Merge branch 'melodic' into image_proc_fisheye

.github/workflows/basic-build-ci.yaml

@@ -0,0 +1,38 @@
+name: Basic Build Workflow
+
+on:
+  - pull_request
+  - push
+
+jobs:
+  build-melodic:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    container:
+      image: ros:melodic-perception
+    steps:
+    - name: Checkout repo
+      uses: actions/checkout@v2
+    - name: Create Workspace
+      run: |
+        mkdir src_tmp
+        mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/
+        mv src_tmp/ src/
+        cd src
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        catkin_init_workspace'
+    - name: Install Prerequisites
+      run: |
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        apt-get update && rosdep update; \
+        rosdep install --from-paths src --ignore-src -y'
+    - name: Build Workspace
+      run: |
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        catkin_make'
+    - name: Run Tests
+      run: |
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        catkin_make run_tests; \
+        catkin_test_results --verbose'

README.md

@@ -1,7 +1,7 @@
 image_pipeline
 ==============
 
-[![CircleCI](https://circleci.com/gh/ros-perception/image_pipeline.svg?style=svg)](https://circleci.com/gh/ros-perception/image_pipeline)
+[![](https://github.com/ros-perception/image_pipeline/workflows/Basic%20Build%20Workflow/badge.svg?branch=melodic)](https://github.com/ros-perception/image_pipeline/actions)
 
 This package fills the gap between getting raw images from a camera driver and higher-level vision processing.
 

camera_calibration/CHANGELOG.rst

@@ -1,3 +1,39 @@
+1.15.0 (2020-05-18)
+-------------------
+* Fix import path on camera_calibrator.py (`#509 <https://github.com/ros-perception/image_pipeline/issues/509>`_)
+* Fixes `#501 <https://github.com/ros-perception/image_pipeline/issues/501>`_: self.size is set before dumping calibration parameters in calibrator.py do_calibration(self, dump) (`#502 <https://github.com/ros-perception/image_pipeline/issues/502>`_)
+  Not sure how this one made it through. Thanks for the fix!
+* Contributors: Gonçalo Camelo Neves Pereira, Stewart Jamieson
+
+1.14.0 (2020-01-12)
+-------------------
+* Add Fisheye calibration tool (`#440 <https://github.com/ros-perception/image_pipeline/issues/440>`_)
+  * Add Fisheye calibration tool
+  * Restore camera_calib files permisions
+  * Upgrades to calibrator tool for multi model calibration
+  * Solve fisheye balance selection
+  * Add fisheye calibration flags as user arguments
+  * Add undistortion of points for fisheye
+  * cam_calib: Style formating
+* camera_calibration: Improve YAML formatting, make config dumping methods static (`#438 <https://github.com/ros-perception/image_pipeline/issues/438>`_)
+  * Add `from __future_\_ import print_function`
+  * Improve YAML formatting, make some methods static
+  * Improves matrix formatting in YAML.
+  * Reduced decimal figures for camera and projection matrix values from 8 to 5.
+  * Making the methods static allows them to be used from elsewhere as well to dump calibration info.
+* camera_calibration: Fix all-zero distortion coeffs returned for a rational_polynomial model (`#433 <https://github.com/ros-perception/image_pipeline/issues/433>`_)
+  * Fix empty distortion coeffs returned for a rational_polynomial model
+  * Remove the redundant distCoeffs parameter from cv2.calibrateCamera()
+  * Set the shape of distortion_coefficients correctly in YAML output
+* Merge pull request `#437 <https://github.com/ros-perception/image_pipeline/issues/437>`_ from valgur/enable-calibration-with-empty-queue
+  camera_calibration: Make sure 'calibrate' button works even if not receiving images anymore
+* Make sure 'calibrate' button works even if not receiving images anymore
+* Merge pull request `#432 <https://github.com/ros-perception/image_pipeline/issues/432>`_ from valgur/melodic
+  camera_calibration: Fix excessive CPU usage due to queue synchronization
+* Replace deque with a modified Queue, add --queue-size param
+  Base fork on upstream melodic instead of indigo
+* Contributors: David Torres Ocaña, Joshua Whitley, Martin Valgur, Tim Übelhör
+
 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

camera_calibration/nodes/cameracalibrator.py

@@ -41,6 +41,22 @@
 from camera_calibration.calibrator import ChessboardInfo, Patterns
 from message_filters import ApproximateTimeSynchronizer
 
