On branch master
Initial commit new file: .gitignore new file: .vscode/c_cpp_properties.json new file: .vscode/settings.json new file: .vscode/tasks.json new file: src/detection_msgs/CMakeLists.txt new file: src/detection_msgs/msg/BoundingBox.msg new file: src/detection_msgs/msg/BoundingBoxes.msg new file: src/detection_msgs/package.xml new file: src/maintain/CMakeLists.txt new file: src/maintain/launch/maintain.launch new file: src/maintain/package.xml new file: src/maintain/scripts/test.py new file: src/vision_opencv/README.rst new file: src/vision_opencv/cv_bridge/CHANGELOG.rst new file: src/vision_opencv/cv_bridge/CMakeLists.txt new file: src/vision_opencv/cv_bridge/cmake/cv_bridge-extras.cmake.in new file: src/vision_opencv/cv_bridge/doc/conf.py new file: src/vision_opencv/cv_bridge/doc/index.rst new file: src/vision_opencv/cv_bridge/doc/mainpage.dox new file: src/vision_opencv/cv_bridge/include/cv_bridge/cv_bridge.h new file: src/vision_opencv/cv_bridge/include/cv_bridge/rgb_colors.h new file: src/vision_opencv/cv_bridge/package.xml new file: src/vision_opencv/cv_bridge/python/CMakeLists.txt new file: src/vision_opencv/cv_bridge/python/__init__.py.plain.in new file: src/vision_opencv/cv_bridge/python/cv_bridge/__init__.py new file: src/vision_opencv/cv_bridge/python/cv_bridge/__pycache__/core.cpython-38.pyc new file: src/vision_opencv/cv_bridge/python/cv_bridge/core.py new file: src/vision_opencv/cv_bridge/rosdoc.yaml new file: src/vision_opencv/cv_bridge/setup.py new file: src/vision_opencv/cv_bridge/src/CMakeLists.txt new file: src/vision_opencv/cv_bridge/src/boost/README new file: src/vision_opencv/cv_bridge/src/boost/core/scoped_enum.hpp new file: src/vision_opencv/cv_bridge/src/boost/endian/conversion.hpp new file: src/vision_opencv/cv_bridge/src/boost/endian/detail/intrinsic.hpp new file: src/vision_opencv/cv_bridge/src/boost/predef/detail/_cassert.h new file: src/vision_opencv/cv_bridge/src/boost/predef/detail/endian_compat.h new file: src/vision_opencv/cv_bridge/src/boost/predef/detail/test.h new file: src/vision_opencv/cv_bridge/src/boost/predef/library/c/_prefix.h new file: src/vision_opencv/cv_bridge/src/boost/predef/library/c/gnu.h new file: src/vision_opencv/cv_bridge/src/boost/predef/make.h new file: src/vision_opencv/cv_bridge/src/boost/predef/os/android.h new file: src/vision_opencv/cv_bridge/src/boost/predef/os/bsd.h new file: src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/bsdi.h new file: src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/dragonfly.h new file: src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/free.h new file: src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/net.h new file: src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/open.h new file: src/vision_opencv/cv_bridge/src/boost/predef/os/ios.h new file: src/vision_opencv/cv_bridge/src/boost/predef/os/macos.h new file: src/vision_opencv/cv_bridge/src/boost/predef/other/endian.h new file: src/vision_opencv/cv_bridge/src/boost/predef/version_number.h new file: src/vision_opencv/cv_bridge/src/cv_bridge.cpp new file: src/vision_opencv/cv_bridge/src/module.cpp new file: src/vision_opencv/cv_bridge/src/module.hpp new file: src/vision_opencv/cv_bridge/src/module_opencv2.cpp new file: src/vision_opencv/cv_bridge/src/module_opencv3.cpp new file: src/vision_opencv/cv_bridge/src/pycompat.hpp new file: src/vision_opencv/cv_bridge/src/rgb_colors.cpp new file: src/vision_opencv/cv_bridge/test/CMakeLists.txt new file: src/vision_opencv/cv_bridge/test/conversions.py new file: src/vision_opencv/cv_bridge/test/enumerants.py new file: src/vision_opencv/cv_bridge/test/python_bindings.py new file: src/vision_opencv/cv_bridge/test/test_compression.cpp new file: src/vision_opencv/cv_bridge/test/test_endian.cpp new file: src/vision_opencv/cv_bridge/test/test_rgb_colors.cpp new file: src/vision_opencv/cv_bridge/test/utest.cpp new file: src/vision_opencv/cv_bridge/test/utest2.cpp new file: src/vision_opencv/image_geometry/CHANGELOG.rst new file: src/vision_opencv/image_geometry/CMakeLists.txt new file: src/vision_opencv/image_geometry/doc/conf.py new file: src/vision_opencv/image_geometry/doc/index.rst new file: src/vision_opencv/image_geometry/doc/mainpage.dox new file: src/vision_opencv/image_geometry/include/image_geometry/exports.h new file: src/vision_opencv/image_geometry/include/image_geometry/pinhole_camera_model.h new file: src/vision_opencv/image_geometry/include/image_geometry/stereo_camera_model.h new file: src/vision_opencv/image_geometry/package.xml new file: src/vision_opencv/image_geometry/rosdoc.yaml new file: src/vision_opencv/image_geometry/setup.py new file: src/vision_opencv/image_geometry/src/image_geometry/__init__.py new file: src/vision_opencv/image_geometry/src/image_geometry/cameramodels.py new file: src/vision_opencv/image_geometry/src/pinhole_camera_model.cpp new file: src/vision_opencv/image_geometry/src/stereo_camera_model.cpp new file: src/vision_opencv/image_geometry/test/CMakeLists.txt new file: src/vision_opencv/image_geometry/test/directed.py new file: src/vision_opencv/image_geometry/test/utest.cpp new file: src/vision_opencv/opencv_tests/CHANGELOG.rst new file: src/vision_opencv/opencv_tests/CMakeLists.txt new file: src/vision_opencv/opencv_tests/launch/pong.launch new file: src/vision_opencv/opencv_tests/mainpage.dox new file: src/vision_opencv/opencv_tests/nodes/broadcast.py new file: src/vision_opencv/opencv_tests/nodes/rosfacedetect.py new file: src/vision_opencv/opencv_tests/nodes/source.py new file: src/vision_opencv/opencv_tests/package.xml new file: src/vision_opencv/vision_opencv/CHANGELOG.rst new file: src/vision_opencv/vision_opencv/CMakeLists.txt new file: src/vision_opencv/vision_opencv/package.xml new file: src/yolov5_ros/CMakeLists.txt new file: src/yolov5_ros/LICENSE new file: src/yolov5_ros/README.md new file: src/yolov5_ros/launch/yolov5.launch new file: src/yolov5_ros/launch/yolov5_d435.launch new file: src/yolov5_ros/package.xml new file: src/yolov5_ros/src/detect.py new file: src/yolov5_ros/src/yolov5/.dockerignore new file: src/yolov5_ros/src/yolov5/.gitattributes new file: src/yolov5_ros/src/yolov5/.gitignore new file: src/yolov5_ros/src/yolov5/.pre-commit-config.yaml new file: src/yolov5_ros/src/yolov5/CONTRIBUTING.md new file: src/yolov5_ros/src/yolov5/LICENSE new file: src/yolov5_ros/src/yolov5/README.md new file: src/yolov5_ros/src/yolov5/classify/predict.py new file: src/yolov5_ros/src/yolov5/classify/train.py new file: src/yolov5_ros/src/yolov5/classify/val.py new file: src/yolov5_ros/src/yolov5/data/Argoverse.yaml new file: src/yolov5_ros/src/yolov5/data/GlobalWheat2020.yaml new file: src/yolov5_ros/src/yolov5/data/ImageNet.yaml new file: src/yolov5_ros/src/yolov5/data/Objects365.yaml new file: src/yolov5_ros/src/yolov5/data/SKU-110K.yaml new file: src/yolov5_ros/src/yolov5/data/VOC.yaml new file: src/yolov5_ros/src/yolov5/data/VisDrone.yaml new file: src/yolov5_ros/src/yolov5/data/coco.yaml new file: src/yolov5_ros/src/yolov5/data/coco128.yaml new file: src/yolov5_ros/src/yolov5/data/hyps/hyp.Objects365.yaml new file: src/yolov5_ros/src/yolov5/data/hyps/hyp.VOC.yaml new file: src/yolov5_ros/src/yolov5/data/hyps/hyp.scratch-high.yaml new file: src/yolov5_ros/src/yolov5/data/hyps/hyp.scratch-low.yaml new file: src/yolov5_ros/src/yolov5/data/hyps/hyp.scratch-med.yaml new file: src/yolov5_ros/src/yolov5/data/images/bus.jpg new file: src/yolov5_ros/src/yolov5/data/images/zidane.jpg new file: src/yolov5_ros/src/yolov5/data/mydata.yaml new file: src/yolov5_ros/src/yolov5/data/scripts/download_weights.sh new file: src/yolov5_ros/src/yolov5/data/scripts/get_coco.sh new file: src/yolov5_ros/src/yolov5/data/scripts/get_coco128.sh new file: src/yolov5_ros/src/yolov5/data/scripts/get_imagenet.sh new file: src/yolov5_ros/src/yolov5/data/xView.yaml new file: src/yolov5_ros/src/yolov5/detect.py new file: src/yolov5_ros/src/yolov5/export.py new file: src/yolov5_ros/src/yolov5/hubconf.py new file: src/yolov5_ros/src/yolov5/models/__init__.py new file: src/yolov5_ros/src/yolov5/models/common.py new file: src/yolov5_ros/src/yolov5/models/experimental.py new file: src/yolov5_ros/src/yolov5/models/hub/anchors.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov3-spp.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov3-tiny.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov3.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5-bifpn.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5-fpn.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5-p2.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5-p34.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5-p6.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5-p7.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5-panet.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5l6.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5m6.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5n6.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5s-ghost.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5s-transformer.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5s6.yaml new file: src/yolov5_ros/src/yolov5/models/hub/yolov5x6.yaml new file: src/yolov5_ros/src/yolov5/models/tf.py new file: src/yolov5_ros/src/yolov5/models/yolo.py new file: src/yolov5_ros/src/yolov5/models/yolov5l.yaml new file: src/yolov5_ros/src/yolov5/models/yolov5m.yaml new file: src/yolov5_ros/src/yolov5/models/yolov5n.yaml new file: src/yolov5_ros/src/yolov5/models/yolov5s.yaml new file: src/yolov5_ros/src/yolov5/models/yolov5x.yaml new file: src/yolov5_ros/src/yolov5/requirements.txt new file: src/yolov5_ros/src/yolov5/setup.cfg new file: src/yolov5_ros/src/yolov5/train.py new file: src/yolov5_ros/src/yolov5/tutorial.ipynb new file: src/yolov5_ros/src/yolov5/utils/__init__.py new file: src/yolov5_ros/src/yolov5/utils/activations.py new file: src/yolov5_ros/src/yolov5/utils/augmentations.py new file: src/yolov5_ros/src/yolov5/utils/autoanchor.py new file: src/yolov5_ros/src/yolov5/utils/autobatch.py new file: src/yolov5_ros/src/yolov5/utils/aws/__init__.py new file: src/yolov5_ros/src/yolov5/utils/aws/mime.sh new file: src/yolov5_ros/src/yolov5/utils/aws/resume.py new file: src/yolov5_ros/src/yolov5/utils/aws/userdata.sh new file: src/yolov5_ros/src/yolov5/utils/benchmarks.py new file: src/yolov5_ros/src/yolov5/utils/callbacks.py new file: src/yolov5_ros/src/yolov5/utils/dataloaders.py new file: src/yolov5_ros/src/yolov5/utils/docker/Dockerfile new file: src/yolov5_ros/src/yolov5/utils/docker/Dockerfile-arm64 new file: src/yolov5_ros/src/yolov5/utils/docker/Dockerfile-cpu new file: src/yolov5_ros/src/yolov5/utils/downloads.py new file: src/yolov5_ros/src/yolov5/utils/flask_rest_api/README.md new file: src/yolov5_ros/src/yolov5/utils/flask_rest_api/example_request.py new file: src/yolov5_ros/src/yolov5/utils/flask_rest_api/restapi.py new file: src/yolov5_ros/src/yolov5/utils/general.py new file: src/yolov5_ros/src/yolov5/utils/google_app_engine/Dockerfile new file: src/yolov5_ros/src/yolov5/utils/google_app_engine/additional_requirements.txt new file: src/yolov5_ros/src/yolov5/utils/google_app_engine/app.yaml new file: src/yolov5_ros/src/yolov5/utils/loggers/__init__.py new file: src/yolov5_ros/src/yolov5/utils/loggers/clearml/README.md new file: src/yolov5_ros/src/yolov5/utils/loggers/clearml/__init__.py new file: src/yolov5_ros/src/yolov5/utils/loggers/clearml/clearml_utils.py new file: src/yolov5_ros/src/yolov5/utils/loggers/clearml/hpo.py new file: src/yolov5_ros/src/yolov5/utils/loggers/comet/README.md new file: src/yolov5_ros/src/yolov5/utils/loggers/comet/__init__.py new file: src/yolov5_ros/src/yolov5/utils/loggers/comet/comet_utils.py new file: src/yolov5_ros/src/yolov5/utils/loggers/comet/hpo.py new file: src/yolov5_ros/src/yolov5/utils/loggers/wandb/README.md new file: src/yolov5_ros/src/yolov5/utils/loggers/wandb/__init__.py new file: src/yolov5_ros/src/yolov5/utils/loggers/wandb/log_dataset.py new file: src/yolov5_ros/src/yolov5/utils/loggers/wandb/sweep.py new file: src/yolov5_ros/src/yolov5/utils/loggers/wandb/sweep.yaml new file: src/yolov5_ros/src/yolov5/utils/loggers/wandb/wandb_utils.py new file: src/yolov5_ros/src/yolov5/utils/loss.py new file: src/yolov5_ros/src/yolov5/utils/metrics.py new file: src/yolov5_ros/src/yolov5/utils/plots.py new file: src/yolov5_ros/src/yolov5/utils/torch_utils.py new file: src/yolov5_ros/src/yolov5/val.py
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################################################
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|
## Declare ROS dynamic reconfigure parameters ##
|
||||||
|
################################################
|
||||||
|
|
||||||
|
## To declare and build dynamic reconfigure parameters within this
|
||||||
|
## package, follow these steps:
|
||||||
|
## * In the file package.xml:
|
||||||
|
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
||||||
|
## * In this file (CMakeLists.txt):
|
||||||
|
## * add "dynamic_reconfigure" to
|
||||||
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||||
|
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
||||||
|
## and list every .cfg file to be processed
|
||||||
|
|
||||||
|
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||||
|
# generate_dynamic_reconfigure_options(
|
||||||
|
# cfg/DynReconf1.cfg
|
||||||
|
# cfg/DynReconf2.cfg
|
||||||
|
# )
|
||||||
|
|
||||||
|
###################################
|
||||||
|
## catkin specific configuration ##
|
||||||
|
###################################
|
||||||
|
## The catkin_package macro generates cmake config files for your package
|
||||||
|
## Declare things to be passed to dependent projects
|
||||||
|
## INCLUDE_DIRS: uncomment this if your package contains header files
|
||||||
|
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||||
|
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||||
|
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||||
|
catkin_package(
|
||||||
|
# INCLUDE_DIRS include
|
||||||
|
# LIBRARIES detection_msgs
|
||||||
|
CATKIN_DEPENDS std_msgs message_runtime
|
||||||
|
# DEPENDS system_lib
|
||||||
|
)
|
||||||
|
|
||||||
|
###########
|
||||||
|
## Build ##
|
||||||
|
###########
|
||||||
|
|
||||||
|
## Specify additional locations of header files
|
||||||
|
## Your package locations should be listed before other locations
|
||||||
|
include_directories(
|
||||||
|
# include
|
||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
|
)
|
||||||
|
|
||||||
|
## Declare a C++ library
|
||||||
|
# add_library(${PROJECT_NAME}
|
||||||
|
# src/${PROJECT_NAME}/detection_msgs.cpp
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Add cmake target dependencies of the library
|
||||||
|
## as an example, code may need to be generated before libraries
|
||||||
|
## either from message generation or dynamic reconfigure
|
||||||
|
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
## Declare a C++ executable
|
||||||
|
## With catkin_make all packages are built within a single CMake context
|
||||||
|
## The recommended prefix ensures that target names across packages don't collide
|
||||||
|
# add_executable(${PROJECT_NAME}_node src/detection_msgs_node.cpp)
|
||||||
|
|
||||||
|
## Rename C++ executable without prefix
|
||||||
|
## The above recommended prefix causes long target names, the following renames the
|
||||||
|
## target back to the shorter version for ease of user use
|
||||||
|
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
|
||||||
|
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
|
||||||
|
|
||||||
|
## Add cmake target dependencies of the executable
|
||||||
|
## same as for the library above
|
||||||
|
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
## Specify libraries to link a library or executable target against
|
||||||
|
# target_link_libraries(${PROJECT_NAME}_node
|
||||||
|
# ${catkin_LIBRARIES}
|
||||||
|
# )
|
||||||
|
|
||||||
|
#############
|
||||||
|
## Install ##
|
||||||
|
#############
|
||||||
|
|
||||||
|
# all install targets should use catkin DESTINATION variables
|
||||||
|
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
||||||
|
|
||||||
|
## Mark executable scripts (Python etc.) for installation
|
||||||
|
## in contrast to setup.py, you can choose the destination
|
||||||
|
# catkin_install_python(PROGRAMS
|
||||||
|
# scripts/my_python_script
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark executables for installation
|
||||||
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
||||||
|
# install(TARGETS ${PROJECT_NAME}_node
|
||||||
|
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark libraries for installation
|
||||||
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||||
|
# install(TARGETS ${PROJECT_NAME}
|
||||||
|
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark cpp header files for installation
|
||||||
|
# install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||||
|
# FILES_MATCHING PATTERN "*.h"
|
||||||
|
# PATTERN ".svn" EXCLUDE
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||||
|
# install(FILES
|
||||||
|
# # myfile1
|
||||||
|
# # myfile2
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
#############
|
||||||
|
## Testing ##
|
||||||
|
#############
|
||||||
|
|
||||||
|
## Add gtest based cpp test target and link libraries
|
||||||
|
# catkin_add_gtest(${PROJECT_NAME}-test test/test_detection_msgs.cpp)
|
||||||
|
# if(TARGET ${PROJECT_NAME}-test)
|
||||||
|
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||||
|
# endif()
|
||||||
|
|
||||||
|
## Add folders to be run by python nosetests
|
||||||
|
# catkin_add_nosetests(test)
|
||||||
31
src/detection_msgs/msg/BoundingBox.msg
Normal file
31
src/detection_msgs/msg/BoundingBox.msg
Normal file
@@ -0,0 +1,31 @@
|
|||||||
|
# Copyright (c) 2017, Marko Bjelonic, Robotic Systems Lab, ETH Zurich
|
||||||
|
# All rights reserved.
|
||||||
|
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions are met:
|
||||||
|
# * Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# * Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in the
|
||||||
|
# documentation and/or other materials provided with the distribution.
|
||||||
|
# * Neither the name of the copyright holder nor the names of its
|
||||||
|
# contributors may be used to endorse or promote products derived
|
||||||
|
# from this software without specific prior written permission.
|
||||||
|
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||||
|
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||||
|
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||||
|
# DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||||
|
# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||||
|
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||||
|
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||||
|
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||||
|
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
|
||||||
|
string Class
|
||||||
|
float64 probability
|
||||||
|
int64 xmin
|
||||||
|
int64 ymin
|
||||||
|
int64 xmax
|
||||||
|
int64 ymax
|
||||||
28
src/detection_msgs/msg/BoundingBoxes.msg
Normal file
28
src/detection_msgs/msg/BoundingBoxes.msg
Normal file
@@ -0,0 +1,28 @@
|
|||||||
|
# Copyright (c) 2017, Marko Bjelonic, Robotic Systems Lab, ETH Zurich
|
||||||
|
# All rights reserved.
|
||||||
|
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions are met:
|
||||||
|
# * Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# * Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in the
|
||||||
|
# documentation and/or other materials provided with the distribution.
|
||||||
|
# * Neither the name of the copyright holder nor the names of its
|
||||||
|
# contributors may be used to endorse or promote products derived
|
||||||
|
# from this software without specific prior written permission.
|
||||||
|
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||||
|
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||||
|
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||||
|
# DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||||
|
# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||||
|
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||||
|
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||||
|
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||||
|
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
|
||||||
|
Header header
|
||||||
|
Header image_header
|
||||||
|
BoundingBox[] bounding_boxes
|
||||||
63
src/detection_msgs/package.xml
Normal file
63
src/detection_msgs/package.xml
Normal file
@@ -0,0 +1,63 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<package format="2">
|
||||||
|
<name>detection_msgs</name>
|
||||||
|
<version>0.0.0</version>
|
||||||
|
<description>The detection_msgs package</description>
|
||||||
|
|
||||||
|
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||||
|
<!-- Example: -->
|
||||||
|
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||||
|
<maintainer email="nle17@todo.todo">nle17</maintainer>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||||
|
<!-- Commonly used license strings: -->
|
||||||
|
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||||
|
<license>TODO</license>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||||
|
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||||
|
<!-- Example: -->
|
||||||
|
<!-- <url type="website">http://wiki.ros.org/detection_msgs</url> -->
|
||||||
|
|
||||||
|
|
||||||
|
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||||
|
<!-- Authors do not have to be maintainers, but could be -->
|
||||||
|
<!-- Example: -->
|
||||||
|
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||||
|
|
||||||
|
|
||||||
|
<!-- The *depend tags are used to specify dependencies -->
|
||||||
|
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||||
|
<!-- Examples: -->
|
||||||
|
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||||
|
<!-- <depend>roscpp</depend> -->
|
||||||
|
<!-- Note that this is equivalent to the following: -->
|
||||||
|
<!-- <build_depend>roscpp</build_depend> -->
|
||||||
|
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||||
|
<!-- Use build_depend for packages you need at compile time: -->
|
||||||
|
<build_depend>message_generation</build_depend>
|
||||||
|
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||||
|
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||||
|
<!-- Use buildtool_depend for build tool packages: -->
|
||||||
|
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||||
|
<!-- Use exec_depend for packages you need at runtime: -->
|
||||||
|
<exec_depend>message_runtime</exec_depend>
|
||||||
|
<!-- Use test_depend for packages you need only for testing: -->
|
||||||
|
<!-- <test_depend>gtest</test_depend> -->
|
||||||
|
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||||
|
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||||
|
<buildtool_depend>catkin</buildtool_depend>
|
||||||
|
<build_depend>std_msgs</build_depend>
|
||||||
|
<build_export_depend>std_msgs</build_export_depend>
|
||||||
|
<exec_depend>std_msgs</exec_depend>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<!-- The export tag contains other, unspecified, tags -->
|
||||||
|
<export>
|
||||||
|
<!-- Other tools can request additional information be placed here -->
|
||||||
|
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
202
src/maintain/CMakeLists.txt
Normal file
202
src/maintain/CMakeLists.txt
Normal file
@@ -0,0 +1,202 @@
|
|||||||
|
cmake_minimum_required(VERSION 3.0.2)
|
||||||
|
project(maintain)
|
||||||
|
|
||||||
|
## Compile as C++11, supported in ROS Kinetic and newer
|
||||||
|
# add_compile_options(-std=c++11)
|
||||||
|
|
||||||
|
## Find catkin macros and libraries
|
||||||
|
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||||||
|
## is used, also find other catkin packages
|
||||||
|
find_package(catkin REQUIRED)
