessboard Options:
+    You must specify one or more chessboards as pairs of --size and
+    --square options.
+
+    -p PATTERN, --pattern=PATTERN
+                        calibration pattern to detect - 'chessboard',
+                        'circles', 'acircles'
+    -s SIZE, --size=SIZE
+                        chessboard size as NxM, counting interior corners
+                        (e.g. a standard chessboard is 7x7)
+    -q SQUARE, --square=SQUARE
+                        chessboard square size in meters
+
+  ROS Communication Options:
+    --approximate=APPROXIMATE
+                        allow specified slop (in seconds) when pairing images
+                        from unsynchronized stereo cameras
+    --no-service-check  disable check for set_camera_info services at startup
+
+  Calibration Optimizer Options:
+    --fix-principal-point
+                        fix the principal point at the image center
+    --fix-aspect-ratio  enforce focal lengths (fx, fy) are equal
+    --zero-tangent-dist
+                        set tangential distortion coefficients (p1, p2) to
+                        zero
+    -k NUM_COEFFS, --k-coefficients=NUM_COEFFS
+                        number of radial distortion coefficients to use (up to
+                        6, default 2)
+
+```
diff --git a/camera_calibration_fisheye/button.jpg b/camera_calibration_fisheye/button.jpg