+def optionsValidCharuco(options, parser):
+    """
+    Validates the provided options when the pattern type is 'charuco'
+    """
+    if options.pattern != 'charuco': return False
+
+    n_boards = len(options.size)
+    if (n_boards != len(options.square) or n_boards != len(options.charuco_marker_size) or n_boards !=
+            len(options.aruco_dict)):
+        parser.error("When using ChArUco boards, --size, --square, --charuco_marker_size, and --aruco_dict " +
+        "must be specified for each board")
+        return False
+
+    # TODO: check for fisheye and stereo (not implemented with ChArUco)
+    return True
+
 
 def main():
     from optparse import OptionParser, OptionGroup
@@ -53,13 +69,22 @@ def main():
                         "You must specify one or more chessboards as pairs of --size and --square options.")
     group.add_option("-p", "--pattern",
                      type="string", default="chessboard",
-                     help="calibration pattern to detect - 'chessboard', 'circles', 'acircles'")
+                     help="calibration pattern to detect - 'chessboard', 'circles', 'acircles', 'charuco'\n" +
+                     "  if 'charuco' is used, a --charuco_marker_size and --aruco_dict argument must be supplied\n" +
+                     "  with each --size and --square argument")
     group.add_option("-s", "--size",
                      action="append", default=[],
                      help="chessboard size as NxM, counting interior corners (e.g. a standard chessboard is 7x7)")
     group.add_option("-q", "--square",
                      action="append", default=[],
                      help="chessboard square size in meters")
+    group.add_option("-m", "--charuco_marker_size",
+                     action="append", default=[],
+                     help="ArUco marker size (meters); only valid with `-p charuco`")
+    group.add_option("-d", "--aruco_dict",
+                     action="append", default=[],
+                     help="ArUco marker dictionary; only valid with `-p charuco`; one of 'aruco_orig', '4x4_250', " +
+                     "'5x5_250', '6x6_250', '7x7_250'")
     parser.add_option_group(group)
     group = OptionGroup(parser, "ROS Communication Options")
     group.add_option("--approximate",
@@ -75,41 +100,67 @@ def main():
     group = OptionGroup(parser, "Calibration Optimizer Options")
     group.add_option("--fix-principal-point",
                      action="store_true", default=False,
-                     help="fix the principal point at the image center")
+                     help="for pinhole, fix the principal point at the image center")
     group.add_option("--fix-aspect-ratio",
                      action="store_true", default=False,
-                     help="enforce focal lengths (fx, fy) are equal")
+                     help="for pinhole, enforce focal lengths (fx, fy) are equal")
     group.add_option("--zero-tangent-dist",
                      action="store_true", default=False,
-                     help="set tangential distortion coefficients (p1, p2) to zero")
+                     help="for pinhole, set tangential distortion coefficients (p1, p2) to zero")
     group.add_option("-k", "--k-coefficients",
                      type="int", default=2, metavar="NUM_COEFFS",
-                     help="number of radial distortion coefficients to use (up to 6, default %default)")
+                     help="for pinhole, number of radial distortion coefficients to use (up to 6, default %default)")
+
+    group.add_option("--fisheye-recompute-extrinsicsts",
+                     action="store_true", default=False,
+                     help="for fisheye, extrinsic will be recomputed after each iteration of intrinsic optimization")
+    group.add_option("--fisheye-fix-skew",
+                     action="store_true", default=False,
+                     help="for fisheye, skew coefficient (alpha) is set to zero and stay zero")
+    group.add_option("--fisheye-fix-principal-point",
+                     action="store_true", default=False,
+                     help="for fisheye,fix the principal point at the image center")
+    group.add_option("--fisheye-k-coefficients",
+                     type="int", default=4, metavar="NUM_COEFFS",
+                     help="for fisheye, number of radial distortion coefficients to use fixing to zero the rest (up to 4, default %default)")
+
+    group.add_option("--fisheye-check-conditions",
+                     action="store_true", default=False,
+                     help="for fisheye, the functions will check validity of condition number")
+
     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()
 