|
||||||
|
|
||||||
|
## System dependencies are found with CMake's conventions
|
||||||
|
# find_package(Boost REQUIRED COMPONENTS system)
|
||||||
|
|
||||||
|
|
||||||
|
## Uncomment this if the package has a setup.py. This macro ensures
|
||||||
|
## modules and global scripts declared therein get installed
|
||||||
|
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
||||||
|
# catkin_python_setup()
|
||||||
|
|
||||||
|
################################################
|
||||||
|
## Declare ROS messages, services and actions ##
|
||||||
|
################################################
|
||||||
|
|
||||||
|
## To declare and build messages, services or actions from within this
|
||||||
|
## package, follow these steps:
|
||||||
|
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||||||
|
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
||||||
|
## * In the file package.xml:
|
||||||
|
## * add a build_depend tag for "message_generation"
|
||||||
|
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
||||||
|
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
||||||
|
## but can be declared for certainty nonetheless:
|
||||||
|
## * add a exec_depend tag for "message_runtime"
|
||||||
|
## * In this file (CMakeLists.txt):
|
||||||
|
## * add "message_generation" and every package in MSG_DEP_SET to
|
||||||
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||||
|
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||||||
|
## catkin_package(CATKIN_DEPENDS ...)
|
||||||
|
## * uncomment the add_*_files sections below as needed
|
||||||
|
## and list every .msg/.srv/.action file to be processed
|
||||||
|
## * uncomment the generate_messages entry below
|
||||||
|
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
||||||
|
|
||||||
|
## Generate messages in the 'msg' folder
|
||||||
|
# add_message_files(
|
||||||
|
# FILES
|
||||||
|
# Message1.msg
|
||||||
|
# Message2.msg
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Generate services in the 'srv' folder
|
||||||
|
# add_service_files(
|
||||||
|
# FILES
|
||||||
|
# Service1.srv
|
||||||
|
# Service2.srv
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Generate actions in the 'action' folder
|
||||||
|
# add_action_files(
|
||||||
|
# FILES
|
||||||
|
# Action1.action
|
||||||
|
# Action2.action
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Generate added messages and services with any dependencies listed here
|
||||||
|
# generate_messages(
|
||||||
|
# DEPENDENCIES
|
||||||
|
# std_msgs # Or other packages containing msgs
|
||||||
|
# )
|
||||||
|
|
||||||
|
################################################
|
||||||
|
## Declare ROS dynamic reconfigure parameters ##
|
||||||
|
################################################
|
||||||
|
|
||||||
|
## To declare and build dynamic reconfigure parameters within this
|
||||||
|
## package, follow these steps:
|
||||||
|
## * In the file package.xml:
|
||||||
|
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
||||||
|
## * In this file (CMakeLists.txt):
|
||||||
|
## * add "dynamic_reconfigure" to
|
||||||
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||||
|
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
||||||
|
## and list every .cfg file to be processed
|
||||||
|
|
||||||
|
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||||
|
# generate_dynamic_reconfigure_options(
|
||||||
|
# cfg/DynReconf1.cfg
|
||||||
|
# cfg/DynReconf2.cfg
|
||||||
|
# )
|
||||||
|
|
||||||
|
###################################
|
||||||
|
## catkin specific configuration ##
|
||||||
|
###################################
|
||||||
|
## The catkin_package macro generates cmake config files for your package
|
||||||
|
## Declare things to be passed to dependent projects
|
||||||
|
## INCLUDE_DIRS: uncomment this if your package contains header files
|
||||||
|
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||||
|
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||||
|
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||||
|
catkin_package(
|
||||||
|
# INCLUDE_DIRS include
|
||||||
|
# LIBRARIES maintain
|
||||||
|
# CATKIN_DEPENDS other_catkin_pkg
|
||||||
|
# DEPENDS system_lib
|
||||||
|
)
|
||||||
|
|
||||||
|
###########
|
||||||
|
## Build ##
|
||||||
|
###########
|
||||||
|
|
||||||
|
## Specify additional locations of header files
|
||||||
|
## Your package locations should be listed before other locations
|
||||||
|
include_directories(
|
||||||
|
# include
|
||||||
|
# ${catkin_INCLUDE_DIRS}
|
||||||
|
)
|
||||||
|
|
||||||
|
## Declare a C++ library
|
||||||
|
# add_library(${PROJECT_NAME}
|
||||||
|
# src/${PROJECT_NAME}/maintain.cpp
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Add cmake target dependencies of the library
|
||||||
|
## as an example, code may need to be generated before libraries
|
||||||
|
## either from message generation or dynamic reconfigure
|
||||||
|
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
## Declare a C++ executable
|
||||||
|
## With catkin_make all packages are built within a single CMake context
|
||||||
|
## The recommended prefix ensures that target names across packages don't collide
|
||||||
|
# add_executable(${PROJECT_NAME}_node src/maintain_node.cpp)
|
||||||
|
|
||||||
|
## Rename C++ executable without prefix
|
||||||
|
## The above recommended prefix causes long target names, the following renames the
|
||||||
|
## target back to the shorter version for ease of user use
|
||||||
|
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
|
||||||
|
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
|
||||||
|
|
||||||
|
## Add cmake target dependencies of the executable
|
||||||
|
## same as for the library above
|
||||||
|
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
## Specify libraries to link a library or executable target against
|
||||||
|
# target_link_libraries(${PROJECT_NAME}_node
|
||||||
|
# ${catkin_LIBRARIES}
|
||||||
|
# )
|
||||||
|
|
||||||
|
#############
|
||||||
|
## Install ##
|
||||||
|
#############
|
||||||
|
|
||||||
|
# all install targets should use catkin DESTINATION variables
|
||||||
|
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
||||||
|
|
||||||
|
## Mark executable scripts (Python etc.) for installation
|
||||||
|
## in contrast to setup.py, you can choose the destination
|
||||||
|
# catkin_install_python(PROGRAMS
|
||||||
|
# scripts/my_python_script
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark executables for installation
|
||||||
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
||||||
|
# install(TARGETS ${PROJECT_NAME}_node
|
||||||
|
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark libraries for installation
|
||||||
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||||
|
# install(TARGETS ${PROJECT_NAME}
|
||||||
|
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark cpp header files for installation
|
||||||
|
# install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||||
|
# FILES_MATCHING PATTERN "*.h"
|
||||||
|
# PATTERN ".svn" EXCLUDE
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||||
|
# install(FILES
|
||||||
|
# # myfile1
|
||||||
|
# # myfile2
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
#############
|
||||||
|
## Testing ##
|
||||||
|
#############
|
||||||
|
|
||||||
|
## Add gtest based cpp test target and link libraries
|
||||||
|
# catkin_add_gtest(${PROJECT_NAME}-test test/test_maintain.cpp)
|
||||||
|
# if(TARGET ${PROJECT_NAME}-test)
|
||||||
|
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||||
|
# endif()
|
||||||
|
|
||||||
|
## Add folders to be run by python nosetests
|
||||||
|
# catkin_add_nosetests(test)
|
||||||
4
src/maintain/launch/maintain.launch
Normal file
4
src/maintain/launch/maintain.launch
Normal file
@@ -0,0 +1,4 @@
|
|||||||
|
<launch>
|
||||||
|
<node pkg="maintain" type="test.py" name="maintain" output="screen">
|
||||||
|
</node>
|
||||||
|
</launch>
|
||||||
59
src/maintain/package.xml
Normal file
59
src/maintain/package.xml
Normal file
@@ -0,0 +1,59 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<package format="2">
|
||||||
|
<name>maintain</name>
|
||||||
|
<version>0.0.0</version>
|
||||||
|
<description>The maintain package</description>
|
||||||
|
|
||||||
|
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||||
|
<!-- Example: -->
|
||||||
|
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||||
|
<maintainer email="wxchen@todo.todo">wxchen</maintainer>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||||
|
<!-- Commonly used license strings: -->
|
||||||
|
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||||
|
<license>TODO</license>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||||
|
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||||
|
<!-- Example: -->
|
||||||
|
<!-- <url type="website">http://wiki.ros.org/maintain</url> -->
|
||||||
|
|
||||||
|
|
||||||
|
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||||
|
<!-- Authors do not have to be maintainers, but could be -->
|
||||||
|
<!-- Example: -->
|
||||||
|
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||||
|
|
||||||
|
|
||||||
|
<!-- The *depend tags are used to specify dependencies -->
|
||||||
|
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||||
|
<!-- Examples: -->
|
||||||
|
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||||
|
<!-- <depend>roscpp</depend> -->
|
||||||
|
<!-- Note that this is equivalent to the following: -->
|
||||||
|
<!-- <build_depend>roscpp</build_depend> -->
|
||||||
|
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||||
|
<!-- Use build_depend for packages you need at compile time: -->
|
||||||
|
<!-- <build_depend>message_generation</build_depend> -->
|
||||||
|
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||||
|
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||||
|
<!-- Use buildtool_depend for build tool packages: -->
|
||||||
|
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||||
|
<!-- Use exec_depend for packages you need at runtime: -->
|
||||||
|
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||||
|
<!-- Use test_depend for packages you need only for testing: -->
|
||||||
|
<!-- <test_depend>gtest</test_depend> -->
|
||||||
|
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||||
|
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||||
|
<buildtool_depend>catkin</buildtool_depend>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- The export tag contains other, unspecified, tags -->
|
||||||
|
<export>
|
||||||
|
<!-- Other tools can request additional information be placed here -->
|
||||||
|
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
93
src/maintain/scripts/test.py
Executable file
93
src/maintain/scripts/test.py
Executable file
@@ -0,0 +1,93 @@
|
|||||||
|
#! /home/wxchen/.conda/envs/gsmini/bin/python
|
||||||
|
|
||||||
|
import numpy as np
|
||||||
|
import cv2 as cv
|
||||||
|
from matplotlib import pyplot as plt
|
||||||
|
import rospy
|
||||||
|
from sensor_msgs.msg import Image
|
||||||
|
import message_filters
|
||||||
|
from cv_bridge import CvBridge, CvBridgeError
|
||||||
|
import rospkg
|
||||||
|
|
||||||
|
MIN_MATCH_COUNT = 10
|
||||||
|
pkg_path = rospkg.RosPack().get_path('maintain')
|
||||||
|
rospy.loginfo(pkg_path)
|
||||||
|
img_template = cv.imread(pkg_path + '/scripts/tt.png',0)
|
||||||
|
|
||||||
|
def callback(rgb, depth):
|
||||||
|
rospy.loginfo("callback")
|
||||||
|
bridge = CvBridge()
|
||||||
|
# rospy.loginfo(rgb.header.stamp)
|
||||||
|
# rospy.loginfo(depth.header.stamp)
|
||||||
|
try:
|
||||||
|
rgb_image = bridge.imgmsg_to_cv2(rgb, 'bgr8')
|
||||||
|
depth_image = bridge.imgmsg_to_cv2(depth, '16UC1')
|
||||||
|
|
||||||
|
img_matcher = matcher(rgb_image)
|
||||||
|
cv.imshow("img_matcher", img_matcher)
|
||||||
|
cv.waitKey(1000)
|
||||||
|
|
||||||
|
except CvBridgeError as e:
|
||||||
|
print(e)
|
||||||
|
|
||||||
|
def matcher(img):
|
||||||
|
|
||||||
|
try:
|
||||||
|
# Initiate SIFT detector
|
||||||
|
sift = cv.SIFT_create()
|
||||||
|
|
||||||
|
# find the keypoints and descriptors with SIFT
|
||||||
|
kp1, des1 = sift.detectAndCompute(img_template,None)
|
||||||
|
kp2, des2 = sift.detectAndCompute(img,None)
|
||||||
|
|
||||||
|
FLANN_INDEX_KDTREE = 1
|
||||||
|
index_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5)
|
||||||
|
search_params = dict(checks = 50)
|
||||||
|
|
||||||
|
flann = cv.FlannBasedMatcher(index_params, search_params)
|
||||||
|
matches = flann.knnMatch(des1,des2,k=2)
|
||||||
|
|
||||||
|
# store all the good matches as per Lowe's ratio test.
|
||||||
|
good = []
|
||||||
|
for m,n in matches:
|
||||||
|
if m.distance < 0.7*n.distance:
|
||||||
|
good.append(m)
|
||||||
|
|
||||||
|
if len(good)>MIN_MATCH_COUNT:
|
||||||
|
src_pts = np.float32([ kp1[m.queryIdx].pt for m in good ]).reshape(-1,1,2)
|
||||||
|
dst_pts = np.float32([ kp2[m.trainIdx].pt for m in good ]).reshape(-1,1,2)
|
||||||
|
|
||||||
|
M, mask = cv.findHomography(src_pts, dst_pts, cv.RANSAC,5.0)
|
||||||
|
matchesMask = mask.ravel().tolist()
|
||||||
|
|
||||||
|
h,w = img_template.shape
|
||||||
|
pts = np.float32([ [0,0],[0,h-1],[w-1,h-1],[w-1,0] ]).reshape(-1,1,2)
|
||||||
|
dst = cv.perspectiveTransform(pts,M)
|
||||||
|
|
||||||
|
roi = img[np.int32(dst)[0][0][1]:np.int32(dst)[2][0][1], np.int32(dst)[0][0][0]:np.int32(dst)[2][0][0]]
|
||||||
|
# roi = detect_black(roi)
|
||||||
|
|
||||||
|
# img2 = cv.polylines(img2,[np.int32(dst)],True,255,3, cv.LINE_AA)
|
||||||
|
else:
|
||||||
|
print( "Not enough matches are found - {}/{}".format(len(good), MIN_MATCH_COUNT) )
|
||||||
|
|
||||||
|
return roi
|
||||||
|
except Exception as e:
|
||||||
|
print(e)
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
|
||||||
|
rospy.init_node("maintain")
|
||||||
|
rospy.loginfo("maintain task start ......")
|
||||||
|
|
||||||
|
rgb_sub = message_filters.Subscriber("/camera/color/image_raw", Image)
|
||||||
|
depth_sub = message_filters.Subscriber("/camera/aligned_depth_to_color/image_raw", Image)
|
||||||
|
|
||||||
|
ts = message_filters.TimeSynchronizer([rgb_sub, depth_sub], 1)
|
||||||
|
ts.registerCallback(callback)
|
||||||
|
|
||||||
|
|
||||||
|
rospy.spin()
|
||||||
7
src/vision_opencv/README.rst
Normal file
7
src/vision_opencv/README.rst
Normal file
@@ -0,0 +1,7 @@
|
|||||||
|
vision_opencv
|
||||||
|
=============
|
||||||
|
|
||||||
|
.. image:: https://travis-ci.org/ros-perception/vision_opencv.svg?branch=indigo
|
||||||
|
:target: https://travis-ci.org/ros-perception/vision_opencv
|
||||||
|
|
||||||
|
Packages for interfacing ROS with OpenCV, a library of programming functions for real time computer vision.
|
||||||
431
src/vision_opencv/cv_bridge/CHANGELOG.rst
Normal file
431
src/vision_opencv/cv_bridge/CHANGELOG.rst
Normal file
@@ -0,0 +1,431 @@
|
|||||||
|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||||
|
Changelog for package cv_bridge
|
||||||
|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||||
|
|
||||||
|
1.13.1 (2022-10-03)
|
||||||
|
-------------------
|
||||||
|
* Fix endian mismatch issue per boostorg/python PR `#218 <https://github.com/ros-perception/vision_opencv/issues/218>`_
|
||||||
|
* Update CMakeLists.txt for Windows build environment (`#265 <https://github.com/ros-perception/vision_opencv/issues/265>`_)
|
||||||
|
* Remove path splash separator from 'package_dir' (`#267 <https://github.com/ros-perception/vision_opencv/issues/267>`_)
|
||||||
|
* Fix travis. (`#269 <https://github.com/ros-perception/vision_opencv/issues/269>`_)
|
||||||
|
* Contributors: Duan Yutong, James Xu, Kenji Brameld, Sean Yen
|
||||||
|
|
||||||
|
1.13.0 (2018-04-30)
|
||||||
|
-------------------
|
||||||
|
* Use rosdep OpenCV and not ROS one.
|
||||||
|
We defintely don't need the whole OpenCV.
|
||||||
|
We need to clean the rosdep keys.
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.12.8 (2018-04-17)
|
||||||
|
-------------------
|
||||||
|
* Merge pull request `#191 <https://github.com/ros-perception/vision_opencv/issues/191>`_ from patrickelectric/kinetic
|
||||||
|
cv2_to_imgmsg: step must be int
|
||||||
|
* cv2_to_imgmsg: step must be int
|
||||||
|
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
|
||||||
|
* Contributors: Patrick José Pereira, Vincent Rabaud
|
||||||
|
|
||||||
|
1.12.7 (2017-11-12)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.6 (2017-11-11)
|
||||||
|
-------------------
|
||||||
|
* fix endianness issues
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.12.5 (2017-11-05)
|
||||||
|
-------------------
|
||||||
|
* add version_gte for opencv3
|
||||||
|
@vrabaud If you'll update opencv3 version as discussed in https://discourse.ros.org/t/opencv-3-3/2674/4, I think we'd better to add 'version_gte' tag so that apt-get install ros-kinetic-cv-bridge also pulls openv3.3 from repository, to avoid API breaking issue between opencv2 and opencv3.
|
||||||
|
* Simplify the dependency components of cv_bridge
|
||||||
|
Fixes `#183 <https://github.com/ros-perception/vision_opencv/issues/183>`_
|
||||||
|
* Fixes `#177 <https://github.com/ros-perception/vision_opencv/issues/177>`_
|
||||||
|
The Python bridge was wrong on OpenCV2 with mono8 (and any Mat
|
||||||
|
with only two dimensions btw). Took the official Python bridge
|
||||||
|
from OpenCV.
|
||||||
|
* Add missing test file
|
||||||
|
This fixes `#171 <https://github.com/ros-perception/vision_opencv/issues/171>`_
|
||||||
|
* Properly deal with alpha in image compression.
|
||||||
|
That fixes `#169 <https://github.com/ros-perception/vision_opencv/issues/169>`_
|
||||||
|
* Silence warnings about un-used variables
|
||||||
|
* export OpenCV variables
|
||||||
|
* Contributors: Kei Okada, Victor Lamoine, Vincent Rabaud
|
||||||
|
|
||||||
|
1.12.4 (2017-01-29)
|
||||||
|
-------------------
|
||||||
|
* properly find Boost Python 2 or 3
|
||||||
|
This fixes `#158 <https://github.com/ros-perception/vision_opencv/issues/158>`_
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.12.3 (2016-12-04)
|
||||||
|
-------------------
|
||||||
|
* Use api in sensor_msgs to get byte_depth and num channels
|
||||||
|
* Implement cpp conversion of N channel image
|
||||||
|
This is cpp version of https://github.com/ros-perception/vision_opencv/pull/141,
|
||||||
|
which is one for python.
|
||||||
|
* Fill black color to depth nan region
|
||||||
|
* address gcc6 build error in cv_bridge and tune
|
||||||
|
With gcc6, compiling fails with `stdlib.h: No such file or directory`,
|
||||||
|
as including '-isystem /usr/include' breaks with gcc6, cf.,
|
||||||
|
https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129
|
||||||
|
This commit addresses this issue for cv_bridge in the same way
|
||||||
|
it was done in the commit ead421b8 [1] for image_geometry.
|
||||||
|
This issue was also addressed in various other ROS packages.
|
||||||
|
A list of related commits and pull requests is at:
|
||||||
|
https://github.com/ros/rosdistro/issues/12783
|
||||||
|
[1] https://github.com/ros-perception/vision_opencv/commit/ead421b85eeb750cbf7988657015296ed6789bcf
|
||||||
|
Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
|
||||||
|
* cv_bridge: Add missing test_depend on numpy
|
||||||
|
* Contributors: Kentaro Wada, Lukas Bulwahn, Maarten de Vries
|
||||||
|
|
||||||
|
1.12.2 (2016-09-24)
|
||||||
|
-------------------
|
||||||
|
* Specify background label when colorizing label image
|
||||||
|
* Adjust to arbitrary image channels like 32FC40
|
||||||
|
Proper fix for `#141 <https://github.com/ros-perception/vision_opencv/issues/141>`_
|
||||||
|
* Remove unexpectedly included print statement
|
||||||
|
* Contributors: Kentaro Wada, Vincent Rabaud
|
||||||
|
|
||||||
|
1.12.1 (2016-07-11)
|
||||||
|
-------------------
|
||||||
|
* split the conversion tests out of enumerants
|
||||||
|
* support is_bigendian in Python
|
||||||
|
Fixes `#114 <https://github.com/ros-perception/vision_opencv/issues/114>`_
|
||||||
|
Also fixes mono16 test
|
||||||
|
* Support compressed Images messages in python for indigo
|
||||||
|
- Add cv2_to_comprssed_imgmsg: Convert from cv2 image to compressed image ros msg.
|
||||||
|
- Add comprssed_imgmsg_to_cv2: Convert the compress message to a new image.
|
||||||
|
- Add compressed image tests.
|
||||||
|
- Add time to msgs (compressed and regular).
|
||||||
|
add enumerants test for compressed image.
|
||||||
|
merge the compressed tests with the regular ones.
|
||||||
|
better comment explanation. I will squash this commit.
|
||||||
|
Fix indentation
|
||||||
|
fix typo mistage: from .imgmsg_to_compressed_cv2 to .compressed_imgmsg_to_cv2.
|
||||||
|
remove cv2.CV_8UC1
|
||||||
|
remove rospy and time depndency.
|
||||||
|
change from IMREAD_COLOR to IMREAD_ANYCOLOR.
|
||||||
|
- make indentaion of 4.
|
||||||
|
- remove space trailer.
|
||||||
|
- remove space from empty lines.
|
||||||
|
- another set of for loops, it will make things easier to track. In that new set, just have the number of channels in ([],1,3,4) (ignore two for jpg). from: https://github.com/ros-perception/vision_opencv/pull/132#discussion_r66721943
|
||||||
|
- keep the OpenCV error message. from: https://github.com/ros-perception/vision_opencv/pull/132#discussion_r66721013
|
||||||
|
add debug print for test.
|
||||||
|
add case for 4 channels in test.
|
||||||
|
remove 4 channels case from compressed test.
|
||||||
|
add debug print for test.
|
||||||
|
change typo of format.
|
||||||
|
fix typo in format. change from dip to dib.
|
||||||
|
change to IMREAD_ANYCOLOR as python code. (as it should).
|
||||||
|
rename TIFF to tiff
|
||||||
|
Sperate the tests one for regular images and one for compressed.
|
||||||
|
update comment
|
||||||
|
* Add CvtColorForDisplayOptions with new colormap param
|
||||||
|
* fix doc jobs
|
||||||
|
* Add python binding for cv_bridge::cvtColorForDisplay
|
||||||
|
* Don't colorize float image as label image
|
||||||
|
This is a bug and image whose encoding is other than 32SC1 should not be
|
||||||
|
colorized. (currently, depth images with 32FC1 is also colorized.)
|
||||||
|
* Fix compilation of cv_bridge with opencv3 and python3.
|
||||||
|
* Contributors: Kentaro Wada, Maarten de Vries, Vincent Rabaud, talregev
|
||||||
|
|
||||||
|
1.12.0 (2016-03-18)
|
||||||
|
-------------------
|
||||||
|
* depend on OpenCV3 only
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.12 (2016-03-10)
|
||||||
|
--------------------
|
||||||
|
* Fix my typo
|
||||||
|
* Remove another eval
|
||||||
|
Because `cvtype2_to_dtype_with_channels('8UCimport os; os.system("rm -rf /")')` should never have a chance of happening.
|
||||||
|
* Remove eval, and other fixes
|
||||||
|
Also, extend from object, so as not to get a python 2.2-style class, and use the new-style raise statement
|
||||||
|
* Contributors: Eric Wieser
|
||||||
|
|
||||||
|
1.11.11 (2016-01-31)
|
||||||
|
--------------------
|
||||||
|
* clean up the doc files
|
||||||
|
* fix a few warnings in doc jobs
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.10 (2016-01-16)
|
||||||
|
--------------------
|
||||||
|
* fix OpenCV3 build
|
||||||
|
* Describe about converting label to bgr image in cvtColorForDisplay
|
||||||
|
* Convert label to BGR image to display
|
||||||
|
* Add test for rgb_colors.cpp
|
||||||
|
* Add rgb_colors util
|
||||||
|
* Update doc for converting to BGR in cvtColorForDisplay
|
||||||
|
* Convert to BGR from any encoding
|
||||||
|
* Refactor: sensor_msgs::image_encodings -> enc
|
||||||
|
* Contributors: Kentaro Wada, Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.9 (2015-11-29)
|
||||||
|
-------------------
|
||||||
|
* deal with endianness
|
||||||
|
* add cvtColorForDisplay
|
||||||
|
* Improved efficiency by using toCvShare instead of toCvCopy.
|
||||||
|
* Add format enum for easy use and choose format.
|
||||||
|
* fix compilation warnings
|
||||||
|
* start to extend the cv_bridge with cvCompressedImage class, that will convert from cv::Mat opencv images to CompressedImage ros messages and vice versa
|
||||||
|
* Contributors: Carlos Costa, Vincent Rabaud, talregev
|
||||||
|
|
||||||
|
1.11.8 (2015-07-15)
|
||||||
|
-------------------
|
||||||
|
* Simplify some OpenCV3 distinction
|
||||||
|
* fix tests
|
||||||
|
* fix test under OpenCV3
|
||||||
|
* Remove Python for Android
|
||||||
|
* Contributors: Gary Servin, Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.7 (2014-12-14)
|
||||||
|
-------------------
|
||||||
|
* check that the type is indeed a Numpy one
|
||||||
|
This is in response to `#51 <https://github.com/ros-perception/vision_opencv/issues/51>`_
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.6 (2014-11-16)
|
||||||
|
-------------------
|
||||||
|
* chnage the behavior when there is only one channel
|
||||||
|
* cleanup tests
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.5 (2014-09-21)
|
||||||
|
-------------------
|
||||||
|
* get code to work with OpenCV3
|
||||||
|
actually fixes `#46 <https://github.com/ros-perception/vision_opencv/issues/46>`_ properly
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.4 (2014-07-27)
|
||||||
|
-------------------
|
||||||
|
* Fix `#42 <https://github.com/ros-perception/vision_opencv/issues/42>`_
|
||||||
|
* Contributors: Libor Wagner
|
||||||
|
|
||||||
|
1.11.3 (2014-06-08)
|
||||||
|
-------------------
|
||||||
|
* Correct dependency from non-existent package to cv_bridge
|
||||||
|
* Contributors: Isaac Isao Saito
|
||||||
|
|
||||||
|
1.11.2 (2014-04-28)
|
||||||
|
-------------------
|
||||||
|
* Add depend on python for cv_bridge
|
||||||
|
* Contributors: Scott K Logan
|
||||||
|
|
||||||
|
1.11.1 (2014-04-16)
|
||||||
|
-------------------
|
||||||
|
* fixes `#34 <https://github.com/ros-perception/vision_opencv/issues/34>`_
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.0 (2014-02-15)
|
||||||
|
-------------------
|
||||||
|
* remove deprecated API and fixes `#33 <https://github.com/ros-perception/vision_opencv/issues/33>`_
|
||||||
|
* fix OpenCV dependencies
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.15 (2014-02-07)
|
||||||
|
--------------------
|
||||||
|
* fix python 3 error at configure time
|
||||||
|
* Contributors: Dirk Thomas
|
||||||
|
|
||||||
|
1.10.14 (2013-11-23 16:17)
|
||||||
|
--------------------------
|
||||||
|
* update changelog
|
||||||
|
* Find NumPy include directory
|
||||||
|
* Contributors: Brian Jensen, Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.13 (2013-11-23 09:19)
|
||||||
|
--------------------------
|
||||||
|
* fix compilation on older NumPy
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.12 (2013-11-22)
|
||||||
|
--------------------
|
||||||
|
* bump changelog
|
||||||
|
* Fixed issue with image message step size
|
||||||
|
* fix crash for non char data
|
||||||
|
* fix `#26 <https://github.com/ros-perception/vision_opencv/issues/26>`_
|
||||||
|
* Contributors: Brian Jensen, Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.11 (2013-10-23)
|
||||||
|
--------------------
|
||||||
|
* fix bad image check and improve it too
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.10 (2013-10-19)
|
||||||
|
--------------------
|
||||||
|
* fixes `#25 <https://github.com/ros-perception/vision_opencv/issues/25>`_
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.9 (2013-10-07)
|
||||||
|
-------------------
|
||||||
|
* fixes `#20 <https://github.com/ros-perception/vision_opencv/issues/20>`_
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.8 (2013-09-09)
|
||||||
|
-------------------
|
||||||
|
* fixes `#22 <https://github.com/ros-perception/vision_opencv/issues/22>`_
|
||||||
|
* fixes `#17 <https://github.com/ros-perception/vision_opencv/issues/17>`_
|
||||||
|
* check for CATKIN_ENABLE_TESTING
|
||||||
|
* fixes `#16 <https://github.com/ros-perception/vision_opencv/issues/16>`_
|
||||||
|
* update email address
|
||||||
|
* Contributors: Lukas Bulwahn, Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.7 (2013-07-17)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.6 (2013-03-01)
|
||||||
|
-------------------
|
||||||
|
* make sure conversion are applied for depth differences
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.5 (2013-02-11)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.4 (2013-02-02)
|
||||||
|
-------------------
|
||||||
|
* fix installation of the boost package
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.3 (2013-01-17)
|
||||||
|
-------------------
|
||||||
|
* Link against PTYHON_LIBRARIES
|
||||||
|
* Contributors: William Woodall
|
||||||
|
|
||||||
|
1.10.2 (2013-01-13)
|
||||||
|
-------------------
|
||||||
|
* use CATKIN_DEVEL_PREFIX instead of obsolete CATKIN_BUILD_PREFIX
|
||||||
|
* Contributors: Dirk Thomas
|
||||||
|
|
||||||
|
1.10.1 (2013-01-10)
|
||||||
|
-------------------
|
||||||
|
* add licenses
|
||||||
|
* fixes `#5 <https://github.com/ros-perception/vision_opencv/issues/5>`_ by removing the logic from Python and using wrapped C++ and adding a test for it
|
||||||
|
* fix a bug discovered when running the opencv_tests
|
||||||
|
* use some C++ logic
|
||||||
|
* add a Boost Python module to have the C++ logix used directly in Python
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.0 (2013-01-03)
|
||||||
|
-------------------
|
||||||
|
* add conversion from Bayer to gray
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.15 (2013-01-02)
|
||||||
|
-------------------
|
||||||
|
* use the reverted isColor behavior
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.14 (2012-12-30)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.13 (2012-12-15)
|
||||||
|
-------------------
|
||||||
|
* use the catkin macros for the setup.py
|
||||||
|
* fix `#3 <https://github.com/ros-perception/vision_opencv/issues/3>`_
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.12 (2012-12-14)
|
||||||
|
-------------------
|
||||||
|
* buildtool_depend catkin fix
|
||||||
|
* CMakeLists.txt clean up.
|
||||||
|
* Contributors: William Woodall
|
||||||
|
|
||||||
|
1.9.11 (2012-12-10)
|
||||||
|
-------------------
|
||||||
|
* fix issue `#1 <https://github.com/ros-perception/vision_opencv/issues/1>`_
|
||||||
|
* Cleanup of package.xml
|
||||||
|
* Contributors: Vincent Rabaud, William Woodall
|
||||||
|
|
||||||
|
1.9.10 (2012-10-04)
|
||||||
|
-------------------
|
||||||
|
* fix the bad include folder
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.9 (2012-10-01)
|
||||||
|
------------------
|
||||||
|
* fix dependencies
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.8 (2012-09-30)
|
||||||
|
------------------
|
||||||
|
* fix some dependencies
|
||||||
|
* add rosconsole as a dependency
|
||||||
|
* fix missing Python at install and fix some dependencies
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.7 (2012-09-28 21:07)
|
||||||
|
------------------------
|
||||||
|
* add missing stuff
|
||||||
|
* make sure we find catkin
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.6 (2012-09-28 15:17)
|
||||||
|
------------------------
|
||||||
|
* move the test to where it belongs
|
||||||
|
* fix the tests and the API to not handle conversion from CV_TYPE to Color type (does not make sense)
|
||||||
|
* comply to the new Catkin API
|
||||||
|
* backport the YUV422 bug fix from Fuerte
|
||||||
|
* apply patch from https://code.ros.org/trac/ros-pkg/ticket/5556
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.5 (2012-09-15)
|
||||||
|
------------------
|
||||||
|
* remove dependencies to the opencv2 ROS package
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.4 (2012-09-13)
|
||||||
|
------------------
|
||||||
|
* make sure the include folders are copied to the right place
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.3 (2012-09-12)
|
||||||
|
------------------
|
||||||
|
|
||||||
|
1.9.2 (2012-09-07)
|
||||||
|
------------------
|
||||||
|
* be more compliant to the latest catkin
|
||||||
|
* added catkin_project() to cv_bridge, image_geometry, and opencv_tests
|
||||||
|
* Contributors: Jonathan Binney, Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.1 (2012-08-28 22:06)
|
||||||
|
------------------------
|
||||||
|
* remove things that were marked as ROS_DEPRECATED
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.0 (2012-08-28 14:29)
|
||||||
|
------------------------
|
||||||
|
* catkinized opencv_tests by Jon Binney
|
||||||
|
* catkinized cv_bridge package... others disable for now by Jon Binney
|
||||||
|
* remove the version check, let's trust OpenCV :)
|
||||||
|
* revert the removal of opencv2
|
||||||
|
* vision_opencv: Export OpenCV flags in manifests for image_geometry, cv_bridge.
|
||||||
|
* finally get rid of opencv2 as it is a system dependency now
|
||||||
|
* bump REQUIRED version of OpenCV to 2.3.2, which is what's in ros-fuerte-opencv
|
||||||
|
* switch rosdep name to opencv2, to refer to ros-fuerte-opencv2
|
||||||
|
* added missing header
|
||||||
|
* Added constructor to CvImage to make converting a cv::Mat to sensor_msgs::Image less verbose.
|
||||||
|
* cv_bridge: Added unit test for `#5206 <https://github.com/ros-perception/vision_opencv/issues/5206>`_
|
||||||
|
* cv_bridge: Applied patch from mdesnoyer to fix handling of non-continuous OpenCV images. `#5206 <https://github.com/ros-perception/vision_opencv/issues/5206>`_
|
||||||
|
* Adding opencv2 to all manifests, so that client packages may
|
||||||
|
not break when using them.
|
||||||
|
* baking in opencv debs and attempting a pre-release
|
||||||
|
* cv_bridge: Support for new 16-bit encodings.
|
||||||
|
* cv_bridge: Deprecate old C++ cv_bridge API.
|
||||||
|
* cv_bridge: Correctly scale for MONO8 <-> MONO16 conversions.
|
||||||
|
* cv_bridge: Fixed issue where pointer version to toCvCopy would ignore the requested encoding (http://answers.ros.org/question/258/converting-kinect-rgb-image-to-opencv-gives-wrong).
|
||||||
|
* fixed doc build by taking a static snapshot
|
||||||
|
* cv_bridge: Marking doc reviewed.
|
||||||
|
* cv_bridge: Tweaks to make docs look better.
|
||||||
|
* cv_bridge: Added cvtColor(). License notices. Documented that CvBridge class is obsolete.
|
||||||
|
* cv_bridge: Added redesigned C++ cv_bridge.
|
||||||
|
* Doc cleanup
|
||||||
|
* Trigger doc rebuild
|
||||||
|
* mono16 -> bgr conversion tested and fixed in C
|
||||||
|
* Added Ubuntu platform tags to manifest
|
||||||
|
* Handle mono16 properly
|
||||||
|
* Raise exception when imgMsgToCv() gets an image encoding it does not recognise, `#3489 <https://github.com/ros-perception/vision_opencv/issues/3489>`_
|
||||||
|
* Remove use of deprecated rosbuild macros
|
||||||
|
* Fixed example
|
||||||
|
* cv_bridge split from opencv2
|
||||||
|
* Contributors: Vincent Rabaud, ethanrublee, gerkey, jamesb, mihelich, vrabaud, wheeler
|
||||||
48
src/vision_opencv/cv_bridge/CMakeLists.txt
Normal file
48
src/vision_opencv/cv_bridge/CMakeLists.txt
Normal file
@@ -0,0 +1,48 @@
|
|||||||
|
cmake_minimum_required(VERSION 2.8)
|
||||||
|
project(cv_bridge)
|
||||||
|
|
||||||
|
find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
|
||||||
|
|
||||||
|
if(NOT ANDROID)
|
||||||
|
find_package(PythonLibs)
|
||||||
|
if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
|
||||||
|
find_package(Boost REQUIRED python)
|
||||||
|
else()
|
||||||
|
find_package(Boost REQUIRED python3)
|
||||||
|
endif()
|
||||||
|
else()
|
||||||
|
find_package(Boost REQUIRED)
|
||||||
|
endif()
|
||||||
|
find_package(OpenCV 3 REQUIRED
|
||||||
|
COMPONENTS
|
||||||
|
opencv_core
|
||||||
|
opencv_imgproc
|
||||||
|
opencv_imgcodecs
|
||||||
|
CONFIG
|
||||||
|
)
|
||||||
|
|
||||||
|
catkin_package(
|
||||||
|
INCLUDE_DIRS include
|
||||||
|
LIBRARIES ${PROJECT_NAME}
|
||||||
|
CATKIN_DEPENDS rosconsole sensor_msgs
|
||||||
|
DEPENDS OpenCV
|
||||||
|
CFG_EXTRAS cv_bridge-extras.cmake
|
||||||
|
)
|
||||||
|
|
||||||
|
catkin_python_setup()
|
||||||
|
|
||||||
|
include_directories(include ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
|
||||||
|
|
||||||
|
if(NOT ANDROID)
|
||||||
|
add_subdirectory(python)
|
||||||
|
endif()
|
||||||
|
add_subdirectory(src)
|
||||||
|
if(CATKIN_ENABLE_TESTING)
|
||||||
|
add_subdirectory(test)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# install the include folder
|
||||||
|
install(
|
||||||
|
DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||||
|
)
|
||||||
12
src/vision_opencv/cv_bridge/cmake/cv_bridge-extras.cmake.in
Normal file
12
src/vision_opencv/cv_bridge/cmake/cv_bridge-extras.cmake.in
Normal file
@@ -0,0 +1,12 @@
|
|||||||
|
set(OpenCV_VERSION @OpenCV_VERSION@)
|
||||||
|
set(OpenCV_VERSION_MAJOR @OpenCV_VERSION_MAJOR@)
|
||||||
|
set(OpenCV_VERSION_MINOR @OpenCV_VERSION_MINOR@)
|
||||||
|
set(OpenCV_VERSION_PATCH @OpenCV_VERSION_PATCH@)
|
||||||
|
set(OpenCV_SHARED @OpenCV_SHARED@)
|
||||||
|
set(OpenCV_CONFIG_PATH @OpenCV_CONFIG_PATH@)
|
||||||
|
set(OpenCV_INSTALL_PATH @OpenCV_INSTALL_PATH@)
|
||||||
|
set(OpenCV_LIB_COMPONENTS @OpenCV_LIB_COMPONENTS@)
|
||||||
|
set(OpenCV_USE_MANGLED_PATHS @OpenCV_USE_MANGLED_PATHS@)
|
||||||
|
set(OpenCV_MODULES_SUFFIX @OpenCV_MODULES_SUFFIX@)
|
||||||
|
|
||||||
|
|
||||||
201
src/vision_opencv/cv_bridge/doc/conf.py
Normal file
201
src/vision_opencv/cv_bridge/doc/conf.py
Normal file
@@ -0,0 +1,201 @@
|
|||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
#
|
||||||
|
# cv_bridge documentation build configuration file, created by
|
||||||
|
# sphinx-quickstart on Mon Jun 1 14:21:53 2009.
|
||||||
|
#
|
||||||
|
# This file is execfile()d with the current directory set to its containing dir.
|
||||||
|
#
|
||||||
|
# Note that not all possible configuration values are present in this
|
||||||
|
# autogenerated file.
|
||||||
|
#
|
||||||
|
# All configuration values have a default; values that are commented out
|
||||||
|
# serve to show the default.
|
||||||
|
|
||||||
|
import sys, os
|
||||||
|
|
||||||
|
# If extensions (or modules to document with autodoc) are in another directory,
|
||||||
|
# add these directories to sys.path here. If the directory is relative to the
|
||||||
|
# documentation root, use os.path.abspath to make it absolute, like shown here.
|
||||||
|
#sys.path.append(os.path.abspath('.'))
|
||||||
|
|
||||||
|
# -- General configuration -----------------------------------------------------
|
||||||
|
|
||||||
|
# Add any Sphinx extension module names here, as strings. They can be extensions
|
||||||
|
# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
|
||||||
|
extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.intersphinx', 'sphinx.ext.pngmath']
|
||||||
|
|
||||||
|
# Add any paths that contain templates here, relative to this directory.
|
||||||
|
templates_path = ['_templates']
|
||||||
|
|
||||||
|
# The suffix of source filenames.
|
||||||
|
source_suffix = '.rst'
|
||||||
|
|
||||||
|
# The encoding of source files.
|
||||||
|
#source_encoding = 'utf-8'
|
||||||
|
|
||||||
|
# The master toctree document.
|
||||||
|
master_doc = 'index'
|
||||||
|
|
||||||
|
# General information about the project.
|
||||||
|
project = u'cv_bridge'
|
||||||
|
copyright = u'2009, Willow Garage, Inc.'
|
||||||
|
|
||||||
|
# The version info for the project you're documenting, acts as replacement for
|
||||||
|
# |version| and |release|, also used in various other places throughout the
|
||||||
|
# built documents.
|
||||||
|
#
|
||||||
|
# The short X.Y version.
|
||||||
|
version = '0.1'
|
||||||
|
# The full version, including alpha/beta/rc tags.
|
||||||
|
release = '0.1.0'
|
||||||
|
|
||||||
|
# The language for content autogenerated by Sphinx. Refer to documentation
|
||||||
|
# for a list of supported languages.
|
||||||
|
#language = None
|
||||||
|
|
||||||
|
# There are two options for replacing |today|: either, you set today to some
|
||||||
|
# non-false value, then it is used:
|
||||||
|
#today = ''
|
||||||
|
# Else, today_fmt is used as the format for a strftime call.
|
||||||
|
#today_fmt = '%B %d, %Y'
|
||||||
|
|
||||||
|
# List of documents that shouldn't be included in the build.
|
||||||
|
#unused_docs = []
|
||||||
|
|
||||||
|
# List of directories, relative to source directory, that shouldn't be searched
|
||||||
|
# for source files.
|
||||||
|
exclude_trees = ['_build']
|
||||||
|
|
||||||
|
# The reST default role (used for this markup: `text`) to use for all documents.
|
||||||
|
#default_role = None
|
||||||
|
|
||||||
|
# If true, '()' will be appended to :func: etc. cross-reference text.
|
||||||
|
#add_function_parentheses = True
|
||||||
|
|
||||||
|
# If true, the current module name will be prepended to all description
|
||||||
|
# unit titles (such as .. function::).
|
||||||
|
#add_module_names = True
|
||||||
|
|
||||||
|
# If true, sectionauthor and moduleauthor directives will be shown in the
|
||||||
|
# output. They are ignored by default.
|
||||||
|
#show_authors = False
|
||||||
|
|
||||||
|
# The name of the Pygments (syntax highlighting) style to use.
|
||||||
|
pygments_style = 'sphinx'
|
||||||
|
|
||||||
|
# A list of ignored prefixes for module index sorting.
|
||||||
|
#modindex_common_prefix = []
|
||||||
|
|
||||||
|
|
||||||
|
# -- Options for HTML output ---------------------------------------------------
|
||||||
|
|
||||||
|
# The theme to use for HTML and HTML Help pages. Major themes that come with
|
||||||
|
# Sphinx are currently 'default' and 'sphinxdoc'.
|
||||||
|
html_theme = 'default'
|
||||||
|
|
||||||
|
# Theme options are theme-specific and customize the look and feel of a theme
|
||||||
|
# further. For a list of options available for each theme, see the
|
||||||
|
# documentation.
|
||||||
|
#html_theme_options = {}
|
||||||
|
|
||||||
|
# Add any paths that contain custom themes here, relative to this directory.
|
||||||
|
#html_theme_path = []
|
||||||
|
|
||||||
|
# The name for this set of Sphinx documents. If None, it defaults to
|
||||||
|
# "<project> v<release> documentation".
|
||||||
|
#html_title = None
|
||||||
|
|
||||||
|
# A shorter title for the navigation bar. Default is the same as html_title.
|
||||||
|
#html_short_title = None
|
||||||
|
|
||||||
|
# The name of an image file (relative to this directory) to place at the top
|
||||||
|
# of the sidebar.
|
||||||
|
#html_logo = None
|
||||||
|
|
||||||
|
# The name of an image file (within the static path) to use as favicon of the
|
||||||
|
# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32
|
||||||
|
# pixels large.
|
||||||
|
#html_favicon = None
|
||||||
|
|
||||||
|
# Add any paths that contain custom static files (such as style sheets) here,
|
||||||
|
# relative to this directory. They are copied after the builtin static files,
|
||||||
|
# so a file named "default.css" will overwrite the builtin "default.css".
|
||||||
|
#html_static_path = ['_static']
|
||||||
|
|
||||||
|
# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
|
||||||
|
# using the given strftime format.
|
||||||
|
#html_last_updated_fmt = '%b %d, %Y'
|
||||||
|
|
||||||
|
# If true, SmartyPants will be used to convert quotes and dashes to
|
||||||
|
# typographically correct entities.
|
||||||
|
#html_use_smartypants = True
|
||||||
|
|
||||||
|
# Custom sidebar templates, maps document names to template names.
|
||||||
|
#html_sidebars = {}
|
||||||
|
|
||||||
|
# Additional templates that should be rendered to pages, maps page names to
|
||||||
|
# template names.
|
||||||
|
#html_additional_pages = {}
|
||||||
|
|
||||||
|
# If false, no module index is generated.
|
||||||
|
#html_use_modindex = True
|
||||||
|
|
||||||
|
# If false, no index is generated.
|
||||||
|
#html_use_index = True
|
||||||
|
|
||||||
|
# If true, the index is split into individual pages for each letter.
|
||||||
|
#html_split_index = False
|
||||||
|
|
||||||
|
# If true, links to the reST sources are added to the pages.
|
||||||
|
#html_show_sourcelink = True
|
||||||
|
|
||||||
|
# If true, an OpenSearch description file will be output, and all pages will
|
||||||
|
# contain a <link> tag referring to it. The value of this option must be the
|
||||||
|
# base URL from which the finished HTML is served.
|
||||||
|
#html_use_opensearch = ''
|
||||||
|
|
||||||
|
# If nonempty, this is the file name suffix for HTML files (e.g. ".xhtml").
|
||||||
|
#html_file_suffix = ''
|
||||||
|
|
||||||
|
# Output file base name for HTML help builder.
|
||||||
|
htmlhelp_basename = 'cv_bridgedoc'
|
||||||
|
|
||||||
|
|
||||||
|
# -- Options for LaTeX output --------------------------------------------------
|
||||||
|
|
||||||
|
# The paper size ('letter' or 'a4').
|
||||||
|
#latex_paper_size = 'letter'
|
||||||
|
|
||||||
|
# The font size ('10pt', '11pt' or '12pt').
|
||||||
|
#latex_font_size = '10pt'
|
||||||
|
|
||||||
|
# Grouping the document tree into LaTeX files. List of tuples
|
||||||
|
# (source start file, target name, title, author, documentclass [howto/manual]).
|
||||||
|
latex_documents = [
|
||||||
|
('index', 'cv_bridge.tex', u'stereo\\_utils Documentation',
|
||||||
|
u'James Bowman', 'manual'),
|
||||||
|
]
|
||||||
|
|
||||||
|
# The name of an image file (relative to this directory) to place at the top of
|
||||||
|
# the title page.
|
||||||
|
#latex_logo = None
|
||||||
|
|
||||||
|
# For "manual" documents, if this is true, then toplevel headings are parts,
|
||||||
|
# not chapters.
|
||||||
|
#latex_use_parts = False
|
||||||
|
|
||||||
|
# Additional stuff for the LaTeX preamble.
|
||||||
|
#latex_preamble = ''
|
||||||
|
|
||||||
|
# Documents to append as an appendix to all manuals.
|
||||||
|
#latex_appendices = []
|
||||||
|
|
||||||
|
# If false, no module index is generated.
|
||||||
|
#latex_use_modindex = True
|
||||||
|
|
||||||
|
|
||||||
|
# Example configuration for intersphinx: refer to the Python standard library.
|
||||||
|
intersphinx_mapping = {
|
||||||
|
'http://docs.python.org/': None,
|
||||||
|
'http://docs.scipy.org/doc/numpy' : None,
|
||||||
|
}
|
||||||
18
src/vision_opencv/cv_bridge/doc/index.rst
Normal file
18
src/vision_opencv/cv_bridge/doc/index.rst
Normal file
@@ -0,0 +1,18 @@
|
|||||||
|
cv_bridge
|
||||||
|
=========
|
||||||
|
|
||||||
|
``cv_bridge`` contains a single class :class:`CvBridge` that converts ROS Image messages to
|
||||||
|
OpenCV images.
|
||||||
|
|
||||||
|
.. module:: cv_bridge
|
||||||
|
|
||||||
|
.. autoclass:: cv_bridge.CvBridge
|
||||||
|
:members:
|
||||||
|
|
||||||
|
.. autoclass:: cv_bridge.CvBridgeError
|
||||||
|
|
||||||
|
Indices and tables
|
||||||
|
==================
|
||||||
|
|
||||||
|
* :ref:`genindex`
|
||||||
|
* :ref:`search`
|
||||||
14
src/vision_opencv/cv_bridge/doc/mainpage.dox
Normal file
14
src/vision_opencv/cv_bridge/doc/mainpage.dox
Normal file
@@ -0,0 +1,14 @@
|
|||||||
|
/**
|
||||||
|
\mainpage
|
||||||
|
\htmlinclude manifest.html
|
||||||
|
|
||||||
|
\b cv_bridge contains classes for easily converting between ROS
|
||||||
|
sensor_msgs/Image messages and OpenCV images.
|
||||||
|
|
||||||
|
\section codeapi Code API
|
||||||
|
|
||||||
|
- cv_bridge::CvImage
|
||||||
|
- toCvCopy()
|
||||||
|
- toCvShare()
|
||||||
|
|
||||||
|
*/
|
||||||
429
src/vision_opencv/cv_bridge/include/cv_bridge/cv_bridge.h
Normal file
429
src/vision_opencv/cv_bridge/include/cv_bridge/cv_bridge.h
Normal file
@@ -0,0 +1,429 @@
|
|||||||
|
/*********************************************************************
|
||||||
|
* Software License Agreement (BSD License)
|
||||||
|
*
|
||||||
|
* Copyright (c) 2011, Willow Garage, Inc,
|
||||||
|
* Copyright (c) 2015, Tal Regev.
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* * Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* * Redistributions in binary form must reproduce the above
|
||||||
|
* copyright notice, this list of conditions and the following
|
||||||
|
* disclaimer in the documentation and/or other materials provided
|
||||||
|
* with the distribution.
|
||||||
|
* * Neither the name of the Willow Garage nor the names of its
|
||||||
|
* contributors may be used to endorse or promote products derived
|
||||||
|
* from this software without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||||
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*********************************************************************/
|
||||||
|
|
||||||
|
#ifndef CV_BRIDGE_CV_BRIDGE_H
|
||||||
|
#define CV_BRIDGE_CV_BRIDGE_H
|
||||||
|
|
||||||
|
#include <sensor_msgs/Image.h>
|
||||||
|
#include <sensor_msgs/CompressedImage.h>
|
||||||
|
#include <sensor_msgs/image_encodings.h>
|
||||||
|
#include <ros/static_assert.h>
|
||||||
|
#include <opencv2/core/core.hpp>
|
||||||
|
#include <opencv2/imgproc/imgproc.hpp>
|
||||||
|
#include <opencv2/imgproc/types_c.h>
|
||||||
|
#include <stdexcept>
|
||||||
|
|
||||||
|
namespace cv_bridge {
|
||||||
|
|
||||||
|
class Exception : public std::runtime_error
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
Exception(const std::string& description) : std::runtime_error(description) {}
|
||||||
|
};
|
||||||
|
|
||||||
|
class CvImage;
|
||||||
|
|
||||||
|
typedef boost::shared_ptr<CvImage> CvImagePtr;
|
||||||
|
typedef boost::shared_ptr<CvImage const> CvImageConstPtr;
|
||||||
|
|
||||||
|
//from: http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
|
||||||
|
typedef enum {
|
||||||
|
BMP, DIB,
|
||||||
|
JPG, JPEG, JPE,
|
||||||
|
JP2,
|
||||||
|
PNG,
|
||||||
|
PBM, PGM, PPM,
|
||||||
|
SR, RAS,
|
||||||
|
TIFF, TIF,
|
||||||
|
} Format;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Image message class that is interoperable with sensor_msgs/Image but uses a
|
||||||
|
* more convenient cv::Mat representation for the image data.
|
||||||
|
*/
|
||||||
|
class CvImage
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
std_msgs::Header header; //!< ROS header
|
||||||
|
std::string encoding; //!< Image encoding ("mono8", "bgr8", etc.)
|
||||||
|
cv::Mat image; //!< Image data for use with OpenCV
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Empty constructor.
|
||||||
|
*/
|
||||||
|
CvImage() {}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Constructor.
|
||||||
|
*/
|
||||||
|
CvImage(const std_msgs::Header& header, const std::string& encoding,
|
||||||
|
const cv::Mat& image = cv::Mat())
|
||||||
|
: header(header), encoding(encoding), image(image)
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Convert this message to a ROS sensor_msgs::Image message.
|
||||||
|
*
|
||||||
|
* The returned sensor_msgs::Image message contains a copy of the image data.
|
||||||
|
*/
|
||||||
|
sensor_msgs::ImagePtr toImageMsg() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* dst_format is compress the image to desire format.
|
||||||
|
* Default value is empty string that will convert to jpg format.
|
||||||
|
* can be: jpg, jp2, bmp, png, tif at the moment
|
||||||
|
* support this format from opencv:
|
||||||
|
* http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
|
||||||
|
*/
|
||||||
|
sensor_msgs::CompressedImagePtr toCompressedImageMsg(const Format dst_format = JPG) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Copy the message data to a ROS sensor_msgs::Image message.
|
||||||
|
*
|
||||||
|
* This overload is intended mainly for aggregate messages such as stereo_msgs::DisparityImage,
|
||||||
|
* which contains a sensor_msgs::Image as a data member.
|
||||||
|
*/
|
||||||
|
void toImageMsg(sensor_msgs::Image& ros_image) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* dst_format is compress the image to desire format.
|
||||||
|
* Default value is empty string that will convert to jpg format.
|
||||||
|
* can be: jpg, jp2, bmp, png, tif at the moment
|
||||||
|
* support this format from opencv:
|
||||||
|
* http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
|
||||||
|
*/
|
||||||
|
void toCompressedImageMsg(sensor_msgs::CompressedImage& ros_image, const Format dst_format = JPG) const;
|
||||||
|
|
||||||
|
|
||||||
|
typedef boost::shared_ptr<CvImage> Ptr;
|
||||||
|
typedef boost::shared_ptr<CvImage const> ConstPtr;
|
||||||
|
|
||||||
|
protected:
|
||||||
|
boost::shared_ptr<void const> tracked_object_; // for sharing ownership
|
||||||
|
|
||||||
|
/// @cond DOXYGEN_IGNORE
|
||||||
|
friend
|
||||||
|
CvImageConstPtr toCvShare(const sensor_msgs::Image& source,
|
||||||
|
const boost::shared_ptr<void const>& tracked_object,
|
||||||
|
const std::string& encoding);
|
||||||
|
/// @endcond
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the
|
||||||
|
* image data.