-    if len(options.size) != len(options.square):
+    if (len(options.size) != len(options.square)):
         parser.error("Number of size and square inputs must be the same!")
 
     if not options.square:
         options.square.append("0.108")
         options.size.append("8x6")
 
     boards = []
-    for (sz, sq) in zip(options.size, options.square):
-        size = tuple([int(c) for c in sz.split('x')])
-        boards.append(ChessboardInfo(size[0], size[1], float(sq)))
+    if options.pattern == "charuco" and optionsValidCharuco(options, parser):
+        for (sz, sq, ms, ad) in zip(options.size, options.square, options.charuco_marker_size, options.aruco_dict):
+            size = tuple([int(c) for c in sz.split('x')])
+            boards.append(ChessboardInfo('charuco', size[0], size[1], float(sq), float(ms), ad))
+    else:
+        for (sz, sq) in zip(options.size, options.square):
+            size = tuple([int(c) for c in sz.split('x')])
+            boards.append(ChessboardInfo(options.pattern, size[0], size[1], float(sq)))
 
     if options.approximate == 0.0:
         sync = message_filters.TimeSynchronizer
     else:
         sync = functools.partial(ApproximateTimeSynchronizer, slop=options.approximate)
 
+    # Pinhole opencv calibration options parsing
     num_ks = options.k_coefficients
 
     calib_flags = 0
@@ -134,11 +185,33 @@ def main():
     if (num_ks < 1):
         calib_flags |= cv2.CALIB_FIX_K1
 
+    # Opencv calibration flags parsing:
+    num_ks = options.fisheye_k_coefficients
+    fisheye_calib_flags = 0
+    if options.fisheye_fix_principal_point:
+        fisheye_calib_flags |= cv2.fisheye.CALIB_FIX_PRINCIPAL_POINT
+    if options.fisheye_fix_skew:
+        fisheye_calib_flags |= cv2.fisheye.CALIB_FIX_SKEW
+    if options.fisheye_recompute_extrinsicsts:
+        fisheye_calib_flags |= cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC
+    if options.fisheye_check_conditions:
+        fisheye_calib_flags |= cv2.fisheye.CALIB_CHECK_COND
+    if (num_ks < 4):
+        fisheye_calib_flags |= cv2.fisheye.CALIB_FIX_K4
+    if (num_ks < 3):
+        fisheye_calib_flags |= cv2.fisheye.CALIB_FIX_K3
+    if (num_ks < 2):
+        fisheye_calib_flags |= cv2.fisheye.CALIB_FIX_K2
+    if (num_ks < 1):
+        fisheye_calib_flags |= cv2.fisheye.CALIB_FIX_K1
+
     pattern = Patterns.Chessboard
     if options.pattern == 'circles':
         pattern = Patterns.Circles
     elif options.pattern == 'acircles':
         pattern = Patterns.ACircles
+    elif options.pattern == 'charuco':
+        pattern = Patterns.ChArUco
     elif options.pattern != 'chessboard':
         print('Unrecognized pattern %s, defaulting to chessboard' % options.pattern)
 
@@ -148,7 +221,7 @@ def main():
         checkerboard_flags = cv2.CALIB_CB_FAST_CHECK
 
     rospy.init_node('cameracalibrator')
-    node = OpenCVCalibrationNode(boards, options.service_check, sync, calib_flags, pattern, options.camera_name,
+    node = OpenCVCalibrationNode(boards, options.service_check, sync, calib_flags, fisheye_calib_flags, pattern, options.camera_name,
                                  checkerboard_flags=checkerboard_flags, max_chessboard_speed=options.max_chessboard_speed,
                                  queue_size=options.queue_size)
     rospy.spin()

camera_calibration/package.xml

@@ -1,6 +1,6 @@
 <package>
   <name>camera_calibration</name>
-  <version>1.13.0</version>
+  <version>1.15.0</version>
   <description>
      camera_calibration allows easy calibration of monocular or stereo
      cameras using a checkerboard calibration target.