|
||||||
|
*
|
||||||
|
* \param source A shared_ptr to a sensor_msgs::Image message
|
||||||
|
* \param encoding The desired encoding of the image data, one of the following strings:
|
||||||
|
* - \c "mono8"
|
||||||
|
* - \c "bgr8"
|
||||||
|
* - \c "bgra8"
|
||||||
|
* - \c "rgb8"
|
||||||
|
* - \c "rgba8"
|
||||||
|
* - \c "mono16"
|
||||||
|
*
|
||||||
|
* If \a encoding is the empty string (the default), the returned CvImage has the same encoding
|
||||||
|
* as \a source.
|
||||||
|
*/
|
||||||
|
CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr& source,
|
||||||
|
const std::string& encoding = std::string());
|
||||||
|
|
||||||
|
CvImagePtr toCvCopy(const sensor_msgs::CompressedImageConstPtr& source,
|
||||||
|
const std::string& encoding = std::string());
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the
|
||||||
|
* image data.
|
||||||
|
*
|
||||||
|
* \param source A sensor_msgs::Image message
|
||||||
|
* \param encoding The desired encoding of the image data, one of the following strings:
|
||||||
|
* - \c "mono8"
|
||||||
|
* - \c "bgr8"
|
||||||
|
* - \c "bgra8"
|
||||||
|
* - \c "rgb8"
|
||||||
|
* - \c "rgba8"
|
||||||
|
* - \c "mono16"
|
||||||
|
*
|
||||||
|
* If \a encoding is the empty string (the default), the returned CvImage has the same encoding
|
||||||
|
* as \a source.
|
||||||
|
* If the source is 8bit and the encoding 16 or vice-versa, a scaling is applied (65535/255 and
|
||||||
|
* 255/65535 respectively). Otherwise, no scaling is applied and the rules from the convertTo OpenCV
|
||||||
|
* function are applied (capping): http://docs.opencv.org/modules/core/doc/basic_structures.html#mat-convertto
|
||||||
|
*/
|
||||||
|
CvImagePtr toCvCopy(const sensor_msgs::Image& source,
|
||||||
|
const std::string& encoding = std::string());
|
||||||
|
|
||||||
|
CvImagePtr toCvCopy(const sensor_msgs::CompressedImage& source,
|
||||||
|
const std::string& encoding = std::string());
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing
|
||||||
|
* the image data if possible.
|
||||||
|
*
|
||||||
|
* If the source encoding and desired encoding are the same, the returned CvImage will share
|
||||||
|
* the image data with \a source without copying it. The returned CvImage cannot be modified, as that
|
||||||
|
* could modify the \a source data.
|
||||||
|
*
|
||||||
|
* \param source A shared_ptr to a sensor_msgs::Image message
|
||||||
|
* \param encoding The desired encoding of the image data, one of the following strings:
|
||||||
|
* - \c "mono8"
|
||||||
|
* - \c "bgr8"
|
||||||
|
* - \c "bgra8"
|
||||||
|
* - \c "rgb8"
|
||||||
|
* - \c "rgba8"
|
||||||
|
* - \c "mono16"
|
||||||
|
*
|
||||||
|
* If \a encoding is the empty string (the default), the returned CvImage has the same encoding
|
||||||
|
* as \a source.
|
||||||
|
*/
|
||||||
|
CvImageConstPtr toCvShare(const sensor_msgs::ImageConstPtr& source,
|
||||||
|
const std::string& encoding = std::string());
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing
|
||||||
|
* the image data if possible.
|
||||||
|
*
|
||||||
|
* If the source encoding and desired encoding are the same, the returned CvImage will share
|
||||||
|
* the image data with \a source without copying it. The returned CvImage cannot be modified, as that
|
||||||
|
* could modify the \a source data.
|
||||||
|
*
|
||||||
|
* This overload is useful when you have a shared_ptr to a message that contains a
|
||||||
|
* sensor_msgs::Image, and wish to share ownership with the containing message.
|
||||||
|
*
|
||||||
|
* \param source The sensor_msgs::Image message
|
||||||
|
* \param tracked_object A shared_ptr to an object owning the sensor_msgs::Image
|
||||||
|
* \param encoding The desired encoding of the image data, one of the following strings:
|
||||||
|
* - \c "mono8"
|
||||||
|
* - \c "bgr8"
|
||||||
|
* - \c "bgra8"
|
||||||
|
* - \c "rgb8"
|
||||||
|
* - \c "rgba8"
|
||||||
|
* - \c "mono16"
|
||||||
|
*
|
||||||
|
* If \a encoding is the empty string (the default), the returned CvImage has the same encoding
|
||||||
|
* as \a source.
|
||||||
|
*/
|
||||||
|
CvImageConstPtr toCvShare(const sensor_msgs::Image& source,
|
||||||
|
const boost::shared_ptr<void const>& tracked_object,
|
||||||
|
const std::string& encoding = std::string());
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Convert a CvImage to another encoding using the same rules as toCvCopy
|
||||||
|
*/
|
||||||
|
CvImagePtr cvtColor(const CvImageConstPtr& source,
|
||||||
|
const std::string& encoding);
|
||||||
|
|
||||||
|
struct CvtColorForDisplayOptions {
|
||||||
|
CvtColorForDisplayOptions() :
|
||||||
|
do_dynamic_scaling(false),
|
||||||
|
min_image_value(0.0),
|
||||||
|
max_image_value(0.0),
|
||||||
|
colormap(-1),
|
||||||
|
bg_label(-1) {}
|
||||||
|
bool do_dynamic_scaling;
|
||||||
|
double min_image_value;
|
||||||
|
double max_image_value;
|
||||||
|
int colormap;
|
||||||
|
int bg_label;
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Converts an immutable sensor_msgs::Image message to another CvImage for display purposes,
|
||||||
|
* using practical conversion rules if needed.
|
||||||
|
*
|
||||||
|
* Data will be shared between input and output if possible.
|
||||||
|
*
|
||||||
|
* Recall: sensor_msgs::image_encodings::isColor and isMono tell whether an image contains R,G,B,A, mono
|
||||||
|
* (or any combination/subset) with 8 or 16 bit depth.
|
||||||
|
*
|
||||||
|
* The following rules apply:
|
||||||
|
* - if the output encoding is empty, the fact that the input image is mono or multiple-channel is
|
||||||
|
* preserved in the ouput image. The bit depth will be 8. it tries to convert to BGR no matter what
|
||||||
|
* encoding image is passed.
|
||||||
|
* - if the output encoding is not empty, it must have sensor_msgs::image_encodings::isColor and
|
||||||
|
* isMono return true. It must also be 8 bit in depth
|
||||||
|
* - if the input encoding is an OpenCV format (e.g. 8UC1), and if we have 1,3 or 4 channels, it is
|
||||||
|
* respectively converted to mono, BGR or BGRA.
|
||||||
|
* - if the input encoding is 32SC1, this estimate that image as label image and will convert it as
|
||||||
|
* bgr image with different colors for each label.
|
||||||
|
*
|
||||||
|
* \param source A shared_ptr to a sensor_msgs::Image message
|
||||||
|
* \param encoding Either an encoding string that returns true in sensor_msgs::image_encodings::isColor
|
||||||
|
* isMono or the empty string as explained above.
|
||||||
|
* \param options (cv_bridge::CvtColorForDisplayOptions) Options to convert the source image with.
|
||||||
|
* - do_dynamic_scaling If true, the image is dynamically scaled between its minimum and maximum value
|
||||||
|
* before being converted to its final encoding.
|
||||||
|
* - min_image_value Independently from do_dynamic_scaling, if min_image_value and max_image_value are
|
||||||
|
* different, the image is scaled between these two values before being converted to its final encoding.
|
||||||
|
* - max_image_value Maximum image value
|
||||||
|
* - colormap Colormap which the source image converted with.
|
||||||
|
*/
|
||||||
|
CvImageConstPtr cvtColorForDisplay(const CvImageConstPtr& source,
|
||||||
|
const std::string& encoding = std::string(),
|
||||||
|
const CvtColorForDisplayOptions options = CvtColorForDisplayOptions());
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get the OpenCV type enum corresponding to the encoding.
|
||||||
|
*
|
||||||
|
* For example, "bgr8" -> CV_8UC3, "32FC1" -> CV_32FC1, and "32FC10" -> CV_32FC10.
|
||||||
|
*/
|
||||||
|
int getCvType(const std::string& encoding);
|
||||||
|
|
||||||
|
} // namespace cv_bridge
|
||||||
|
|
||||||
|
|
||||||
|
// CvImage as a first class message type
|
||||||
|
|
||||||
|
// The rest of this file hooks into the roscpp serialization API to make CvImage
|
||||||
|
// a first-class message type you can publish and subscribe to directly.
|
||||||
|
// Unfortunately this doesn't yet work with image_transport, so don't rewrite all
|
||||||
|
// your callbacks to use CvImage! It might be useful for specific tasks, like
|
||||||
|
// processing bag files.
|
||||||
|
|
||||||
|
/// @cond DOXYGEN_IGNORE
|
||||||
|
namespace ros {
|
||||||
|
|
||||||
|
namespace message_traits {
|
||||||
|
|
||||||
|
template<> struct MD5Sum<cv_bridge::CvImage>
|
||||||
|
{
|
||||||
|
static const char* value() { return MD5Sum<sensor_msgs::Image>::value(); }
|
||||||
|
static const char* value(const cv_bridge::CvImage&) { return value(); }
|
||||||
|
|
||||||
|
static const uint64_t static_value1 = MD5Sum<sensor_msgs::Image>::static_value1;
|
||||||
|
static const uint64_t static_value2 = MD5Sum<sensor_msgs::Image>::static_value2;
|
||||||
|
|
||||||
|
// If the definition of sensor_msgs/Image changes, we'll get a compile error here.
|
||||||
|
ROS_STATIC_ASSERT(MD5Sum<sensor_msgs::Image>::static_value1 == 0x060021388200f6f0ULL);
|
||||||
|
ROS_STATIC_ASSERT(MD5Sum<sensor_msgs::Image>::static_value2 == 0xf447d0fcd9c64743ULL);
|
||||||
|
};
|
||||||
|
|
||||||
|
template<> struct DataType<cv_bridge::CvImage>
|
||||||
|
{
|
||||||
|
static const char* value() { return DataType<sensor_msgs::Image>::value(); }
|
||||||
|
static const char* value(const cv_bridge::CvImage&) { return value(); }
|
||||||
|
};
|
||||||
|
|
||||||
|
template<> struct Definition<cv_bridge::CvImage>
|
||||||
|
{
|
||||||
|
static const char* value() { return Definition<sensor_msgs::Image>::value(); }
|
||||||
|
static const char* value(const cv_bridge::CvImage&) { return value(); }
|
||||||
|
};
|
||||||
|
|
||||||
|
template<> struct HasHeader<cv_bridge::CvImage> : TrueType {};
|
||||||
|
|
||||||
|
} // namespace ros::message_traits
|
||||||
|
|
||||||
|
namespace serialization {
|
||||||
|
|
||||||
|
template<> struct Serializer<cv_bridge::CvImage>
|
||||||
|
{
|
||||||
|
/// @todo Still ignoring endianness...
|
||||||
|
|
||||||
|
template<typename Stream>
|
||||||
|
inline static void write(Stream& stream, const cv_bridge::CvImage& m)
|
||||||
|
{
|
||||||
|
stream.next(m.header);
|
||||||
|
stream.next((uint32_t)m.image.rows); // height
|
||||||
|
stream.next((uint32_t)m.image.cols); // width
|
||||||
|
stream.next(m.encoding);
|
||||||
|
uint8_t is_bigendian = 0;
|
||||||
|
stream.next(is_bigendian);
|
||||||
|
stream.next((uint32_t)m.image.step);
|
||||||
|
size_t data_size = m.image.step*m.image.rows;
|
||||||
|
stream.next((uint32_t)data_size);
|
||||||
|
if (data_size > 0)
|
||||||
|
memcpy(stream.advance(data_size), m.image.data, data_size);
|
||||||
|
}
|
||||||
|
|
||||||
|
template<typename Stream>
|
||||||
|
inline static void read(Stream& stream, cv_bridge::CvImage& m)
|
||||||
|
{
|
||||||
|
stream.next(m.header);
|
||||||
|
uint32_t height, width;
|
||||||
|
stream.next(height);
|
||||||
|
stream.next(width);
|
||||||
|
stream.next(m.encoding);
|
||||||
|
uint8_t is_bigendian;
|
||||||
|
stream.next(is_bigendian);
|
||||||
|
uint32_t step, data_size;
|
||||||
|
stream.next(step);
|
||||||
|
stream.next(data_size);
|
||||||
|
int type = cv_bridge::getCvType(m.encoding);
|
||||||
|
// Construct matrix pointing to the stream data, then copy it to m.image
|
||||||
|
cv::Mat tmp((int)height, (int)width, type, stream.advance(data_size), (size_t)step);
|
||||||
|
tmp.copyTo(m.image);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline static uint32_t serializedLength(const cv_bridge::CvImage& m)
|
||||||
|
{
|
||||||
|
size_t data_size = m.image.step*m.image.rows;
|
||||||
|
return serializationLength(m.header) + serializationLength(m.encoding) + 17 + data_size;
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
} // namespace ros::serialization
|
||||||
|
|
||||||
|
namespace message_operations {
|
||||||
|
|
||||||
|
template<> struct Printer<cv_bridge::CvImage>
|
||||||
|
{
|
||||||
|
template<typename Stream>
|
||||||
|
static void stream(Stream&, const std::string&, const cv_bridge::CvImage&)
|
||||||
|
{
|
||||||
|
/// @todo Replicate printing for sensor_msgs::Image
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
} // namespace ros::message_operations
|
||||||
|
|
||||||
|
} // namespace ros
|
||||||
|
|
||||||
|
namespace cv_bridge {
|
||||||
|
|
||||||
|
inline std::ostream& operator<<(std::ostream& s, const CvImage& m)
|
||||||
|
{
|
||||||
|
ros::message_operations::Printer<CvImage>::stream(s, "", m);
|
||||||
|
return s;
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace cv_bridge
|
||||||
|
|
||||||
|
/// @endcond
|
||||||
|
|
||||||
|
#endif
|
||||||
211
src/vision_opencv/cv_bridge/include/cv_bridge/rgb_colors.h
Normal file
211
src/vision_opencv/cv_bridge/include/cv_bridge/rgb_colors.h
Normal file
@@ -0,0 +1,211 @@
|
|||||||
|
// -*- mode: c++ -*-
|
||||||
|
/*********************************************************************
|
||||||
|
* Original color definition is at scikit-image distributed with
|
||||||
|
* following license disclaimer:
|
||||||
|
*
|
||||||
|
* Copyright (C) 2011, the scikit-image team
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions are
|
||||||
|
* met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name of skimage nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software without
|
||||||
|
* specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
|
||||||
|
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||||
|
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||||
|
* DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT,
|
||||||
|
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||||
|
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||||
|
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
|
||||||
|
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
||||||
|
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
|
||||||
|
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*********************************************************************/
|
||||||
|
|
||||||
|
#ifndef CV_BRIDGE_RGB_COLORS_H_
|
||||||
|
#define CV_BRIDGE_RGB_COLORS_H_
|
||||||
|
|
||||||
|
#include <opencv2/opencv.hpp>
|
||||||
|
|
||||||
|
|
||||||
|
namespace cv_bridge
|
||||||
|
{
|
||||||
|
|
||||||
|
namespace rgb_colors
|
||||||
|
{
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief
|
||||||
|
* 146 rgb colors
|
||||||
|
*/
|
||||||
|
enum Colors {
|
||||||
|
ALICEBLUE,
|
||||||
|
ANTIQUEWHITE,
|
||||||
|
AQUA,
|
||||||
|
AQUAMARINE,
|
||||||
|
AZURE,
|
||||||
|
BEIGE,
|
||||||
|
BISQUE,
|
||||||
|
BLACK,
|
||||||
|
BLANCHEDALMOND,
|
||||||
|
BLUE,
|
||||||
|
BLUEVIOLET,
|
||||||
|
BROWN,
|
||||||
|
BURLYWOOD,
|
||||||
|
CADETBLUE,
|
||||||
|
CHARTREUSE,
|
||||||
|
CHOCOLATE,
|
||||||
|
CORAL,
|
||||||
|
CORNFLOWERBLUE,
|
||||||
|
CORNSILK,
|
||||||
|
CRIMSON,
|
||||||
|
CYAN,
|
||||||
|
DARKBLUE,
|
||||||
|
DARKCYAN,
|
||||||
|
DARKGOLDENROD,
|
||||||
|
DARKGRAY,
|
||||||
|
DARKGREEN,
|
||||||
|
DARKGREY,
|
||||||
|
DARKKHAKI,
|
||||||
|
DARKMAGENTA,
|
||||||
|
DARKOLIVEGREEN,
|
||||||
|
DARKORANGE,
|
||||||
|
DARKORCHID,
|
||||||
|
DARKRED,
|
||||||
|
DARKSALMON,
|
||||||
|
DARKSEAGREEN,
|
||||||
|
DARKSLATEBLUE,
|
||||||
|
DARKSLATEGRAY,
|
||||||
|
DARKSLATEGREY,
|
||||||
|
DARKTURQUOISE,
|
||||||
|
DARKVIOLET,
|
||||||
|
DEEPPINK,
|
||||||
|
DEEPSKYBLUE,
|
||||||
|
DIMGRAY,
|
||||||
|
DIMGREY,
|
||||||
|
DODGERBLUE,
|
||||||
|
FIREBRICK,
|
||||||
|
FLORALWHITE,
|
||||||
|
FORESTGREEN,
|
||||||
|
FUCHSIA,
|
||||||
|
GAINSBORO,
|
||||||
|
GHOSTWHITE,
|
||||||
|
GOLD,
|
||||||
|
GOLDENROD,
|
||||||
|
GRAY,
|
||||||
|
GREEN,
|
||||||
|
GREENYELLOW,
|
||||||
|
GREY,
|
||||||
|
HONEYDEW,
|
||||||
|
HOTPINK,
|
||||||
|
INDIANRED,
|
||||||
|
INDIGO,
|
||||||
|
IVORY,
|
||||||
|
KHAKI,
|
||||||
|
LAVENDER,
|
||||||
|
LAVENDERBLUSH,
|
||||||
|
LAWNGREEN,
|
||||||
|
LEMONCHIFFON,
|
||||||
|
LIGHTBLUE,
|
||||||
|
LIGHTCORAL,
|
||||||
|
LIGHTCYAN,
|
||||||
|
LIGHTGOLDENRODYELLOW,
|
||||||
|
LIGHTGRAY,
|
||||||
|
LIGHTGREEN,
|
||||||
|
LIGHTGREY,
|
||||||
|
LIGHTPINK,
|
||||||
|
LIGHTSALMON,
|
||||||
|
LIGHTSEAGREEN,
|
||||||
|
LIGHTSKYBLUE,
|
||||||
|
LIGHTSLATEGRAY,
|
||||||
|
LIGHTSLATEGREY,
|
||||||
|
LIGHTSTEELBLUE,
|
||||||
|
LIGHTYELLOW,
|
||||||
|
LIME,
|
||||||
|
LIMEGREEN,
|
||||||
|
LINEN,
|
||||||
|
MAGENTA,
|
||||||
|
MAROON,
|
||||||
|
MEDIUMAQUAMARINE,
|
||||||
|
MEDIUMBLUE,
|
||||||
|
MEDIUMORCHID,
|
||||||
|
MEDIUMPURPLE,
|
||||||
|
MEDIUMSEAGREEN,
|
||||||
|
MEDIUMSLATEBLUE,
|
||||||
|
MEDIUMSPRINGGREEN,
|
||||||
|
MEDIUMTURQUOISE,
|
||||||
|
MEDIUMVIOLETRED,
|
||||||
|
MIDNIGHTBLUE,
|
||||||
|
MINTCREAM,
|
||||||
|
MISTYROSE,
|
||||||
|
MOCCASIN,
|
||||||
|
NAVAJOWHITE,
|
||||||
|
NAVY,
|
||||||
|
OLDLACE,
|
||||||
|
OLIVE,
|
||||||
|
OLIVEDRAB,
|
||||||
|
ORANGE,
|
||||||
|
ORANGERED,
|
||||||
|
ORCHID,
|
||||||
|
PALEGOLDENROD,
|
||||||
|
PALEGREEN,
|
||||||
|
PALEVIOLETRED,
|
||||||
|
PAPAYAWHIP,
|
||||||
|
PEACHPUFF,
|
||||||
|
PERU,
|
||||||
|
PINK,
|
||||||
|
PLUM,
|
||||||
|
POWDERBLUE,
|
||||||
|
PURPLE,
|
||||||
|
RED,
|
||||||
|
ROSYBROWN,
|
||||||
|
ROYALBLUE,
|
||||||
|
SADDLEBROWN,
|
||||||
|
SALMON,
|
||||||
|
SANDYBROWN,
|
||||||
|
SEAGREEN,
|
||||||
|
SEASHELL,
|
||||||
|
SIENNA,
|
||||||
|
SILVER,
|
||||||
|
SKYBLUE,
|
||||||
|
SLATEBLUE,
|
||||||
|
SLATEGRAY,
|
||||||
|
SLATEGREY,
|
||||||
|
SNOW,
|
||||||
|
SPRINGGREEN,
|
||||||
|
STEELBLUE,
|
||||||
|
TAN,
|
||||||
|
TEAL,
|
||||||
|
THISTLE,
|
||||||
|
TOMATO,
|
||||||
|
TURQUOISE,
|
||||||
|
VIOLET,
|
||||||
|
WHEAT,
|
||||||
|
WHITE,
|
||||||
|
WHITESMOKE,
|
||||||
|
YELLOW,
|
||||||
|
YELLOWGREEN,
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief
|
||||||
|
* get rgb color with enum.
|
||||||
|
*/
|
||||||
|
cv::Vec3d getRGBColor(const int color);
|
||||||
|
|
||||||
|
} // namespace rgb_colors
|
||||||
|
|
||||||
|
} // namespace cv_bridge
|
||||||
|
|
||||||
|
#endif
|
||||||
41
src/vision_opencv/cv_bridge/package.xml
Normal file
41
src/vision_opencv/cv_bridge/package.xml
Normal file
@@ -0,0 +1,41 @@
|
|||||||
|
<package format="2">
|
||||||
|
<name>cv_bridge</name>
|
||||||
|
<version>1.13.1</version>
|
||||||
|
<description>
|
||||||
|
This contains CvBridge, which converts between ROS
|
||||||
|
Image messages and OpenCV images.
|
||||||
|
</description>
|
||||||
|
<author>Patrick Mihelich</author>
|
||||||
|
<author>James Bowman</author>
|
||||||
|
<maintainer email="vincent.rabaud@gmail.com">Vincent Rabaud</maintainer>
|
||||||
|
<license>BSD</license>
|
||||||
|
<url type="website">http://www.ros.org/wiki/cv_bridge</url>
|
||||||
|
<url type="repository">https://github.com/ros-perception/vision_opencv</url>
|
||||||
|
<url type="bugtracker">https://github.com/ros-perception/vision_opencv/issues</url>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<rosdoc config="rosdoc.yaml" />
|
||||||
|
</export>
|
||||||
|
|
||||||
|
<buildtool_depend>catkin</buildtool_depend>
|
||||||
|
|
||||||
|
<build_depend>boost</build_depend>
|
||||||
|
<build_depend>libopencv-dev</build_depend>
|
||||||
|
<build_depend>python</build_depend>
|
||||||
|
<build_depend>python-opencv</build_depend>
|
||||||
|
<build_depend>rosconsole</build_depend>
|
||||||
|
<build_depend>sensor_msgs</build_depend>
|
||||||
|
|
||||||
|
<exec_depend>boost</exec_depend>
|
||||||
|
<exec_depend>libopencv-dev</exec_depend>
|
||||||
|
<exec_depend>python</exec_depend>
|
||||||
|
<exec_depend>python-opencv</exec_depend>
|
||||||
|
<exec_depend>rosconsole</exec_depend>
|
||||||
|
<build_export_depend>libopencv-dev</build_export_depend>
|
||||||
|
<build_export_depend>sensor_msgs</build_export_depend>
|
||||||
|
|
||||||
|
<test_depend>rostest</test_depend>
|
||||||
|
<test_depend>python-numpy</test_depend>
|
||||||
|
|
||||||
|
<doc_depend>dvipng</doc_depend>
|
||||||
|
</package>
|
||||||
8
src/vision_opencv/cv_bridge/python/CMakeLists.txt
Normal file
8
src/vision_opencv/cv_bridge/python/CMakeLists.txt
Normal file
@@ -0,0 +1,8 @@
|
|||||||
|
configure_file(__init__.py.plain.in
|
||||||
|
${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/boost/__init__.py
|
||||||
|
@ONLY
|
||||||
|
)
|
||||||
|
|
||||||
|
install(FILES ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/boost/__init__.py
|
||||||
|
DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}/boost/
|
||||||
|
)
|
||||||
8
src/vision_opencv/cv_bridge/python/cv_bridge/__init__.py
Normal file
8
src/vision_opencv/cv_bridge/python/cv_bridge/__init__.py
Normal file
@@ -0,0 +1,8 @@
|
|||||||
|
from .core import CvBridge, CvBridgeError
|
||||||
|
|
||||||
|
# python bindings
|
||||||
|
try:
|
||||||
|
# This try is just to satisfy doc jobs that are built differently.
|
||||||
|
from cv_bridge.boost.cv_bridge_boost import cvtColorForDisplay, getCvType
|
||||||
|
except ImportError:
|
||||||
|
pass
|
||||||
Binary file not shown.
266
src/vision_opencv/cv_bridge/python/cv_bridge/core.py
Normal file
266
src/vision_opencv/cv_bridge/python/cv_bridge/core.py
Normal file
@@ -0,0 +1,266 @@
|
|||||||
|
# Software License Agreement (BSD License)
|
||||||
|
#
|
||||||
|
# Copyright (c) 2011, Willow Garage, Inc.
|
||||||
|
# Copyright (c) 2016, Tal Regev.
|
||||||
|
# All rights reserved.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# * Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# * Redistributions in binary form must reproduce the above
|
||||||
|
# copyright notice, this list of conditions and the following
|
||||||
|
# disclaimer in the documentation and/or other materials provided
|
||||||
|
# with the distribution.
|
||||||
|
# * Neither the name of Willow Garage, Inc. nor the names of its
|
||||||
|
# contributors may be used to endorse or promote products derived
|
||||||
|
# from this software without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||||
|
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
|
||||||
|
import sensor_msgs.msg
|
||||||
|
import sys
|
||||||
|
|
||||||
|
|
||||||
|
class CvBridgeError(TypeError):
|
||||||
|
"""
|
||||||
|
This is the error raised by :class:`cv_bridge.CvBridge` methods when they fail.
|
||||||
|
"""
|
||||||
|
pass
|
||||||
|
|
||||||
|
|
||||||
|
class CvBridge(object):
|
||||||
|
"""
|
||||||
|
The CvBridge is an object that converts between OpenCV Images and ROS Image messages.
|
||||||
|
|
||||||
|
.. doctest::
|
||||||
|
:options: -ELLIPSIS, +NORMALIZE_WHITESPACE
|
||||||
|
|
||||||
|
>>> import cv2
|
||||||
|
>>> import numpy as np
|
||||||
|
>>> from cv_bridge import CvBridge
|
||||||
|
>>> br = CvBridge()
|
||||||
|
>>> dtype, n_channels = br.encoding_as_cvtype2('8UC3')
|
||||||
|
>>> im = np.ndarray(shape=(480, 640, n_channels), dtype=dtype)
|
||||||
|
>>> msg = br.cv2_to_imgmsg(im) # Convert the image to a message
|
||||||
|
>>> im2 = br.imgmsg_to_cv2(msg) # Convert the message to a new image
|
||||||
|
>>> cmprsmsg = br.cv2_to_compressed_imgmsg(im) # Convert the image to a compress message
|
||||||
|
>>> im22 = br.compressed_imgmsg_to_cv2(msg) # Convert the compress message to a new image
|
||||||
|
>>> cv2.imwrite("this_was_a_message_briefly.png", im2)
|
||||||
|
|
||||||
|
"""
|
||||||
|
|
||||||
|
def __init__(self):
|
||||||
|
import cv2
|
||||||
|
self.cvtype_to_name = {}
|
||||||
|
self.cvdepth_to_numpy_depth = {cv2.CV_8U: 'uint8', cv2.CV_8S: 'int8', cv2.CV_16U: 'uint16',
|
||||||
|
cv2.CV_16S: 'int16', cv2.CV_32S:'int32', cv2.CV_32F:'float32',
|
||||||
|
cv2.CV_64F: 'float64'}
|
||||||
|
|
||||||
|
for t in ["8U", "8S", "16U", "16S", "32S", "32F", "64F"]:
|
||||||
|
for c in [1, 2, 3, 4]:
|
||||||
|
nm = "%sC%d" % (t, c)
|
||||||
|
self.cvtype_to_name[getattr(cv2, "CV_%s" % nm)] = nm
|
||||||
|
|
||||||
|
self.numpy_type_to_cvtype = {'uint8': '8U', 'int8': '8S', 'uint16': '16U',
|
||||||
|
'int16': '16S', 'int32': '32S', 'float32': '32F',
|
||||||
|
'float64': '64F'}
|
||||||
|
self.numpy_type_to_cvtype.update(dict((v, k) for (k, v) in self.numpy_type_to_cvtype.items()))
|
||||||
|
|
||||||
|
def dtype_with_channels_to_cvtype2(self, dtype, n_channels):
|
||||||
|
return '%sC%d' % (self.numpy_type_to_cvtype[dtype.name], n_channels)
|
||||||
|
|
||||||
|
def cvtype2_to_dtype_with_channels(self, cvtype):
|
||||||
|
from cv_bridge.boost.cv_bridge_boost import CV_MAT_CNWrap, CV_MAT_DEPTHWrap
|
||||||
|
return self.cvdepth_to_numpy_depth[CV_MAT_DEPTHWrap(cvtype)], CV_MAT_CNWrap(cvtype)
|
||||||
|
|
||||||
|
def encoding_to_cvtype2(self, encoding):
|
||||||
|
from cv_bridge.boost.cv_bridge_boost import getCvType
|
||||||
|
|
||||||
|
try:
|
||||||
|
return getCvType(encoding)
|
||||||
|
except RuntimeError as e:
|
||||||
|
raise CvBridgeError(e)
|
||||||
|
|
||||||
|
def encoding_to_dtype_with_channels(self, encoding):
|
||||||
|
return self.cvtype2_to_dtype_with_channels(self.encoding_to_cvtype2(encoding))
|
||||||
|
|
||||||
|
def compressed_imgmsg_to_cv2(self, cmprs_img_msg, desired_encoding = "passthrough"):
|
||||||
|
"""
|
||||||
|
Convert a sensor_msgs::CompressedImage message to an OpenCV :cpp:type:`cv::Mat`.
|
||||||
|
|
||||||
|
:param cmprs_img_msg: A :cpp:type:`sensor_msgs::CompressedImage` message
|
||||||
|
:param desired_encoding: The encoding of the image data, one of the following strings:
|
||||||
|
|
||||||
|
* ``"passthrough"``
|
||||||
|
* one of the standard strings in sensor_msgs/image_encodings.h
|
||||||
|
|
||||||
|
:rtype: :cpp:type:`cv::Mat`
|
||||||
|
:raises CvBridgeError: when conversion is not possible.
|
||||||
|
|
||||||
|
If desired_encoding is ``"passthrough"``, then the returned image has the same format as img_msg.
|
||||||
|
Otherwise desired_encoding must be one of the standard image encodings
|
||||||
|
|
||||||
|
This function returns an OpenCV :cpp:type:`cv::Mat` message on success, or raises :exc:`cv_bridge.CvBridgeError` on failure.
|
||||||
|
|
||||||
|
If the image only has one channel, the shape has size 2 (width and height)
|
||||||
|
"""
|
||||||
|
import cv2
|
||||||
|
import numpy as np
|
||||||
|
|
||||||
|
str_msg = cmprs_img_msg.data
|
||||||
|
buf = np.ndarray(shape=(1, len(str_msg)),
|
||||||
|
dtype=np.uint8, buffer=cmprs_img_msg.data)
|
||||||
|
im = cv2.imdecode(buf, cv2.IMREAD_ANYCOLOR)
|
||||||
|
|
||||||
|
if desired_encoding == "passthrough":
|
||||||
|
return im
|
||||||
|
|
||||||
|
from cv_bridge.boost.cv_bridge_boost import cvtColor2
|
||||||
|
|
||||||
|
try:
|
||||||
|
res = cvtColor2(im, "bgr8", desired_encoding)
|
||||||
|
except RuntimeError as e:
|
||||||
|
raise CvBridgeError(e)
|
||||||
|
|
||||||
|
return res
|
||||||
|
|
||||||
|
def imgmsg_to_cv2(self, img_msg, desired_encoding = "passthrough"):
|
||||||
|
"""
|
||||||
|
Convert a sensor_msgs::Image message to an OpenCV :cpp:type:`cv::Mat`.
|
||||||
|
|
||||||
|
:param img_msg: A :cpp:type:`sensor_msgs::Image` message
|
||||||
|
:param desired_encoding: The encoding of the image data, one of the following strings:
|
||||||
|
|
||||||
|
* ``"passthrough"``
|
||||||
|
* one of the standard strings in sensor_msgs/image_encodings.h
|
||||||
|
|
||||||
|
:rtype: :cpp:type:`cv::Mat`
|
||||||
|
:raises CvBridgeError: when conversion is not possible.
|
||||||
|
|
||||||
|
If desired_encoding is ``"passthrough"``, then the returned image has the same format as img_msg.
|
||||||
|
Otherwise desired_encoding must be one of the standard image encodings
|
||||||
|
|
||||||
|
This function returns an OpenCV :cpp:type:`cv::Mat` message on success, or raises :exc:`cv_bridge.CvBridgeError` on failure.
|
||||||
|
|
||||||
|
If the image only has one channel, the shape has size 2 (width and height)
|
||||||
|
"""
|
||||||
|
import cv2
|
||||||
|
import numpy as np
|
||||||
|
dtype, n_channels = self.encoding_to_dtype_with_channels(img_msg.encoding)
|
||||||
|
dtype = np.dtype(dtype)
|
||||||
|
dtype = dtype.newbyteorder('>' if img_msg.is_bigendian else '<')
|
||||||
|
if n_channels == 1:
|
||||||
|
im = np.ndarray(shape=(img_msg.height, img_msg.width),
|
||||||
|
dtype=dtype, buffer=img_msg.data)
|
||||||
|
else:
|
||||||
|
im = np.ndarray(shape=(img_msg.height, img_msg.width, n_channels),
|
||||||
|
dtype=dtype, buffer=img_msg.data)
|
||||||
|
# If the byt order is different between the message and the system.
|
||||||
|
if img_msg.is_bigendian == (sys.byteorder == 'little'):
|
||||||
|
im = im.byteswap().newbyteorder()
|
||||||
|
|
||||||
|
if desired_encoding == "passthrough":
|
||||||
|
return im
|
||||||
|
|
||||||
|
from cv_bridge.boost.cv_bridge_boost import cvtColor2
|
||||||
|
|
||||||
|
try:
|
||||||
|
res = cvtColor2(im, img_msg.encoding, desired_encoding)
|
||||||
|
except RuntimeError as e:
|
||||||
|
raise CvBridgeError(e)
|
||||||
|
|
||||||
|
return res
|
||||||
|
|
||||||
|
def cv2_to_compressed_imgmsg(self, cvim, dst_format = "jpg"):
|
||||||
|
"""
|
||||||
|
Convert an OpenCV :cpp:type:`cv::Mat` type to a ROS sensor_msgs::CompressedImage message.
|
||||||
|
|
||||||
|
:param cvim: An OpenCV :cpp:type:`cv::Mat`
|
||||||
|
:param dst_format: The format of the image data, one of the following strings:
|
||||||
|
|
||||||
|
* from http://docs.opencv.org/2.4/modules/highgui/doc/reading_and_writing_images_and_video.html
|
||||||
|
* from http://docs.opencv.org/2.4/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
|
||||||
|
* bmp, dib
|
||||||
|
* jpeg, jpg, jpe
|
||||||
|
* jp2
|
||||||
|
* png
|
||||||
|
* pbm, pgm, ppm
|
||||||
|
* sr, ras
|
||||||
|
* tiff, tif
|
||||||
|
|
||||||
|
:rtype: A sensor_msgs.msg.CompressedImage message
|
||||||
|
:raises CvBridgeError: when the ``cvim`` has a type that is incompatible with ``format``
|
||||||
|
|
||||||
|
|
||||||
|
This function returns a sensor_msgs::Image message on success, or raises :exc:`cv_bridge.CvBridgeError` on failure.
|
||||||
|
"""
|
||||||
|
import cv2
|
||||||
|
import numpy as np
|
||||||
|
if not isinstance(cvim, (np.ndarray, np.generic)):
|
||||||
|
raise TypeError('Your input type is not a numpy array')
|
||||||
|
cmprs_img_msg = sensor_msgs.msg.CompressedImage()
|
||||||
|
cmprs_img_msg.format = dst_format
|
||||||
|
ext_format = '.' + dst_format
|
||||||
|
try:
|
||||||
|
cmprs_img_msg.data = np.array(cv2.imencode(ext_format, cvim)[1]).tostring()
|
||||||
|
except RuntimeError as e:
|
||||||
|
raise CvBridgeError(e)
|
||||||
|
|
||||||
|
return cmprs_img_msg
|
||||||
|
|
||||||
|
def cv2_to_imgmsg(self, cvim, encoding = "passthrough"):
|
||||||
|
"""
|
||||||
|
Convert an OpenCV :cpp:type:`cv::Mat` type to a ROS sensor_msgs::Image message.
|
||||||
|
|
||||||
|
:param cvim: An OpenCV :cpp:type:`cv::Mat`
|
||||||
|
:param encoding: The encoding of the image data, one of the following strings:
|
||||||
|
|
||||||
|
* ``"passthrough"``
|
||||||
|
* one of the standard strings in sensor_msgs/image_encodings.h
|
||||||
|
|
||||||
|
:rtype: A sensor_msgs.msg.Image message
|
||||||
|
:raises CvBridgeError: when the ``cvim`` has a type that is incompatible with ``encoding``
|
||||||
|
|
||||||
|
If encoding is ``"passthrough"``, then the message has the same encoding as the image's OpenCV type.
|
||||||
|
Otherwise desired_encoding must be one of the standard image encodings
|
||||||
|
|
||||||
|
This function returns a sensor_msgs::Image message on success, or raises :exc:`cv_bridge.CvBridgeError` on failure.
|
||||||
|
"""
|
||||||
|
import cv2
|
||||||
|
import numpy as np
|
||||||
|
if not isinstance(cvim, (np.ndarray, np.generic)):
|
||||||
|
raise TypeError('Your input type is not a numpy array')
|
||||||
|
img_msg = sensor_msgs.msg.Image()
|
||||||
|
img_msg.height = cvim.shape[0]
|
||||||
|
img_msg.width = cvim.shape[1]
|
||||||
|
if len(cvim.shape) < 3:
|
||||||
|
cv_type = self.dtype_with_channels_to_cvtype2(cvim.dtype, 1)
|
||||||
|
else:
|
||||||
|
cv_type = self.dtype_with_channels_to_cvtype2(cvim.dtype, cvim.shape[2])
|
||||||
|
if encoding == "passthrough":
|
||||||
|
img_msg.encoding = cv_type
|
||||||
|
else:
|
||||||
|
img_msg.encoding = encoding
|
||||||
|
# Verify that the supplied encoding is compatible with the type of the OpenCV image
|
||||||
|
if self.cvtype_to_name[self.encoding_to_cvtype2(encoding)] != cv_type:
|
||||||
|
raise CvBridgeError("encoding specified as %s, but image has incompatible type %s" % (encoding, cv_type))
|
||||||
|
if cvim.dtype.byteorder == '>':
|
||||||
|
img_msg.is_bigendian = True
|
||||||
|
img_msg.data = cvim.tostring()
|
||||||
|
img_msg.step = len(img_msg.data) // img_msg.height
|
||||||
|
|
||||||
|
return img_msg
|
||||||
8
src/vision_opencv/cv_bridge/rosdoc.yaml
Normal file
8
src/vision_opencv/cv_bridge/rosdoc.yaml
Normal file
@@ -0,0 +1,8 @@
|
|||||||
|
- builder: doxygen
|
||||||
|
name: C++ API
|
||||||
|
output_dir: c++
|
||||||
|
file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox'
|
||||||
|
- builder: sphinx
|
||||||
|
name: Python API
|
||||||
|
output_dir: python
|
||||||
|
sphinx_root_dir: doc
|
||||||
10
src/vision_opencv/cv_bridge/setup.py
Normal file
10
src/vision_opencv/cv_bridge/setup.py
Normal file
@@ -0,0 +1,10 @@
|
|||||||
|
#!/usr/bin/env python
|
||||||
|
from distutils.core import setup
|
||||||
|
from catkin_pkg.python_setup import generate_distutils_setup
|
||||||
|
|
||||||
|
d = generate_distutils_setup()
|
||||||
|
|
||||||
|
d['packages'] = ['cv_bridge']
|
||||||
|
d['package_dir'] = {'' : 'python'}
|
||||||
|
|
||||||
|
setup(**d)
|
||||||
61
src/vision_opencv/cv_bridge/src/CMakeLists.txt
Normal file
61
src/vision_opencv/cv_bridge/src/CMakeLists.txt
Normal file
@@ -0,0 +1,61 @@
|
|||||||
|
# add library
|
||||||
|
include_directories(./)
|
||||||
|
add_library(${PROJECT_NAME} cv_bridge.cpp rgb_colors.cpp)
|
||||||
|
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
|
||||||
|
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ${catkin_LIBRARIES})
|
||||||
|
|
||||||
|
install(TARGETS ${PROJECT_NAME} DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
|
||||||
|
|
||||||
|
if(NOT ANDROID)
|
||||||
|
# add a Boost Python library
|
||||||
|
find_package(PythonInterp REQUIRED)
|
||||||
|
find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
|
||||||
|
|
||||||
|
#Get the numpy include directory from its python module
|
||||||
|
if(NOT PYTHON_NUMPY_INCLUDE_DIR)
|
||||||
|
execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import numpy; print(numpy.get_include())"
|
||||||
|
RESULT_VARIABLE PYTHON_NUMPY_PROCESS
|
||||||
|
OUTPUT_VARIABLE PYTHON_NUMPY_INCLUDE_DIR
|
||||||
|
OUTPUT_STRIP_TRAILING_WHITESPACE)
|
||||||
|
|
||||||
|
if(PYTHON_NUMPY_PROCESS EQUAL 0)
|
||||||
|
file(TO_CMAKE_PATH "${PYTHON_NUMPY_INCLUDE_DIR}" PYTHON_NUMPY_INCLUDE_CMAKE_PATH)
|
||||||
|
set(PYTHON_NUMPY_INCLUDE_DIR ${PYTHON_NUMPY_INCLUDE_CMAKE_PATH} CACHE PATH "Numpy include directory")
|
||||||
|
else(PYTHON_NUMPY_PROCESS EQUAL 0)
|
||||||
|
message(SEND_ERROR "Could not determine the NumPy include directory, verify that NumPy was installed correctly.")
|
||||||
|
endif(PYTHON_NUMPY_PROCESS EQUAL 0)
|
||||||
|
endif(NOT PYTHON_NUMPY_INCLUDE_DIR)
|
||||||
|
|
||||||
|
include_directories(${PYTHON_INCLUDE_PATH} ${Boost_INCLUDE_DIRS} ${PYTHON_NUMPY_INCLUDE_DIR})
|
||||||
|
|
||||||
|
if (PYTHON_VERSION_MAJOR VERSION_EQUAL 3)
|
||||||
|
add_definitions(-DPYTHON3)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if (OpenCV_VERSION_MAJOR VERSION_EQUAL 3)
|
||||||
|
add_library(${PROJECT_NAME}_boost module.cpp module_opencv3.cpp)
|
||||||
|
else()
|
||||||
|
add_library(${PROJECT_NAME}_boost module.cpp module_opencv2.cpp)
|
||||||
|
endif()
|
||||||
|
target_link_libraries(${PROJECT_NAME}_boost ${Boost_LIBRARIES}
|
||||||
|
${catkin_LIBRARIES}
|
||||||
|
${PYTHON_LIBRARIES}
|
||||||
|
${PROJECT_NAME}
|
||||||
|
)
|
||||||
|
|
||||||
|
set_target_properties(${PROJECT_NAME}_boost PROPERTIES
|
||||||
|
LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/${PROJECT_NAME}/boost/
|
||||||
|
RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/${PROJECT_NAME}/boost/
|
||||||
|
PREFIX ""
|
||||||
|
)
|
||||||
|
if(APPLE)
|
||||||
|
set_target_properties(${PROJECT_NAME}_boost PROPERTIES
|
||||||
|
SUFFIX ".so")
|
||||||
|
endif()
|
||||||
|
if(MSVC)
|
||||||
|
set_target_properties(${PROJECT_NAME}_boost PROPERTIES
|
||||||
|
SUFFIX ".pyd")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
install(TARGETS ${PROJECT_NAME}_boost DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}/boost/)
|
||||||
|
endif()
|
||||||
2
src/vision_opencv/cv_bridge/src/boost/README
Normal file
2
src/vision_opencv/cv_bridge/src/boost/README
Normal file
@@ -0,0 +1,2 @@
|
|||||||
|
this code is taken from Boost at https://github.com/boostorg/endian.git
|
||||||
|
We should remove this folder once Boost 1.58 or above is the default.
|
||||||
192
src/vision_opencv/cv_bridge/src/boost/core/scoped_enum.hpp
Normal file
192
src/vision_opencv/cv_bridge/src/boost/core/scoped_enum.hpp
Normal file
@@ -0,0 +1,192 @@
|
|||||||
|
// scoped_enum.hpp ---------------------------------------------------------//
|
||||||
|
|
||||||
|
// Copyright Beman Dawes, 2009
|
||||||
|
// Copyright (C) 2011-2012 Vicente J. Botet Escriba
|
||||||
|
// Copyright (C) 2012 Anthony Williams
|
||||||
|
|
||||||
|
// Distributed under the Boost Software License, Version 1.0.
|
||||||
|
// See http://www.boost.org/LICENSE_1_0.txt
|
||||||
|
|
||||||
|
#ifndef BOOST_CORE_SCOPED_ENUM_HPP
|
||||||
|
#define BOOST_CORE_SCOPED_ENUM_HPP
|
||||||
|
|
||||||
|
#include <boost/config.hpp>
|
||||||
|
|
||||||
|
#ifdef BOOST_HAS_PRAGMA_ONCE
|
||||||
|
#pragma once
|
||||||
|
#endif
|
||||||
|
|
||||||
|
namespace boost
|
||||||
|
{
|
||||||
|
|
||||||
|
#ifdef BOOST_NO_CXX11_SCOPED_ENUMS
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Meta-function to get the native enum type associated to an enum class or its emulation.
|
||||||
|
*/
|
||||||
|
template <typename EnumType>
|
||||||
|
struct native_type
|
||||||
|
{
|
||||||
|
/**
|
||||||
|
* The member typedef type names the native enum type associated to the scoped enum,
|
||||||
|
* which is it self if the compiler supports scoped enums or EnumType::enum_type if it is an emulated scoped enum.
|
||||||
|
*/
|
||||||
|
typedef typename EnumType::enum_type type;
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Casts a scoped enum to its underlying type.
|
||||||
|
*
|
||||||
|
* This function is useful when working with scoped enum classes, which doens't implicitly convert to the underlying type.
|
||||||
|
* @param v A scoped enum.
|
||||||
|
* @returns The underlying type.
|
||||||
|
* @throws No-throws.
|
||||||
|
*/
|
||||||
|
template <typename UnderlyingType, typename EnumType>
|
||||||
|
UnderlyingType underlying_cast(EnumType v)
|
||||||
|
{
|
||||||
|
return v.get_underlying_value_();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Casts a scoped enum to its native enum type.
|
||||||
|
*
|
||||||
|
* This function is useful to make programs portable when the scoped enum emulation can not be use where native enums can.
|
||||||
|
*
|
||||||
|
* EnumType the scoped enum type
|
||||||
|
*
|
||||||
|
* @param v A scoped enum.
|
||||||
|
* @returns The native enum value.
|
||||||
|
* @throws No-throws.
|
||||||
|
*/
|
||||||
|
template <typename EnumType>
|
||||||
|
inline
|
||||||
|
typename EnumType::enum_type native_value(EnumType e)
|
||||||
|
{
|
||||||
|
return e.get_native_value_();
|
||||||
|
}
|
||||||
|
|
||||||
|
#else // BOOST_NO_CXX11_SCOPED_ENUMS
|
||||||
|
|
||||||
|
template <typename EnumType>
|
||||||
|
struct native_type
|
||||||
|
{
|
||||||
|
typedef EnumType type;
|
||||||
|
};
|
||||||
|
|
||||||
|
template <typename UnderlyingType, typename EnumType>
|
||||||
|
UnderlyingType underlying_cast(EnumType v)
|
||||||
|
{
|
||||||
|
return static_cast<UnderlyingType>(v);
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename EnumType>
|
||||||
|
inline
|
||||||
|
EnumType native_value(EnumType e)
|
||||||
|
{
|
||||||
|
return e;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // BOOST_NO_CXX11_SCOPED_ENUMS
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
#ifdef BOOST_NO_CXX11_SCOPED_ENUMS
|
||||||
|
|
||||||
|
#ifndef BOOST_NO_CXX11_EXPLICIT_CONVERSION_OPERATORS
|
||||||
|
|
||||||
|
#define BOOST_SCOPED_ENUM_UT_DECLARE_CONVERSION_OPERATOR \
|
||||||
|
explicit operator underlying_type() const BOOST_NOEXCEPT { return get_underlying_value_(); }
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#define BOOST_SCOPED_ENUM_UT_DECLARE_CONVERSION_OPERATOR
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Start a declaration of a scoped enum.
|
||||||
|
*
|
||||||
|
* @param EnumType The new scoped enum.
|
||||||
|
* @param UnderlyingType The underlying type.
|
||||||
|
*/
|
||||||
|
#define BOOST_SCOPED_ENUM_UT_DECLARE_BEGIN(EnumType, UnderlyingType) \
|
||||||
|
struct EnumType { \
|
||||||
|
typedef void is_boost_scoped_enum_tag; \
|
||||||
|
typedef UnderlyingType underlying_type; \
|
||||||
|
EnumType() BOOST_NOEXCEPT {} \
|
||||||
|
explicit EnumType(underlying_type v) BOOST_NOEXCEPT : v_(v) {} \
|
||||||
|
underlying_type get_underlying_value_() const BOOST_NOEXCEPT { return v_; } \
|
||||||
|
BOOST_SCOPED_ENUM_UT_DECLARE_CONVERSION_OPERATOR \
|
||||||
|
private: \
|
||||||
|
underlying_type v_; \
|
||||||
|
typedef EnumType self_type; \
|
||||||
|
public: \
|
||||||
|
enum enum_type
|
||||||
|
|
||||||
|
#define BOOST_SCOPED_ENUM_DECLARE_END2() \
|
||||||
|
enum_type get_native_value_() const BOOST_NOEXCEPT { return enum_type(v_); } \
|
||||||
|
friend bool operator ==(self_type lhs, self_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)==enum_type(rhs.v_); } \
|
||||||
|
friend bool operator ==(self_type lhs, enum_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)==rhs; } \
|
||||||
|
friend bool operator ==(enum_type lhs, self_type rhs) BOOST_NOEXCEPT { return lhs==enum_type(rhs.v_); } \
|
||||||
|
friend bool operator !=(self_type lhs, self_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)!=enum_type(rhs.v_); } \
|
||||||
|
friend bool operator !=(self_type lhs, enum_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)!=rhs; } \
|
||||||
|
friend bool operator !=(enum_type lhs, self_type rhs) BOOST_NOEXCEPT { return lhs!=enum_type(rhs.v_); } \
|
||||||
|
friend bool operator <(self_type lhs, self_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)<enum_type(rhs.v_); } \
|
||||||
|
friend bool operator <(self_type lhs, enum_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)<rhs; } \
|
||||||
|
friend bool operator <(enum_type lhs, self_type rhs) BOOST_NOEXCEPT { return lhs<enum_type(rhs.v_); } \
|
||||||
|
friend bool operator <=(self_type lhs, self_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)<=enum_type(rhs.v_); } \
|
||||||
|
friend bool operator <=(self_type lhs, enum_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)<=rhs; } \
|
||||||
|
friend bool operator <=(enum_type lhs, self_type rhs) BOOST_NOEXCEPT { return lhs<=enum_type(rhs.v_); } \
|
||||||
|
friend bool operator >(self_type lhs, self_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)>enum_type(rhs.v_); } \
|
||||||
|
friend bool operator >(self_type lhs, enum_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)>rhs; } \
|
||||||
|
friend bool operator >(enum_type lhs, self_type rhs) BOOST_NOEXCEPT { return lhs>enum_type(rhs.v_); } \
|
||||||
|
friend bool operator >=(self_type lhs, self_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)>=enum_type(rhs.v_); } \
|
||||||
|
friend bool operator >=(self_type lhs, enum_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)>=rhs; } \
|
||||||
|
friend bool operator >=(enum_type lhs, self_type rhs) BOOST_NOEXCEPT { return lhs>=enum_type(rhs.v_); } \
|
||||||
|
};
|
||||||
|
|
||||||
|
#define BOOST_SCOPED_ENUM_DECLARE_END(EnumType) \
|
||||||
|
; \
|
||||||
|
EnumType(enum_type v) BOOST_NOEXCEPT : v_(v) {} \
|
||||||
|
BOOST_SCOPED_ENUM_DECLARE_END2()
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Starts a declaration of a scoped enum with the default int underlying type.
|
||||||
|
*
|
||||||
|
* @param EnumType The new scoped enum.
|
||||||
|
*/
|
||||||
|
#define BOOST_SCOPED_ENUM_DECLARE_BEGIN(EnumType) \
|
||||||
|
BOOST_SCOPED_ENUM_UT_DECLARE_BEGIN(EnumType,int)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Name of the native enum type.
|
||||||
|
*
|
||||||
|
* @param EnumType The new scoped enum.
|
||||||
|
*/
|
||||||
|
#define BOOST_SCOPED_ENUM_NATIVE(EnumType) EnumType::enum_type
|
||||||
|
/**
|
||||||
|
* Forward declares an scoped enum.
|
||||||
|
*
|
||||||
|
* @param EnumType The scoped enum.
|
||||||
|
*/
|
||||||
|
#define BOOST_SCOPED_ENUM_FORWARD_DECLARE(EnumType) struct EnumType
|
||||||
|
|
||||||
|
#else // BOOST_NO_CXX11_SCOPED_ENUMS
|
||||||
|
|
||||||
|
#define BOOST_SCOPED_ENUM_UT_DECLARE_BEGIN(EnumType,UnderlyingType) enum class EnumType : UnderlyingType
|
||||||
|
#define BOOST_SCOPED_ENUM_DECLARE_BEGIN(EnumType) enum class EnumType
|
||||||
|
#define BOOST_SCOPED_ENUM_DECLARE_END2()
|
||||||
|
#define BOOST_SCOPED_ENUM_DECLARE_END(EnumType) ;
|
||||||
|
|
||||||
|
#define BOOST_SCOPED_ENUM_NATIVE(EnumType) EnumType
|
||||||
|
#define BOOST_SCOPED_ENUM_FORWARD_DECLARE(EnumType) enum class EnumType
|
||||||
|
|
||||||
|
#endif // BOOST_NO_CXX11_SCOPED_ENUMS
|
||||||
|
|
||||||
|
// Deprecated macros
|
||||||
|
#define BOOST_SCOPED_ENUM_START(name) BOOST_SCOPED_ENUM_DECLARE_BEGIN(name)
|
||||||
|
#define BOOST_SCOPED_ENUM_END BOOST_SCOPED_ENUM_DECLARE_END2()
|
||||||
|
#define BOOST_SCOPED_ENUM(name) BOOST_SCOPED_ENUM_NATIVE(name)
|
||||||
|
|
||||||
|
#endif // BOOST_CORE_SCOPED_ENUM_HPP
|
||||||
488
src/vision_opencv/cv_bridge/src/boost/endian/conversion.hpp
Normal file
488
src/vision_opencv/cv_bridge/src/boost/endian/conversion.hpp
Normal file
@@ -0,0 +1,488 @@
|
|||||||
|
// boost/endian/conversion.hpp -------------------------------------------------------//
|
||||||
|
|
||||||
|
// Copyright Beman Dawes 2010, 2011, 2014
|
||||||
|
|
||||||
|
// Distributed under the Boost Software License, Version 1.0.
|
||||||
|
// http://www.boost.org/LICENSE_1_0.txt
|
||||||
|
|
||||||
|
#ifndef BOOST_ENDIAN_CONVERSION_HPP
|
||||||
|
#define BOOST_ENDIAN_CONVERSION_HPP
|
||||||
|
|
||||||
|
#include <boost/config.hpp>
|
||||||
|
#include <boost/predef/detail/endian_compat.h>
|
||||||
|
#include <boost/cstdint.hpp>
|
||||||
|
#include <boost/endian/detail/intrinsic.hpp>
|
||||||
|
#include <boost/core/scoped_enum.hpp>
|
||||||
|
#include <boost/static_assert.hpp>
|
||||||
|
#include <algorithm>
|
||||||
|
#include <cstring> // for memcpy
|
||||||
|
|
||||||
|
//------------------------------------- synopsis ---------------------------------------//
|
||||||
|
|
||||||
|
namespace boost
|
||||||
|
{
|
||||||
|
namespace endian
|
||||||
|
{
|
||||||
|
BOOST_SCOPED_ENUM_START(order)
|
||||||
|
{
|
||||||
|
big, little,
|
||||||
|
# ifdef BOOST_BIG_ENDIAN
|
||||||
|
native = big
|
||||||
|
# else
|
||||||
|
native = little
|
||||||
|
# endif
|
||||||
|
}; BOOST_SCOPED_ENUM_END
|
||||||
|
|
||||||
|
//--------------------------------------------------------------------------------------//
|
||||||
|
// //
|
||||||
|
// return-by-value interfaces //
|
||||||
|
// suggested by Phil Endecott //
|
||||||
|
// //
|
||||||
|
// user-defined types (UDTs) //
|
||||||
|
// //
|
||||||
|
// All return-by-value conversion function templates are required to be implemented in //
|
||||||
|
// terms of an unqualified call to "endian_reverse(x)", a function returning the //
|
||||||
|
// value of x with endianness reversed. This provides a customization point for any //
|
||||||
|
// UDT that provides a "endian_reverse" free-function meeting the requirements. //
|
||||||
|
// It must be defined in the same namespace as the UDT itself so that it will be found //
|
||||||
|
// by argument dependent lookup (ADL). //
|
||||||
|
// //
|
||||||
|
//--------------------------------------------------------------------------------------//
|
||||||
|
|
||||||
|
// customization for exact-length arithmetic types. See doc/conversion.html/#FAQ.
|
||||||
|
// Note: The omission of an overloads for the arithmetic type (typically long, or
|
||||||
|
// long long) not assigned to one of the exact length typedefs is a deliberate
|
||||||
|
// design decision. Such overloads would be non-portable and thus error prone.
|
||||||
|
|
||||||
|
inline int8_t endian_reverse(int8_t x) BOOST_NOEXCEPT;
|
||||||
|
inline int16_t endian_reverse(int16_t x) BOOST_NOEXCEPT;
|
||||||
|
inline int32_t endian_reverse(int32_t x) BOOST_NOEXCEPT;
|
||||||
|
inline int64_t endian_reverse(int64_t x) BOOST_NOEXCEPT;
|
||||||
|
inline uint8_t endian_reverse(uint8_t x) BOOST_NOEXCEPT;
|
||||||
|
inline uint16_t endian_reverse(uint16_t x) BOOST_NOEXCEPT;
|
||||||
|
inline uint32_t endian_reverse(uint32_t x) BOOST_NOEXCEPT;
|
||||||
|
inline uint64_t endian_reverse(uint64_t x) BOOST_NOEXCEPT;
|
||||||
|
|
||||||
|
// reverse byte order unless native endianness is big
|
||||||
|
template <class EndianReversible >
|
||||||
|
inline EndianReversible big_to_native(EndianReversible x) BOOST_NOEXCEPT;
|
||||||
|
// Returns: x if native endian order is big, otherwise endian_reverse(x)
|
||||||
|
template <class EndianReversible >
|
||||||
|
inline EndianReversible native_to_big(EndianReversible x) BOOST_NOEXCEPT;
|
||||||
|
// Returns: x if native endian order is big, otherwise endian_reverse(x)
|
||||||
|
|
||||||
|
// reverse byte order unless native endianness is little
|
||||||
|
template <class EndianReversible >
|
||||||
|
inline EndianReversible little_to_native(EndianReversible x) BOOST_NOEXCEPT;
|
||||||
|
// Returns: x if native endian order is little, otherwise endian_reverse(x)
|
||||||
|
template <class EndianReversible >
|
||||||
|
inline EndianReversible native_to_little(EndianReversible x) BOOST_NOEXCEPT;
|
||||||
|
// Returns: x if native endian order is little, otherwise endian_reverse(x)
|
||||||
|
|
||||||
|
// generic conditional reverse byte order
|
||||||
|
template <BOOST_SCOPED_ENUM(order) From, BOOST_SCOPED_ENUM(order) To,
|
||||||
|
class EndianReversible>
|
||||||
|
inline EndianReversible conditional_reverse(EndianReversible from) BOOST_NOEXCEPT;
|
||||||
|
// Returns: If From == To have different values, from.
|
||||||
|
// Otherwise endian_reverse(from).
|
||||||
|
// Remarks: The From == To test, and as a consequence which form the return takes, is
|
||||||
|
// is determined at compile time.
|
||||||
|
|
||||||
|
// runtime conditional reverse byte order
|
||||||
|
template <class EndianReversible >
|
||||||
|
inline EndianReversible conditional_reverse(EndianReversible from,
|
||||||
|
BOOST_SCOPED_ENUM(order) from_order, BOOST_SCOPED_ENUM(order) to_order)
|
||||||
|
BOOST_NOEXCEPT;
|
||||||
|
// Returns: from_order == to_order ? from : endian_reverse(from).
|
||||||
|
|
||||||
|
//------------------------------------------------------------------------------------//
|
||||||
|
|
||||||
|
|
||||||
|
// Q: What happended to bswap, htobe, and the other synonym functions based on names
|
||||||
|
// popularized by BSD, OS X, and Linux?
|
||||||
|
// A: Turned out these may be implemented as macros on some systems. Ditto POSIX names
|
||||||
|
// for such functionality. Since macros would cause endless problems with functions
|
||||||
|
// of the same names, and these functions are just synonyms anyhow, they have been
|
||||||
|
// removed.
|
||||||
|
|
||||||
|
|
||||||
|
//------------------------------------------------------------------------------------//
|
||||||
|
// //
|
||||||
|
// reverse in place interfaces //
|
||||||
|
// //
|
||||||
|
// user-defined types (UDTs) //
|
||||||
|
// //
|
||||||
|
// All reverse in place function templates are required to be implemented in terms //
|
||||||
|
// of an unqualified call to "endian_reverse_inplace(x)", a function reversing //
|
||||||
|
// the endianness of x, which is a non-const reference. This provides a //
|
||||||
|
// customization point for any UDT that provides a "reverse_inplace" free-function //
|
||||||
|
// meeting the requirements. The free-function must be declared in the same //
|
||||||
|
// namespace as the UDT itself so that it will be found by argument-dependent //
|
||||||
|
// lookup (ADL). //
|
||||||
|
// //
|
||||||
|
//------------------------------------------------------------------------------------//
|
||||||
|
|
||||||
|
// reverse in place
|
||||||
|
template <class EndianReversible>
|
||||||
|
inline void endian_reverse_inplace(EndianReversible& x) BOOST_NOEXCEPT;
|
||||||
|
// Effects: x = endian_reverse(x)
|
||||||
|
|
||||||
|
// reverse in place unless native endianness is big
|
||||||
|
template <class EndianReversibleInplace>
|
||||||
|
inline void big_to_native_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT;
|
||||||
|
// Effects: none if native byte-order is big, otherwise endian_reverse_inplace(x)
|
||||||
|
template <class EndianReversibleInplace>
|
||||||
|
inline void native_to_big_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT;
|
||||||
|
// Effects: none if native byte-order is big, otherwise endian_reverse_inplace(x)
|
||||||
|
|
||||||
|
// reverse in place unless native endianness is little
|
||||||
|
template <class EndianReversibleInplace>
|
||||||
|
inline void little_to_native_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT;
|
||||||
|
// Effects: none if native byte-order is little, otherwise endian_reverse_inplace(x);
|
||||||
|
template <class EndianReversibleInplace>
|
||||||
|
inline void native_to_little_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT;
|
||||||
|
// Effects: none if native byte-order is little, otherwise endian_reverse_inplace(x);
|
||||||
|
|
||||||
|
// generic conditional reverse in place
|
||||||
|
template <BOOST_SCOPED_ENUM(order) From, BOOST_SCOPED_ENUM(order) To,
|
||||||
|
class EndianReversibleInplace>
|
||||||
|
inline void conditional_reverse_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT;
|
||||||
|
|
||||||
|
// runtime reverse in place
|
||||||
|
template <class EndianReversibleInplace>
|
||||||
|
inline void conditional_reverse_inplace(EndianReversibleInplace& x,
|
||||||
|
BOOST_SCOPED_ENUM(order) from_order, BOOST_SCOPED_ENUM(order) to_order)
|
||||||
|
BOOST_NOEXCEPT;
|
||||||
|
|
||||||
|
//----------------------------------- end synopsis -------------------------------------//
|
||||||
|
|
||||||
|
namespace detail
|
||||||
|
{
|
||||||
|
// generic reverse function template implementation approach using std::reverse
|
||||||
|
// suggested by Mathias Gaunard. Primary motivation for inclusion is to have an
|
||||||
|
// independent implementation to test against.
|
||||||
|
|
||||||
|
template <class T>
|
||||||
|
inline T std_endian_reverse(T x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
T tmp(x);
|
||||||
|
std::reverse(
|
||||||
|
reinterpret_cast<unsigned char*>(&tmp),
|
||||||
|
reinterpret_cast<unsigned char*>(&tmp) + sizeof(T));
|
||||||
|
return tmp;
|
||||||
|
}
|
||||||
|
|
||||||
|
// conditional unaligned reverse copy, patterned after std::reverse_copy
|
||||||
|
template <class T>
|
||||||
|
inline void big_reverse_copy(T from, char* to) BOOST_NOEXCEPT;
|
||||||
|
template <class T>
|
||||||
|
inline void big_reverse_copy(const char* from, T& to) BOOST_NOEXCEPT;
|
||||||
|
template <class T>
|
||||||
|
inline void little_reverse_copy(T from, char* to) BOOST_NOEXCEPT;
|
||||||
|
template <class T>
|
||||||
|
inline void little_reverse_copy(const char* from, T& to) BOOST_NOEXCEPT;
|
||||||
|
} // namespace detail
|
||||||
|
|
||||||
|
//--------------------------------------------------------------------------------------//
|
||||||
|
// //
|
||||||
|
// return-by-value implementation //
|
||||||
|
// //
|
||||||
|
// -- portable approach suggested by tymofey, with avoidance of undefined behavior //
|
||||||
|
// as suggested by Giovanni Piero Deretta, with a further refinement suggested //
|
||||||
|
// by Pyry Jahkola. //
|
||||||
|
// -- intrinsic approach suggested by reviewers, and by David Stone, who provided //
|
||||||
|
// his Boost licensed macro implementation (detail/intrinsic.hpp) //
|
||||||
|
// //
|
||||||
|
//--------------------------------------------------------------------------------------//
|
||||||
|
|
||||||
|
inline int8_t endian_reverse(int8_t x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
return x;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline int16_t endian_reverse(int16_t x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_ENDIAN_NO_INTRINSICS
|
||||||
|
return (static_cast<uint16_t>(x) << 8)
|
||||||
|
| (static_cast<uint16_t>(x) >> 8);
|
||||||
|
# else
|
||||||
|
return BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_2(static_cast<uint16_t>(x));
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
|
||||||
|
inline int32_t endian_reverse(int32_t x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_ENDIAN_NO_INTRINSICS
|
||||||
|
uint32_t step16;
|
||||||
|
step16 = static_cast<uint32_t>(x) << 16 | static_cast<uint32_t>(x) >> 16;
|
||||||
|
return
|
||||||
|
((static_cast<uint32_t>(step16) << 8) & 0xff00ff00)
|
||||||
|
| ((static_cast<uint32_t>(step16) >> 8) & 0x00ff00ff);
|
||||||
|
# else
|
||||||
|
return BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_4(static_cast<uint32_t>(x));
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
|
||||||
|
inline int64_t endian_reverse(int64_t x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_ENDIAN_NO_INTRINSICS
|
||||||
|
uint64_t step32, step16;
|
||||||
|
step32 = static_cast<uint64_t>(x) << 32 | static_cast<uint64_t>(x) >> 32;
|
||||||
|
step16 = (step32 & 0x0000FFFF0000FFFFULL) << 16
|
||||||
|
| (step32 & 0xFFFF0000FFFF0000ULL) >> 16;
|
||||||
|
return static_cast<int64_t>((step16 & 0x00FF00FF00FF00FFULL) << 8
|
||||||
|
| (step16 & 0xFF00FF00FF00FF00ULL) >> 8);
|
||||||
|
# else
|
||||||
|
return BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_8(static_cast<uint64_t>(x));
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
|
||||||
|
inline uint8_t endian_reverse(uint8_t x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
return x;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline uint16_t endian_reverse(uint16_t x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_ENDIAN_NO_INTRINSICS
|
||||||
|
return (x << 8)
|
||||||
|
| (x >> 8);
|
||||||
|
# else
|
||||||
|
return BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_2(x);
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
|
||||||
|
inline uint32_t endian_reverse(uint32_t x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_ENDIAN_NO_INTRINSICS
|
||||||
|
uint32_t step16;
|
||||||
|
step16 = x << 16 | x >> 16;
|
||||||
|
return
|
||||||
|
((step16 << 8) & 0xff00ff00)
|
||||||
|
| ((step16 >> 8) & 0x00ff00ff);
|
||||||
|
# else
|
||||||
|
return BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_4(x);
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
|
||||||
|
inline uint64_t endian_reverse(uint64_t x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_ENDIAN_NO_INTRINSICS
|
||||||
|
uint64_t step32, step16;
|
||||||
|
step32 = x << 32 | x >> 32;
|
||||||
|
step16 = (step32 & 0x0000FFFF0000FFFFULL) << 16
|
||||||
|
| (step32 & 0xFFFF0000FFFF0000ULL) >> 16;
|
||||||
|
return (step16 & 0x00FF00FF00FF00FFULL) << 8
|
||||||
|
| (step16 & 0xFF00FF00FF00FF00ULL) >> 8;
|
||||||
|
# else
|
||||||
|
return BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_8(x);
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
|
||||||
|
template <class EndianReversible >
|
||||||
|
inline EndianReversible big_to_native(EndianReversible x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_BIG_ENDIAN
|
||||||
|
return x;
|
||||||
|
# else
|
||||||
|
return endian_reverse(x);
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
|
||||||
|
template <class EndianReversible >
|
||||||
|
inline EndianReversible native_to_big(EndianReversible x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_BIG_ENDIAN
|
||||||
|
return x;
|
||||||
|
# else
|
||||||
|
return endian_reverse(x);
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
|
||||||
|
template <class EndianReversible >
|
||||||
|
inline EndianReversible little_to_native(EndianReversible x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_LITTLE_ENDIAN
|
||||||
|
return x;
|
||||||
|
# else
|
||||||
|
return endian_reverse(x);
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
|
||||||
|
template <class EndianReversible >
|
||||||
|
inline EndianReversible native_to_little(EndianReversible x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_LITTLE_ENDIAN
|
||||||
|
return x;
|
||||||
|
# else
|
||||||
|
return endian_reverse(x);
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
|
||||||
|
namespace detail
|
||||||
|
{
|
||||||
|
// Primary template and specializations to support endian_reverse().
|
||||||
|
// See rationale in endian_reverse() below.
|
||||||
|
template <BOOST_SCOPED_ENUM(order) From, BOOST_SCOPED_ENUM(order) To,
|
||||||
|
class EndianReversible>
|
||||||
|
class value_converter ; // primary template
|
||||||
|
template <class T> class value_converter <order::big, order::big, T>
|
||||||
|
{public: T operator()(T x) BOOST_NOEXCEPT {return x;}};
|
||||||
|
template <class T> class value_converter <order::little, order::little, T>
|
||||||
|
{public: T operator()(T x) BOOST_NOEXCEPT {return x;}};
|
||||||
|
template <class T> class value_converter <order::big, order::little, T>
|
||||||
|
{public: T operator()(T x) BOOST_NOEXCEPT {return endian_reverse(x);}};
|
||||||
|
template <class T> class value_converter <order::little, order::big, T>
|
||||||
|
{public: T operator()(T x) BOOST_NOEXCEPT {return endian_reverse(x);}};
|
||||||
|
}
|
||||||
|
|
||||||
|
// generic conditional reverse
|
||||||
|
template <BOOST_SCOPED_ENUM(order) From, BOOST_SCOPED_ENUM(order) To,
|
||||||
|
class EndianReversible>
|
||||||
|
inline EndianReversible conditional_reverse(EndianReversible from) BOOST_NOEXCEPT {
|
||||||
|
// work around lack of function template partial specialization by instantiating
|
||||||
|
// a function object of a class that is partially specialized on the two order
|
||||||
|
// template parameters, and then calling its operator().
|
||||||
|
detail::value_converter <From, To, EndianReversible> tmp;
|
||||||
|
return tmp(from);
|
||||||
|
}
|
||||||
|
|
||||||
|
// runtime conditional reverse
|
||||||
|
template <class EndianReversible >
|
||||||
|
inline EndianReversible conditional_reverse(EndianReversible from,
|
||||||
|
BOOST_SCOPED_ENUM(order) from_order, BOOST_SCOPED_ENUM(order) to_order) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
return from_order == to_order ? from : endian_reverse(from);
|
||||||
|
}
|
||||||
|
|
||||||
|
//--------------------------------------------------------------------------------------//
|
||||||
|
// reverse-in-place implementation //
|
||||||
|
//--------------------------------------------------------------------------------------//
|
||||||
|
|
||||||
|
// reverse in place
|
||||||
|
template <class EndianReversible>
|
||||||
|
inline void endian_reverse_inplace(EndianReversible& x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
x = endian_reverse(x);
|
||||||
|
}
|
||||||
|
|
||||||
|
template <class EndianReversibleInplace>
|
||||||
|
# ifdef BOOST_BIG_ENDIAN
|
||||||
|
inline void big_to_native_inplace(EndianReversibleInplace&) BOOST_NOEXCEPT {}
|
||||||
|
# else
|
||||||
|
inline void big_to_native_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT
|
||||||
|
{ endian_reverse_inplace(x); }
|
||||||
|
# endif
|
||||||
|
template <class EndianReversibleInplace>
|
||||||
|
# ifdef BOOST_BIG_ENDIAN
|
||||||
|
inline void native_to_big_inplace(EndianReversibleInplace&) BOOST_NOEXCEPT {}
|
||||||
|
# else
|
||||||
|
inline void native_to_big_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
endian_reverse_inplace(x);
|
||||||
|
}
|
||||||
|
# endif
|
||||||
|
|
||||||
|
template <class EndianReversibleInplace>
|
||||||
|
# ifdef BOOST_LITTLE_ENDIAN
|
||||||
|
inline void little_to_native_inplace(EndianReversibleInplace&) BOOST_NOEXCEPT {}
|
||||||
|
# else
|
||||||
|
inline void little_to_native_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT
|
||||||
|
{ endian_reverse_inplace(x); }
|
||||||
|
# endif
|
||||||
|
template <class EndianReversibleInplace>
|
||||||
|
# ifdef BOOST_LITTLE_ENDIAN
|
||||||
|
inline void native_to_little_inplace(EndianReversibleInplace&) BOOST_NOEXCEPT {}
|
||||||
|
# else
|
||||||
|
inline void native_to_little_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
endian_reverse_inplace(x);
|
||||||
|
}
|
||||||
|
# endif
|
||||||
|
|
||||||
|
namespace detail
|
||||||
|
{
|
||||||
|
// Primary template and specializations support generic
|
||||||
|
// endian_reverse_inplace().
|
||||||
|
// See rationale in endian_reverse_inplace() below.
|
||||||
|
template <BOOST_SCOPED_ENUM(order) From, BOOST_SCOPED_ENUM(order) To,
|
||||||
|
class EndianReversibleInplace>
|
||||||
|
class converter; // primary template
|
||||||
|
template <class T> class converter<order::big, order::big, T>
|
||||||
|
{public: void operator()(T&) BOOST_NOEXCEPT {/*no effect*/}};
|
||||||
|
template <class T> class converter<order::little, order::little, T>
|
||||||
|
{public: void operator()(T&) BOOST_NOEXCEPT {/*no effect*/}};
|
||||||
|
template <class T> class converter<order::big, order::little, T>
|
||||||
|
{public: void operator()(T& x) BOOST_NOEXCEPT { endian_reverse_inplace(x); }};
|
||||||
|
template <class T> class converter<order::little, order::big, T>
|
||||||
|
{public: void operator()(T& x) BOOST_NOEXCEPT { endian_reverse_inplace(x); }};
|
||||||
|
} // namespace detail
|
||||||
|
|
||||||
|
// generic conditional reverse in place
|
||||||
|
template <BOOST_SCOPED_ENUM(order) From, BOOST_SCOPED_ENUM(order) To,
|
||||||
|
class EndianReversibleInplace>
|
||||||
|
inline void conditional_reverse_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
// work around lack of function template partial specialization by instantiating
|
||||||
|
// a function object of a class that is partially specialized on the two order
|
||||||
|
// template parameters, and then calling its operator().
|
||||||
|
detail::converter<From, To, EndianReversibleInplace> tmp;
|
||||||
|
tmp(x); // call operator ()
|
||||||
|
}
|
||||||
|
|
||||||
|
// runtime reverse in place
|
||||||
|
template <class EndianReversibleInplace>
|
||||||
|
inline void conditional_reverse_inplace(EndianReversibleInplace& x,
|
||||||
|
BOOST_SCOPED_ENUM(order) from_order, BOOST_SCOPED_ENUM(order) to_order)
|
||||||
|
BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
if (from_order != to_order)
|
||||||
|
endian_reverse_inplace(x);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
namespace detail
|
||||||
|
{
|
||||||
|
template <class T>
|
||||||
|
inline void big_reverse_copy(T from, char* to) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_BIG_ENDIAN
|
||||||
|
std::memcpy(to, reinterpret_cast<const char*>(&from), sizeof(T));
|
||||||
|
# else
|
||||||
|
std::reverse_copy(reinterpret_cast<const char*>(&from),
|
||||||
|
reinterpret_cast<const char*>(&from) + sizeof(T), to);
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
template <class T>
|
||||||
|
inline void big_reverse_copy(const char* from, T& to) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_BIG_ENDIAN
|
||||||
|
std::memcpy(reinterpret_cast<char*>(&to), from, sizeof(T));
|
||||||
|
# else
|
||||||
|
std::reverse_copy(from, from + sizeof(T), reinterpret_cast<char*>(&to));
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
template <class T>
|
||||||
|
inline void little_reverse_copy(T from, char* to) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_LITTLE_ENDIAN
|
||||||
|
std::memcpy(to, reinterpret_cast<const char*>(&from), sizeof(T));
|
||||||
|
# else
|
||||||
|
std::reverse_copy(reinterpret_cast<const char*>(&from),
|
||||||
|
reinterpret_cast<const char*>(&from) + sizeof(T), to);
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
template <class T>
|
||||||
|
inline void little_reverse_copy(const char* from, T& to) BOOST_NOEXCEPT
|
||||||
|
{
|
||||||
|
# ifdef BOOST_LITTLE_ENDIAN
|
||||||
|
std::memcpy(reinterpret_cast<char*>(&to), from, sizeof(T));
|
||||||
|
# else
|
||||||
|
std::reverse_copy(from, from + sizeof(T), reinterpret_cast<char*>(&to));
|
||||||
|
# endif
|
||||||
|
}
|
||||||
|
} // namespace detail
|
||||||
|
} // namespace endian
|
||||||
|
} // namespace boost
|
||||||
|
|
||||||
|
#endif // BOOST_ENDIAN_CONVERSION_HPP
|
||||||
@@ -0,0 +1,64 @@
|
|||||||
|
// endian/detail/intrinsic.hpp -------------------------------------------------------//
|
||||||
|
|
||||||
|
// Copyright (C) 2012 David Stone
|
||||||
|
// Copyright Beman Dawes 2013
|
||||||
|
|
||||||
|
// Distributed under the Boost Software License, Version 1.0.
|
||||||
|
// http://www.boost.org/LICENSE_1_0.txt
|
||||||
|
|
||||||
|
#ifndef BOOST_ENDIAN_INTRINSIC_HPP
|
||||||
|
#define BOOST_ENDIAN_INTRINSIC_HPP
|
||||||
|
|
||||||
|
// Allow user to force BOOST_ENDIAN_NO_INTRINSICS in case they aren't available for a
|
||||||
|
// particular platform/compiler combination. Please report such platform/compiler
|
||||||
|
// combinations to the Boost mailing list.
|
||||||
|
#ifndef BOOST_ENDIAN_NO_INTRINSICS
|
||||||
|
|
||||||
|
#ifndef __has_builtin // Optional of course
|
||||||
|
#define __has_builtin(x) 0 // Compatibility with non-clang compilers
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// GCC and Clang recent versions provide intrinsic byte swaps via builtins
|
||||||
|
#if (defined(__clang__) && __has_builtin(__builtin_bswap32) && __has_builtin(__builtin_bswap64)) \
|
||||||
|
|| (defined(__GNUC__ ) && \
|
||||||
|
(__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)))
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_MSG "__builtin_bswap16, etc."
|
||||||
|
// prior to 4.8, gcc did not provide __builtin_bswap16 on some platforms so we emulate it
|
||||||
|
// see http://gcc.gnu.org/bugzilla/show_bug.cgi?id=52624
|
||||||
|
// Clang has a similar problem, but their feature test macros make it easier to detect
|
||||||
|
# if (defined(__clang__) && __has_builtin(__builtin_bswap16)) \
|
||||||
|
|| (defined(__GNUC__) &&(__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)))
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_2(x) __builtin_bswap16(x)
|
||||||
|
# else
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_2(x) __builtin_bswap32((x) << 16)
|
||||||
|
# endif
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_4(x) __builtin_bswap32(x)
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_8(x) __builtin_bswap64(x)
|
||||||
|
|
||||||
|
// Linux systems provide the byteswap.h header, with
|
||||||
|
#elif defined(__linux__)
|
||||||
|
// don't check for obsolete forms defined(linux) and defined(__linux) on the theory that
|
||||||
|
// compilers that predefine only these are so old that byteswap.h probably isn't present.
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_MSG "byteswap.h bswap_16, etc."
|
||||||
|
# include <byteswap.h>
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_2(x) bswap_16(x)
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_4(x) bswap_32(x)
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_8(x) bswap_64(x)
|
||||||
|
|
||||||
|
#elif defined(_MSC_VER)
|
||||||
|
// Microsoft documents these as being compatible since Windows 95 and specificly
|
||||||
|
// lists runtime library support since Visual Studio 2003 (aka 7.1).
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_MSG "cstdlib _byteswap_ushort, etc."
|
||||||
|
# include <cstdlib>
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_2(x) _byteswap_ushort(x)
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_4(x) _byteswap_ulong(x)
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_8(x) _byteswap_uint64(x)
|
||||||
|
#else
|
||||||
|
# define BOOST_ENDIAN_NO_INTRINSICS
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_MSG "no byte swap intrinsics"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#elif !defined(BOOST_ENDIAN_INTRINSIC_MSG)
|
||||||
|
# define BOOST_ENDIAN_INTRINSIC_MSG "no byte swap intrinsics"
|
||||||
|
#endif // BOOST_ENDIAN_NO_INTRINSICS
|
||||||
|
#endif // BOOST_ENDIAN_INTRINSIC_HPP
|
||||||
@@ -0,0 +1,17 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2011-2012
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_DETAIL__CASSERT_H
|
||||||
|
#define BOOST_PREDEF_DETAIL__CASSERT_H
|
||||||
|
|
||||||
|
#if defined(__cplusplus)
|
||||||
|
#include <cassert>
|
||||||
|
#else
|
||||||
|
#include <assert.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif
|
||||||
@@ -0,0 +1,26 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2013
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_DETAIL_ENDIAN_COMPAT_H
|
||||||
|
#define BOOST_PREDEF_DETAIL_ENDIAN_COMPAT_H
|
||||||
|
|
||||||
|
#include <boost/predef/other/endian.h>
|
||||||
|
|
||||||
|
#if BOOST_ENDIAN_BIG_BYTE
|
||||||
|
# define BOOST_BIG_ENDIAN
|
||||||
|
# define BOOST_BYTE_ORDER 4321
|
||||||
|
#endif
|
||||||
|
#if BOOST_ENDIAN_LITTLE_BYTE
|
||||||
|
# define BOOST_LITTLE_ENDIAN
|
||||||
|
# define BOOST_BYTE_ORDER 1234
|
||||||
|
#endif
|
||||||
|
#if BOOST_ENDIAN_LITTLE_WORD
|
||||||
|
# define BOOST_PDP_ENDIAN
|
||||||
|
# define BOOST_BYTE_ORDER 2134
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif
|
||||||
17
src/vision_opencv/cv_bridge/src/boost/predef/detail/test.h
Normal file
17
src/vision_opencv/cv_bridge/src/boost/predef/detail/test.h
Normal file
@@ -0,0 +1,17 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2011-2012
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_DETAIL_TEST_H
|
||||||
|
#define BOOST_PREDEF_DETAIL_TEST_H
|
||||||
|
|
||||||
|
#if !defined(BOOST_PREDEF_INTERNAL_GENERATE_TESTS)
|
||||||
|
|
||||||
|
#define BOOST_PREDEF_DECLARE_TEST(x,s)
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif
|
||||||
@@ -0,0 +1,13 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2008-2013
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_LIBRARY_C__PREFIX_H
|
||||||
|
#define BOOST_PREDEF_LIBRARY_C__PREFIX_H
|
||||||
|
|
||||||
|
#include <boost/predef/detail/_cassert.h>
|
||||||
|
|
||||||
|
#endif
|
||||||
61
src/vision_opencv/cv_bridge/src/boost/predef/library/c/gnu.h
Normal file
61
src/vision_opencv/cv_bridge/src/boost/predef/library/c/gnu.h
Normal file
@@ -0,0 +1,61 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2008-2015
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_LIBRARY_C_GNU_H
|
||||||
|
#define BOOST_PREDEF_LIBRARY_C_GNU_H
|
||||||
|
|
||||||
|
#include <boost/predef/version_number.h>
|
||||||
|
#include <boost/predef/make.h>
|
||||||
|
|
||||||
|
#include <boost/predef/library/c/_prefix.h>
|
||||||
|
|
||||||
|
#if defined(__STDC__)
|
||||||
|
#include <stddef.h>
|
||||||
|
#elif defined(__cplusplus)
|
||||||
|
#include <cstddef>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_LIB_C_GNU`]
|
||||||
|
|
||||||
|
[@http://en.wikipedia.org/wiki/Glibc GNU glibc] Standard C library.
|
||||||
|
Version number available as major, and minor.
|
||||||
|
|
||||||
|
[table
|
||||||
|
[[__predef_symbol__] [__predef_version__]]
|
||||||
|
|
||||||
|
[[`__GLIBC__`] [__predef_detection__]]
|
||||||
|
[[`__GNU_LIBRARY__`] [__predef_detection__]]
|
||||||
|
|
||||||
|
[[`__GLIBC__`, `__GLIBC_MINOR__`] [V.R.0]]
|
||||||
|
[[`__GNU_LIBRARY__`, `__GNU_LIBRARY_MINOR__`] [V.R.0]]
|
||||||
|
]
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define BOOST_LIB_C_GNU BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
|
||||||
|
#if defined(__GLIBC__) || defined(__GNU_LIBRARY__)
|
||||||
|
# undef BOOST_LIB_C_GNU
|
||||||
|
# if defined(__GLIBC__)
|
||||||
|
# define BOOST_LIB_C_GNU \
|
||||||
|
BOOST_VERSION_NUMBER(__GLIBC__,__GLIBC_MINOR__,0)
|
||||||
|
# else
|
||||||
|
# define BOOST_LIB_C_GNU \
|
||||||
|
BOOST_VERSION_NUMBER(__GNU_LIBRARY__,__GNU_LIBRARY_MINOR__,0)
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if BOOST_LIB_C_GNU
|
||||||
|
# define BOOST_LIB_C_GNU_AVAILABLE
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BOOST_LIB_C_GNU_NAME "GNU"
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_LIB_C_GNU,BOOST_LIB_C_GNU_NAME)
|
||||||
89
src/vision_opencv/cv_bridge/src/boost/predef/make.h
Normal file
89
src/vision_opencv/cv_bridge/src/boost/predef/make.h
Normal file
@@ -0,0 +1,89 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2008-2015
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_MAKE_H
|
||||||
|
#define BOOST_PREDEF_MAKE_H
|
||||||
|
|
||||||
|
/*
|
||||||
|
Shorthands for the common version number formats used by vendors...
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_PREDEF_MAKE_..` macros]
|
||||||
|
|
||||||
|
These set of macros decompose common vendor version number
|
||||||
|
macros which are composed version, revision, and patch digits.
|
||||||
|
The naming convention indicates:
|
||||||
|
|
||||||
|
* The base of the specified version number. "`BOOST_PREDEF_MAKE_0X`" for
|
||||||
|
hexadecimal digits, and "`BOOST_PREDEF_MAKE_10`" for decimal digits.
|
||||||
|
* The format of the vendor version number. Where "`V`" indicates the version digits,
|
||||||
|
"`R`" indicates the revision digits, "`P`" indicates the patch digits, and "`0`"
|
||||||
|
indicates an ignored digit.
|
||||||
|
|
||||||
|
Macros are:
|
||||||
|
*/
|
||||||
|
/*` `BOOST_PREDEF_MAKE_0X_VRP(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_0X_VRP(V) BOOST_VERSION_NUMBER((V&0xF00)>>8,(V&0xF0)>>4,(V&0xF))
|
||||||
|
/*` `BOOST_PREDEF_MAKE_0X_VVRP(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_0X_VVRP(V) BOOST_VERSION_NUMBER((V&0xFF00)>>8,(V&0xF0)>>4,(V&0xF))
|
||||||
|
/*` `BOOST_PREDEF_MAKE_0X_VRPP(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_0X_VRPP(V) BOOST_VERSION_NUMBER((V&0xF000)>>12,(V&0xF00)>>8,(V&0xFF))
|
||||||
|
/*` `BOOST_PREDEF_MAKE_0X_VVRR(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_0X_VVRR(V) BOOST_VERSION_NUMBER((V&0xFF00)>>8,(V&0xFF),0)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_0X_VRRPPPP(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_0X_VRRPPPP(V) BOOST_VERSION_NUMBER((V&0xF000000)>>24,(V&0xFF0000)>>16,(V&0xFFFF))
|
||||||
|
/*` `BOOST_PREDEF_MAKE_0X_VVRRP(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_0X_VVRRP(V) BOOST_VERSION_NUMBER((V&0xFF000)>>12,(V&0xFF0)>>4,(V&0xF))
|
||||||
|
/*` `BOOST_PREDEF_MAKE_0X_VRRPP000(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_0X_VRRPP000(V) BOOST_VERSION_NUMBER((V&0xF0000000)>>28,(V&0xFF00000)>>20,(V&0xFF000)>>12)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_0X_VVRRPP(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_0X_VVRRPP(V) BOOST_VERSION_NUMBER((V&0xFF0000)>>16,(V&0xFF00)>>8,(V&0xFF))
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VPPP(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VPPP(V) BOOST_VERSION_NUMBER(((V)/1000)%10,0,(V)%1000)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VRP(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VRP(V) BOOST_VERSION_NUMBER(((V)/100)%10,((V)/10)%10,(V)%10)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VRP000(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VRP000(V) BOOST_VERSION_NUMBER(((V)/100000)%10,((V)/10000)%10,((V)/1000)%10)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VRPP(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VRPP(V) BOOST_VERSION_NUMBER(((V)/1000)%10,((V)/100)%10,(V)%100)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VRR(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VRR(V) BOOST_VERSION_NUMBER(((V)/100)%10,(V)%100,0)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VRRPP(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VRRPP(V) BOOST_VERSION_NUMBER(((V)/10000)%10,((V)/100)%100,(V)%100)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VRR000(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VRR000(V) BOOST_VERSION_NUMBER(((V)/100000)%10,((V)/1000)%100,0)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VV00(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VV00(V) BOOST_VERSION_NUMBER(((V)/100)%100,0,0)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VVRR(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VVRR(V) BOOST_VERSION_NUMBER(((V)/100)%100,(V)%100,0)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VVRRPP(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VVRRPP(V) BOOST_VERSION_NUMBER(((V)/10000)%100,((V)/100)%100,(V)%100)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VVRR0PP00(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VVRR0PP00(V) BOOST_VERSION_NUMBER(((V)/10000000)%100,((V)/100000)%100,((V)/100)%100)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VVRR0PPPP(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VVRR0PPPP(V) BOOST_VERSION_NUMBER(((V)/10000000)%100,((V)/100000)%100,(V)%10000)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_10_VVRR00PP00(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_10_VVRR00PP00(V) BOOST_VERSION_NUMBER(((V)/100000000)%100,((V)/1000000)%100,((V)/100)%100)
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_PREDEF_MAKE_*..` date macros]
|
||||||
|
|
||||||
|
Date decomposition macros return a date in the relative to the 1970
|
||||||
|
Epoch date. If the month is not available, January 1st is used as the month and day.
|
||||||
|
If the day is not available, but the month is, the 1st of the month is used as the day.
|
||||||
|
*/
|
||||||
|
/*` `BOOST_PREDEF_MAKE_DATE(Y,M,D)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_DATE(Y,M,D) BOOST_VERSION_NUMBER((Y)%10000-1970,(M)%100,(D)%100)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_YYYYMMDD(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_YYYYMMDD(V) BOOST_PREDEF_MAKE_DATE(((V)/10000)%10000,((V)/100)%100,(V)%100)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_YYYY(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_YYYY(V) BOOST_PREDEF_MAKE_DATE(V,1,1)
|
||||||
|
/*` `BOOST_PREDEF_MAKE_YYYYMM(V)` */
|
||||||
|
#define BOOST_PREDEF_MAKE_YYYYMM(V) BOOST_PREDEF_MAKE_DATE((V)/100,(V)%100,1)
|
||||||
|
|
||||||
|
#endif
|
||||||
45
src/vision_opencv/cv_bridge/src/boost/predef/os/android.h
Normal file
45
src/vision_opencv/cv_bridge/src/boost/predef/os/android.h
Normal file
@@ -0,0 +1,45 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2015
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_OS_ADROID_H
|
||||||
|
#define BOOST_PREDEF_OS_ADROID_H
|
||||||
|
|
||||||
|
#include <boost/predef/version_number.h>
|
||||||
|
#include <boost/predef/make.h>
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_OS_ANDROID`]
|
||||||
|
|
||||||
|
[@http://en.wikipedia.org/wiki/Android_%28operating_system%29 Android] operating system.
|
||||||
|
|
||||||
|
[table
|
||||||
|
[[__predef_symbol__] [__predef_version__]]
|
||||||
|
|
||||||
|
[[`__ANDROID__`] [__predef_detection__]]
|
||||||
|
]
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define BOOST_OS_ANDROID BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
|
||||||
|
#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \
|
||||||
|
defined(__ANDROID__) \
|
||||||
|
)
|
||||||
|
# undef BOOST_OS_ANDROID
|
||||||
|
# define BOOST_OS_ANDROID BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if BOOST_OS_ANDROID
|
||||||
|
# define BOOST_OS_ANDROID_AVAILABLE
|
||||||
|
# include <boost/predef/detail/os_detected.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BOOST_OS_ANDROID_NAME "Android"
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_OS_ANDROID,BOOST_OS_ANDROID_NAME)
|
||||||
103
src/vision_opencv/cv_bridge/src/boost/predef/os/bsd.h
Normal file
103
src/vision_opencv/cv_bridge/src/boost/predef/os/bsd.h
Normal file
@@ -0,0 +1,103 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2008-2015
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_OS_BSD_H
|
||||||
|
#define BOOST_PREDEF_OS_BSD_H
|
||||||
|
|
||||||
|
/* Special case: OSX will define BSD predefs if the sys/param.h
|
||||||
|
* header is included. We can guard against that, but only if we
|
||||||
|
* detect OSX first. Hence we will force include OSX detection
|
||||||
|
* before doing any BSD detection.
|
||||||
|
*/
|
||||||
|
#include <boost/predef/os/macos.h>
|
||||||
|
|
||||||
|
#include <boost/predef/version_number.h>
|
||||||
|
#include <boost/predef/make.h>
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_OS_BSD`]
|
||||||
|
|
||||||
|
[@http://en.wikipedia.org/wiki/Berkeley_Software_Distribution BSD] operating system.
|
||||||
|
|
||||||
|
BSD has various branch operating systems possible and each detected
|
||||||
|
individually. This detects the following variations and sets a specific
|
||||||
|
version number macro to match:
|
||||||
|
|
||||||
|
* `BOOST_OS_BSD_DRAGONFLY` [@http://en.wikipedia.org/wiki/DragonFly_BSD DragonFly BSD]
|
||||||
|
* `BOOST_OS_BSD_FREE` [@http://en.wikipedia.org/wiki/Freebsd FreeBSD]
|
||||||
|
* `BOOST_OS_BSD_BSDI` [@http://en.wikipedia.org/wiki/BSD/OS BSDi BSD/OS]
|
||||||
|
* `BOOST_OS_BSD_NET` [@http://en.wikipedia.org/wiki/Netbsd NetBSD]
|
||||||
|
* `BOOST_OS_BSD_OPEN` [@http://en.wikipedia.org/wiki/Openbsd OpenBSD]
|
||||||
|
|
||||||
|
[note The general `BOOST_OS_BSD` is set in all cases to indicate some form
|
||||||
|
of BSD. If the above variants is detected the corresponding macro is also set.]
|
||||||
|
|
||||||
|
[table
|
||||||
|
[[__predef_symbol__] [__predef_version__]]
|
||||||
|
|
||||||
|
[[`BSD`] [__predef_detection__]]
|
||||||
|
[[`_SYSTYPE_BSD`] [__predef_detection__]]
|
||||||
|
|
||||||
|
[[`BSD4_2`] [4.2.0]]
|
||||||
|
[[`BSD4_3`] [4.3.0]]
|
||||||
|
[[`BSD4_4`] [4.4.0]]
|
||||||
|
[[`BSD`] [V.R.0]]
|
||||||
|
]
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <boost/predef/os/bsd/bsdi.h>
|
||||||
|
#include <boost/predef/os/bsd/dragonfly.h>
|
||||||
|
#include <boost/predef/os/bsd/free.h>
|
||||||
|
#include <boost/predef/os/bsd/open.h>
|
||||||
|
#include <boost/predef/os/bsd/net.h>
|
||||||
|
|
||||||
|
#ifndef BOOST_OS_BSD
|
||||||
|
#define BOOST_OS_BSD BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \
|
||||||
|
defined(BSD) || \
|
||||||
|
defined(_SYSTYPE_BSD) \
|
||||||
|
)
|
||||||
|
# undef BOOST_OS_BSD
|
||||||
|
# include <sys/param.h>
|
||||||
|
# if !defined(BOOST_OS_BSD) && defined(BSD4_4)
|
||||||
|
# define BOOST_OS_BSD BOOST_VERSION_NUMBER(4,4,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD) && defined(BSD4_3)
|
||||||
|
# define BOOST_OS_BSD BOOST_VERSION_NUMBER(4,3,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD) && defined(BSD4_2)
|
||||||
|
# define BOOST_OS_BSD BOOST_VERSION_NUMBER(4,2,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD) && defined(BSD)
|
||||||
|
# define BOOST_OS_BSD BOOST_PREDEF_MAKE_10_VVRR(BSD)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD)
|
||||||
|
# define BOOST_OS_BSD BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if BOOST_OS_BSD
|
||||||
|
# define BOOST_OS_BSD_AVAILABLE
|
||||||
|
# include <boost/predef/detail/os_detected.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BOOST_OS_BSD_NAME "BSD"
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
#include <boost/predef/os/bsd/bsdi.h>
|
||||||
|
#include <boost/predef/os/bsd/dragonfly.h>
|
||||||
|
#include <boost/predef/os/bsd/free.h>
|
||||||
|
#include <boost/predef/os/bsd/open.h>
|
||||||
|
#include <boost/predef/os/bsd/net.h>
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_OS_BSD,BOOST_OS_BSD_NAME)
|
||||||
48
src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/bsdi.h
Normal file
48
src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/bsdi.h
Normal file
@@ -0,0 +1,48 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2012-2015
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_OS_BSD_BSDI_H
|
||||||
|
#define BOOST_PREDEF_OS_BSD_BSDI_H
|
||||||
|
|
||||||
|
#include <boost/predef/os/bsd.h>
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_OS_BSD_BSDI`]
|
||||||
|
|
||||||
|
[@http://en.wikipedia.org/wiki/BSD/OS BSDi BSD/OS] operating system.
|
||||||
|
|
||||||
|
[table
|
||||||
|
[[__predef_symbol__] [__predef_version__]]
|
||||||
|
|
||||||
|
[[`__bsdi__`] [__predef_detection__]]
|
||||||
|
]
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define BOOST_OS_BSD_BSDI BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
|
||||||
|
#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \
|
||||||
|
defined(__bsdi__) \
|
||||||
|
)
|
||||||
|
# ifndef BOOST_OS_BSD_AVAILABLE
|
||||||
|
# define BOOST_OS_BSD BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# define BOOST_OS_BSD_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# undef BOOST_OS_BSD_BSDI
|
||||||
|
# define BOOST_OS_BSD_BSDI BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if BOOST_OS_BSD_BSDI
|
||||||
|
# define BOOST_OS_BSD_BSDI_AVAILABLE
|
||||||
|
# include <boost/predef/detail/os_detected.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BOOST_OS_BSD_BSDI_NAME "BSDi BSD/OS"
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_OS_BSD_BSDI,BOOST_OS_BSD_BSDI_NAME)
|
||||||
@@ -0,0 +1,50 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2012-2015
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_OS_BSD_DRAGONFLY_H
|
||||||
|
#define BOOST_PREDEF_OS_BSD_DRAGONFLY_H
|
||||||
|
|
||||||
|
#include <boost/predef/os/bsd.h>
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_OS_BSD_DRAGONFLY`]
|
||||||
|
|
||||||
|
[@http://en.wikipedia.org/wiki/DragonFly_BSD DragonFly BSD] operating system.
|
||||||
|
|
||||||
|
[table
|
||||||
|
[[__predef_symbol__] [__predef_version__]]
|
||||||
|
|
||||||
|
[[`__DragonFly__`] [__predef_detection__]]
|
||||||
|
]
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define BOOST_OS_BSD_DRAGONFLY BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
|
||||||
|
#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \
|
||||||
|
defined(__DragonFly__) \
|
||||||
|
)
|
||||||
|
# ifndef BOOST_OS_BSD_AVAILABLE
|
||||||
|
# define BOOST_OS_BSD BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# define BOOST_OS_BSD_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# undef BOOST_OS_BSD_DRAGONFLY
|
||||||
|
# if defined(__DragonFly__)
|
||||||
|
# define BOOST_OS_DRAGONFLY_BSD BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if BOOST_OS_BSD_DRAGONFLY
|
||||||
|
# define BOOST_OS_BSD_DRAGONFLY_AVAILABLE
|
||||||
|
# include <boost/predef/detail/os_detected.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BOOST_OS_BSD_DRAGONFLY_NAME "DragonFly BSD"
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_OS_BSD_DRAGONFLY,BOOST_OS_BSD_DRAGONFLY_NAME)
|
||||||
60
src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/free.h
Normal file
60
src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/free.h
Normal file
@@ -0,0 +1,60 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2012-2015
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_OS_BSD_FREE_H
|
||||||
|
#define BOOST_PREDEF_OS_BSD_FREE_H
|
||||||
|
|
||||||
|
#include <boost/predef/os/bsd.h>
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_OS_BSD_FREE`]
|
||||||
|
|
||||||
|
[@http://en.wikipedia.org/wiki/Freebsd FreeBSD] operating system.
|
||||||
|
|
||||||
|
[table
|
||||||
|
[[__predef_symbol__] [__predef_version__]]
|
||||||
|
|
||||||
|
[[`__FreeBSD__`] [__predef_detection__]]
|
||||||
|
|
||||||
|
[[`__FreeBSD_version`] [V.R.P]]
|
||||||
|
]
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define BOOST_OS_BSD_FREE BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
|
||||||
|
#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \
|
||||||
|
defined(__FreeBSD__) \
|
||||||
|
)
|
||||||
|
# ifndef BOOST_OS_BSD_AVAILABLE
|
||||||
|
# define BOOST_OS_BSD BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# define BOOST_OS_BSD_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# undef BOOST_OS_BSD_FREE
|
||||||
|
# if defined(__FreeBSD_version)
|
||||||
|
# if __FreeBSD_version < 500000
|
||||||
|
# define BOOST_OS_BSD_FREE \
|
||||||
|
BOOST_PREDEF_MAKE_10_VRP000(__FreeBSD_version)
|
||||||
|
# else
|
||||||
|
# define BOOST_OS_BSD_FREE \
|
||||||
|
BOOST_PREDEF_MAKE_10_VRR000(__FreeBSD_version)
|
||||||
|
# endif
|
||||||
|
# else
|
||||||
|
# define BOOST_OS_BSD_FREE BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if BOOST_OS_BSD_FREE
|
||||||
|
# define BOOST_OS_BSD_FREE_AVAILABLE
|
||||||
|
# include <boost/predef/detail/os_detected.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BOOST_OS_BSD_FREE_NAME "Free BSD"
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_OS_BSD_FREE,BOOST_OS_BSD_FREE_NAME)
|
||||||
84
src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/net.h
Normal file
84
src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/net.h
Normal file
@@ -0,0 +1,84 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2012-2015
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_OS_BSD_NET_H
|
||||||
|
#define BOOST_PREDEF_OS_BSD_NET_H
|
||||||
|
|
||||||
|
#include <boost/predef/os/bsd.h>
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_OS_BSD_NET`]
|
||||||
|
|
||||||
|
[@http://en.wikipedia.org/wiki/Netbsd NetBSD] operating system.
|
||||||
|
|
||||||
|
[table
|
||||||
|
[[__predef_symbol__] [__predef_version__]]
|
||||||
|
|
||||||
|
[[`__NETBSD__`] [__predef_detection__]]
|
||||||
|
[[`__NetBSD__`] [__predef_detection__]]
|
||||||
|
|
||||||
|
[[`__NETBSD_version`] [V.R.P]]
|
||||||
|
[[`NetBSD0_8`] [0.8.0]]
|
||||||
|
[[`NetBSD0_9`] [0.9.0]]
|
||||||
|
[[`NetBSD1_0`] [1.0.0]]
|
||||||
|
[[`__NetBSD_Version`] [V.R.P]]
|
||||||
|
]
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define BOOST_OS_BSD_NET BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
|
||||||
|
#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \
|
||||||
|
defined(__NETBSD__) || defined(__NetBSD__) \
|
||||||
|
)
|
||||||
|
# ifndef BOOST_OS_BSD_AVAILABLE
|
||||||
|
# define BOOST_OS_BSD BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# define BOOST_OS_BSD_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# undef BOOST_OS_BSD_NET
|
||||||
|
# if defined(__NETBSD__)
|
||||||
|
# if defined(__NETBSD_version)
|
||||||
|
# if __NETBSD_version < 500000
|
||||||
|
# define BOOST_OS_BSD_NET \
|
||||||
|
BOOST_PREDEF_MAKE_10_VRP000(__NETBSD_version)
|
||||||
|
# else
|
||||||
|
# define BOOST_OS_BSD_NET \
|
||||||
|
BOOST_PREDEF_MAKE_10_VRR000(__NETBSD_version)
|
||||||
|
# endif
|
||||||
|
# else
|
||||||
|
# define BOOST_OS_BSD_NET BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# elif defined(__NetBSD__)
|
||||||
|
# if !defined(BOOST_OS_BSD_NET) && defined(NetBSD0_8)
|
||||||
|
# define BOOST_OS_BSD_NET BOOST_VERSION_NUMBER(0,8,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_NET) && defined(NetBSD0_9)
|
||||||
|
# define BOOST_OS_BSD_NET BOOST_VERSION_NUMBER(0,9,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_NET) && defined(NetBSD1_0)
|
||||||
|
# define BOOST_OS_BSD_NET BOOST_VERSION_NUMBER(1,0,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_NET) && defined(__NetBSD_Version)
|
||||||
|
# define BOOST_OS_BSD_NET \
|
||||||
|
BOOST_PREDEF_MAKE_10_VVRR00PP00(__NetBSD_Version)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_NET)
|
||||||
|
# define BOOST_OS_BSD_NET BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if BOOST_OS_BSD_NET
|
||||||
|
# define BOOST_OS_BSD_NET_AVAILABLE
|
||||||
|
# include <boost/predef/detail/os_detected.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BOOST_OS_BSD_NET_NAME "DragonFly BSD"
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_OS_BSD_NET,BOOST_OS_BSD_NET_NAME)
|
||||||
171
src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/open.h
Normal file
171
src/vision_opencv/cv_bridge/src/boost/predef/os/bsd/open.h
Normal file
@@ -0,0 +1,171 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2012-2015
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_OS_BSD_OPEN_H
|
||||||
|
#define BOOST_PREDEF_OS_BSD_OPEN_H
|
||||||
|
|
||||||
|
#include <boost/predef/os/bsd.h>
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_OS_BSD_OPEN`]
|
||||||
|
|
||||||
|
[@http://en.wikipedia.org/wiki/Openbsd OpenBSD] operating system.
|
||||||
|
|
||||||
|
[table
|
||||||
|
[[__predef_symbol__] [__predef_version__]]
|
||||||
|
|
||||||
|
[[`__OpenBSD__`] [__predef_detection__]]
|
||||||
|
|
||||||
|
[[`OpenBSD2_0`] [2.0.0]]
|
||||||
|
[[`OpenBSD2_1`] [2.1.0]]
|
||||||
|
[[`OpenBSD2_2`] [2.2.0]]
|
||||||
|
[[`OpenBSD2_3`] [2.3.0]]
|
||||||
|
[[`OpenBSD2_4`] [2.4.0]]
|
||||||
|
[[`OpenBSD2_5`] [2.5.0]]
|
||||||
|
[[`OpenBSD2_6`] [2.6.0]]
|
||||||
|
[[`OpenBSD2_7`] [2.7.0]]
|
||||||
|
[[`OpenBSD2_8`] [2.8.0]]
|
||||||
|
[[`OpenBSD2_9`] [2.9.0]]
|
||||||
|
[[`OpenBSD3_0`] [3.0.0]]
|
||||||
|
[[`OpenBSD3_1`] [3.1.0]]
|
||||||
|
[[`OpenBSD3_2`] [3.2.0]]
|
||||||
|
[[`OpenBSD3_3`] [3.3.0]]
|
||||||
|
[[`OpenBSD3_4`] [3.4.0]]
|
||||||
|
[[`OpenBSD3_5`] [3.5.0]]
|
||||||
|
[[`OpenBSD3_6`] [3.6.0]]
|
||||||
|
[[`OpenBSD3_7`] [3.7.0]]
|
||||||
|
[[`OpenBSD3_8`] [3.8.0]]
|
||||||
|
[[`OpenBSD3_9`] [3.9.0]]
|
||||||
|
[[`OpenBSD4_0`] [4.0.0]]
|
||||||
|
[[`OpenBSD4_1`] [4.1.0]]
|
||||||
|
[[`OpenBSD4_2`] [4.2.0]]
|
||||||
|
[[`OpenBSD4_3`] [4.3.0]]
|
||||||
|
[[`OpenBSD4_4`] [4.4.0]]
|
||||||
|
[[`OpenBSD4_5`] [4.5.0]]
|
||||||
|
[[`OpenBSD4_6`] [4.6.0]]
|
||||||
|
[[`OpenBSD4_7`] [4.7.0]]
|
||||||
|
[[`OpenBSD4_8`] [4.8.0]]
|
||||||
|
[[`OpenBSD4_9`] [4.9.0]]
|
||||||
|
]
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
|
||||||
|
#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \
|
||||||
|
defined(__OpenBSD__) \
|
||||||
|
)
|
||||||
|
# ifndef BOOST_OS_BSD_AVAILABLE
|
||||||
|
# define BOOST_OS_BSD BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# define BOOST_OS_BSD_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# undef BOOST_OS_BSD_OPEN
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_0)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,0,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_1)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,1,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_2)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,2,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_3)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,3,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_4)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,4,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_5)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,5,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_6)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,6,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_7)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,7,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_8)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,8,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_9)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,9,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_0)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,0,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_1)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,1,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_2)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,2,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_3)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,3,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_4)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,4,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_5)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,5,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_6)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,6,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_7)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,7,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_8)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,8,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_9)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,9,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_0)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,0,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_1)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,1,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_2)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,2,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_3)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,3,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_4)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,4,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_5)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,5,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_6)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,6,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_7)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,7,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_8)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,8,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_9)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,9,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_BSD_OPEN)
|
||||||
|
# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if BOOST_OS_BSD_OPEN
|
||||||
|
# define BOOST_OS_BSD_OPEN_AVAILABLE
|
||||||
|
# include <boost/predef/detail/os_detected.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BOOST_OS_BSD_OPEN_NAME "OpenBSD"
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_OS_BSD_OPEN,BOOST_OS_BSD_OPEN_NAME)
|
||||||
51
src/vision_opencv/cv_bridge/src/boost/predef/os/ios.h
Normal file
51
src/vision_opencv/cv_bridge/src/boost/predef/os/ios.h
Normal file
@@ -0,0 +1,51 @@
|
|||||||
|
/*
|
||||||
|
Copyright Franz Detro 2014
|
||||||
|
Copyright Rene Rivera 2015
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_OS_IOS_H
|
||||||
|
#define BOOST_PREDEF_OS_IOS_H
|
||||||
|
|
||||||
|
#include <boost/predef/version_number.h>
|
||||||
|
#include <boost/predef/make.h>
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_OS_IOS`]
|
||||||
|
|
||||||
|
[@http://en.wikipedia.org/wiki/iOS iOS] operating system.
|
||||||
|
|
||||||
|
[table
|
||||||
|
[[__predef_symbol__] [__predef_version__]]
|
||||||
|
|
||||||
|
[[`__APPLE__`] [__predef_detection__]]
|
||||||
|
[[`__MACH__`] [__predef_detection__]]
|
||||||
|
[[`__ENVIRONMENT_IPHONE_OS_VERSION_MIN_REQUIRED__`] [__predef_detection__]]
|
||||||
|
|
||||||
|
[[`__ENVIRONMENT_IPHONE_OS_VERSION_MIN_REQUIRED__`] [__ENVIRONMENT_IPHONE_OS_VERSION_MIN_REQUIRED__*1000]]
|
||||||
|
]
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define BOOST_OS_IOS BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
|
||||||
|
#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \
|
||||||
|
defined(__APPLE__) && defined(__MACH__) && \
|
||||||
|
defined(__ENVIRONMENT_IPHONE_OS_VERSION_MIN_REQUIRED__) \
|
||||||
|
)
|
||||||
|
# undef BOOST_OS_IOS
|
||||||
|
# define BOOST_OS_IOS (__ENVIRONMENT_IPHONE_OS_VERSION_MIN_REQUIRED__*1000)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if BOOST_OS_IOS
|
||||||
|
# define BOOST_OS_IOS_AVAILABLE
|
||||||
|
# include <boost/predef/detail/os_detected.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BOOST_OS_IOS_NAME "iOS"
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_OS_IOS,BOOST_OS_IOS_NAME)
|
||||||
65
src/vision_opencv/cv_bridge/src/boost/predef/os/macos.h
Normal file
65
src/vision_opencv/cv_bridge/src/boost/predef/os/macos.h
Normal file
@@ -0,0 +1,65 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2008-2015
|
||||||
|
Copyright Franz Detro 2014
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_OS_MACOS_H
|
||||||
|
#define BOOST_PREDEF_OS_MACOS_H
|
||||||
|
|
||||||
|
/* Special case: iOS will define the same predefs as MacOS, and additionally
|
||||||
|
'__ENVIRONMENT_IPHONE_OS_VERSION_MIN_REQUIRED__'. We can guard against that,
|
||||||
|
but only if we detect iOS first. Hence we will force include iOS detection
|
||||||
|
* before doing any MacOS detection.
|
||||||
|
*/
|
||||||
|
#include <boost/predef/os/ios.h>
|
||||||
|
|
||||||
|
#include <boost/predef/version_number.h>
|
||||||
|
#include <boost/predef/make.h>
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_OS_MACOS`]
|
||||||
|
|
||||||
|
[@http://en.wikipedia.org/wiki/Mac_OS Mac OS] operating system.
|
||||||
|
|
||||||
|
[table
|
||||||
|
[[__predef_symbol__] [__predef_version__]]
|
||||||
|
|
||||||
|
[[`macintosh`] [__predef_detection__]]
|
||||||
|
[[`Macintosh`] [__predef_detection__]]
|
||||||
|
[[`__APPLE__`] [__predef_detection__]]
|
||||||
|
[[`__MACH__`] [__predef_detection__]]
|
||||||
|
|
||||||
|
[[`__APPLE__`, `__MACH__`] [10.0.0]]
|
||||||
|
[[ /otherwise/ ] [9.0.0]]
|
||||||
|
]
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define BOOST_OS_MACOS BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
|
||||||
|
#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \
|
||||||
|
defined(macintosh) || defined(Macintosh) || \
|
||||||
|
(defined(__APPLE__) && defined(__MACH__)) \
|
||||||
|
)
|
||||||
|
# undef BOOST_OS_MACOS
|
||||||
|
# if !defined(BOOST_OS_MACOS) && defined(__APPLE__) && defined(__MACH__)
|
||||||
|
# define BOOST_OS_MACOS BOOST_VERSION_NUMBER(10,0,0)
|
||||||
|
# endif
|
||||||
|
# if !defined(BOOST_OS_MACOS)
|
||||||
|
# define BOOST_OS_MACOS BOOST_VERSION_NUMBER(9,0,0)
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if BOOST_OS_MACOS
|
||||||
|
# define BOOST_OS_MACOS_AVAILABLE
|
||||||
|
# include <boost/predef/detail/os_detected.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BOOST_OS_MACOS_NAME "Mac OS"
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_OS_MACOS,BOOST_OS_MACOS_NAME)
|
||||||
204
src/vision_opencv/cv_bridge/src/boost/predef/other/endian.h
Normal file
204
src/vision_opencv/cv_bridge/src/boost/predef/other/endian.h
Normal file
@@ -0,0 +1,204 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2013-2015
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_ENDIAN_H
|
||||||
|
#define BOOST_PREDEF_ENDIAN_H
|
||||||
|
|
||||||
|
#include <boost/predef/version_number.h>
|
||||||
|
#include <boost/predef/make.h>
|
||||||
|
#include <boost/predef/library/c/gnu.h>
|
||||||
|
#include <boost/predef/os/macos.h>
|
||||||
|
#include <boost/predef/os/bsd.h>
|
||||||
|
#include <boost/predef/os/android.h>
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_ENDIAN_*`]
|
||||||
|
|
||||||
|
Detection of endian memory ordering. There are four defined macros
|
||||||
|
in this header that define the various generally possible endian
|
||||||
|
memory orderings:
|
||||||
|
|
||||||
|
* `BOOST_ENDIAN_BIG_BYTE`, byte-swapped big-endian.
|
||||||
|
* `BOOST_ENDIAN_BIG_WORD`, word-swapped big-endian.
|
||||||
|
* `BOOST_ENDIAN_LITTLE_BYTE`, byte-swapped little-endian.
|
||||||
|
* `BOOST_ENDIAN_LITTLE_WORD`, word-swapped little-endian.
|
||||||
|
|
||||||
|
The detection is conservative in that it only identifies endianness
|
||||||
|
that it knows for certain. In particular bi-endianness is not
|
||||||
|
indicated as is it not practically possible to determine the
|
||||||
|
endianness from anything but an operating system provided
|
||||||
|
header. And the currently known headers do not define that
|
||||||
|
programatic bi-endianness is available.
|
||||||
|
|
||||||
|
This implementation is a compilation of various publicly available
|
||||||
|
information and acquired knowledge:
|
||||||
|
|
||||||
|
# The indispensable documentation of "Pre-defined Compiler Macros"
|
||||||
|
[@http://sourceforge.net/p/predef/wiki/Endianness Endianness].
|
||||||
|
# The various endian specifications available in the
|
||||||
|
[@http://wikipedia.org/ Wikipedia] computer architecture pages.
|
||||||
|
# Generally available searches for headers that define endianness.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define BOOST_ENDIAN_BIG_BYTE BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
#define BOOST_ENDIAN_BIG_WORD BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
#define BOOST_ENDIAN_LITTLE_BYTE BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
#define BOOST_ENDIAN_LITTLE_WORD BOOST_VERSION_NUMBER_NOT_AVAILABLE
|
||||||
|
|
||||||
|
/* GNU libc provides a header defining __BYTE_ORDER, or _BYTE_ORDER.
|
||||||
|
* And some OSs provide some for of endian header also.
|
||||||
|
*/
|
||||||
|
#if !BOOST_ENDIAN_BIG_BYTE && !BOOST_ENDIAN_BIG_WORD && \
|
||||||
|
!BOOST_ENDIAN_LITTLE_BYTE && !BOOST_ENDIAN_LITTLE_WORD
|
||||||
|
# if BOOST_LIB_C_GNU || BOOST_OS_ANDROID
|
||||||
|
# include <endian.h>
|
||||||
|
# else
|
||||||
|
# if BOOST_OS_MACOS
|
||||||
|
# include <machine/endian.h>
|
||||||
|
# else
|
||||||
|
# if BOOST_OS_BSD
|
||||||
|
# if BOOST_OS_BSD_OPEN
|
||||||
|
# include <machine/endian.h>
|
||||||
|
# else
|
||||||
|
# include <sys/endian.h>
|
||||||
|
# endif
|
||||||
|
# endif
|
||||||
|
# endif
|
||||||
|
# endif
|
||||||
|
# if defined(__BYTE_ORDER)
|
||||||
|
# if defined(__BIG_ENDIAN) && (__BYTE_ORDER == __BIG_ENDIAN)
|
||||||
|
# undef BOOST_ENDIAN_BIG_BYTE
|
||||||
|
# define BOOST_ENDIAN_BIG_BYTE BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# if defined(__LITTLE_ENDIAN) && (__BYTE_ORDER == __LITTLE_ENDIAN)
|
||||||
|
# undef BOOST_ENDIAN_LITTLE_BYTE
|
||||||
|
# define BOOST_ENDIAN_LITTLE_BYTE BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# if defined(__PDP_ENDIAN) && (__BYTE_ORDER == __PDP_ENDIAN)
|
||||||
|
# undef BOOST_ENDIAN_LITTLE_WORD
|
||||||
|
# define BOOST_ENDIAN_LITTLE_WORD BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# endif
|
||||||
|
# if !defined(__BYTE_ORDER) && defined(_BYTE_ORDER)
|
||||||
|
# if defined(_BIG_ENDIAN) && (_BYTE_ORDER == _BIG_ENDIAN)
|
||||||
|
# undef BOOST_ENDIAN_BIG_BYTE
|
||||||
|
# define BOOST_ENDIAN_BIG_BYTE BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# if defined(_LITTLE_ENDIAN) && (_BYTE_ORDER == _LITTLE_ENDIAN)
|
||||||
|
# undef BOOST_ENDIAN_LITTLE_BYTE
|
||||||
|
# define BOOST_ENDIAN_LITTLE_BYTE BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# if defined(_PDP_ENDIAN) && (_BYTE_ORDER == _PDP_ENDIAN)
|
||||||
|
# undef BOOST_ENDIAN_LITTLE_WORD
|
||||||
|
# define BOOST_ENDIAN_LITTLE_WORD BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Built-in byte-swpped big-endian macros.
|
||||||
|
*/
|
||||||
|
#if !BOOST_ENDIAN_BIG_BYTE && !BOOST_ENDIAN_BIG_WORD && \
|
||||||
|
!BOOST_ENDIAN_LITTLE_BYTE && !BOOST_ENDIAN_LITTLE_WORD
|
||||||
|
# if (defined(__BIG_ENDIAN__) && !defined(__LITTLE_ENDIAN__)) || \
|
||||||
|
(defined(_BIG_ENDIAN) && !defined(_LITTLE_ENDIAN)) || \
|
||||||
|
defined(__ARMEB__) || \
|
||||||
|
defined(__THUMBEB__) || \
|
||||||
|
defined(__AARCH64EB__) || \
|
||||||
|
defined(_MIPSEB) || \
|
||||||
|
defined(__MIPSEB) || \
|
||||||
|
defined(__MIPSEB__)
|
||||||
|
# undef BOOST_ENDIAN_BIG_BYTE
|
||||||
|
# define BOOST_ENDIAN_BIG_BYTE BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Built-in byte-swpped little-endian macros.
|
||||||
|
*/
|
||||||
|
#if !BOOST_ENDIAN_BIG_BYTE && !BOOST_ENDIAN_BIG_WORD && \
|
||||||
|
!BOOST_ENDIAN_LITTLE_BYTE && !BOOST_ENDIAN_LITTLE_WORD
|
||||||
|
# if (defined(__LITTLE_ENDIAN__) && !defined(__BIG_ENDIAN__)) || \
|
||||||
|
(defined(_LITTLE_ENDIAN) && !defined(_BIG_ENDIAN)) || \
|
||||||
|
defined(__ARMEL__) || \
|
||||||
|
defined(__THUMBEL__) || \
|
||||||
|
defined(__AARCH64EL__) || \
|
||||||
|
defined(_MIPSEL) || \
|
||||||
|
defined(__MIPSEL) || \
|
||||||
|
defined(__MIPSEL__)
|
||||||
|
# undef BOOST_ENDIAN_LITTLE_BYTE
|
||||||
|
# define BOOST_ENDIAN_LITTLE_BYTE BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Some architectures are strictly one endianess (as opposed
|
||||||
|
* the current common bi-endianess).
|
||||||
|
*/
|
||||||
|
#if !BOOST_ENDIAN_BIG_BYTE && !BOOST_ENDIAN_BIG_WORD && \
|
||||||
|
!BOOST_ENDIAN_LITTLE_BYTE && !BOOST_ENDIAN_LITTLE_WORD
|
||||||
|
# include <boost/predef/architecture.h>
|
||||||
|
# if BOOST_ARCH_M68K || \
|
||||||
|
BOOST_ARCH_PARISC || \
|
||||||
|
BOOST_ARCH_SPARC || \
|
||||||
|
BOOST_ARCH_SYS370 || \
|
||||||
|
BOOST_ARCH_SYS390 || \
|
||||||
|
BOOST_ARCH_Z
|
||||||
|
# undef BOOST_ENDIAN_BIG_BYTE
|
||||||
|
# define BOOST_ENDIAN_BIG_BYTE BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# if BOOST_ARCH_AMD64 || \
|
||||||
|
BOOST_ARCH_IA64 || \
|
||||||
|
BOOST_ARCH_X86 || \
|
||||||
|
BOOST_ARCH_BLACKFIN
|
||||||
|
# undef BOOST_ENDIAN_LITTLE_BYTE
|
||||||
|
# define BOOST_ENDIAN_LITTLE_BYTE BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Windows on ARM, if not otherwise detected/specified, is always
|
||||||
|
* byte-swaped little-endian.
|
||||||
|
*/
|
||||||
|
#if !BOOST_ENDIAN_BIG_BYTE && !BOOST_ENDIAN_BIG_WORD && \
|
||||||
|
!BOOST_ENDIAN_LITTLE_BYTE && !BOOST_ENDIAN_LITTLE_WORD
|
||||||
|
# if BOOST_ARCH_ARM
|
||||||
|
# include <boost/predef/os/windows.h>
|
||||||
|
# if BOOST_OS_WINDOWS
|
||||||
|
# undef BOOST_ENDIAN_LITTLE_BYTE
|
||||||
|
# define BOOST_ENDIAN_LITTLE_BYTE BOOST_VERSION_NUMBER_AVAILABLE
|
||||||
|
# endif
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if BOOST_ENDIAN_BIG_BYTE
|
||||||
|
# define BOOST_ENDIAN_BIG_BYTE_AVAILABLE
|
||||||
|
#endif
|
||||||
|
#if BOOST_ENDIAN_BIG_WORD
|
||||||
|
# define BOOST_ENDIAN_BIG_WORD_BYTE_AVAILABLE
|
||||||
|
#endif
|
||||||
|
#if BOOST_ENDIAN_LITTLE_BYTE
|
||||||
|
# define BOOST_ENDIAN_LITTLE_BYTE_AVAILABLE
|
||||||
|
#endif
|
||||||
|
#if BOOST_ENDIAN_LITTLE_WORD
|
||||||
|
# define BOOST_ENDIAN_LITTLE_WORD_BYTE_AVAILABLE
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BOOST_ENDIAN_BIG_BYTE_NAME "Byte-Swapped Big-Endian"
|
||||||
|
#define BOOST_ENDIAN_BIG_WORD_NAME "Word-Swapped Big-Endian"
|
||||||
|
#define BOOST_ENDIAN_LITTLE_BYTE_NAME "Byte-Swapped Little-Endian"
|
||||||
|
#define BOOST_ENDIAN_LITTLE_WORD_NAME "Word-Swapped Little-Endian"
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_ENDIAN_BIG_BYTE,BOOST_ENDIAN_BIG_BYTE_NAME)
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_ENDIAN_BIG_WORD,BOOST_ENDIAN_BIG_WORD_NAME)
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_ENDIAN_LITTLE_BYTE,BOOST_ENDIAN_LITTLE_BYTE_NAME)
|
||||||
|
|
||||||
|
#include <boost/predef/detail/test.h>
|
||||||
|
BOOST_PREDEF_DECLARE_TEST(BOOST_ENDIAN_LITTLE_WORD,BOOST_ENDIAN_LITTLE_WORD_NAME)
|
||||||
@@ -0,0 +1,53 @@
|
|||||||
|
/*
|
||||||
|
Copyright Rene Rivera 2005, 2008-2013
|
||||||
|
Distributed under the Boost Software License, Version 1.0.
|
||||||
|
(See accompanying file LICENSE_1_0.txt or copy at
|
||||||
|
http://www.boost.org/LICENSE_1_0.txt)
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOOST_PREDEF_VERSION_NUMBER_H
|
||||||
|
#define BOOST_PREDEF_VERSION_NUMBER_H
|
||||||
|
|
||||||
|
/*`
|
||||||
|
[heading `BOOST_VERSION_NUMBER`]
|
||||||
|
|
||||||
|
``
|
||||||
|
BOOST_VERSION_NUMBER(major,minor,patch)
|
||||||
|
``
|
||||||
|
|
||||||
|
Defines standard version numbers, with these properties:
|
||||||
|
|
||||||
|
* Decimal base whole numbers in the range \[0,1000000000).
|
||||||
|
The number range is designed to allow for a (2,2,5) triplet.
|
||||||
|
Which fits within a 32 bit value.
|
||||||
|
* The `major` number can be in the \[0,99\] range.
|
||||||
|
* The `minor` number can be in the \[0,99\] range.
|
||||||
|
* The `patch` number can be in the \[0,99999\] range.
|
||||||
|
* Values can be specified in any base. As the defined value
|
||||||
|
is an constant expression.
|
||||||
|
* Value can be directly used in both preprocessor and compiler
|
||||||
|
expressions for comparison to other similarly defined values.
|
||||||
|
* The implementation enforces the individual ranges for the
|
||||||
|
major, minor, and patch numbers. And values over the ranges
|
||||||
|
are truncated (modulo).
|
||||||
|
|
||||||
|
*/
|
||||||
|
#define BOOST_VERSION_NUMBER(major,minor,patch) \
|
||||||
|
( (((major)%100)*10000000) + (((minor)%100)*100000) + ((patch)%100000) )
|
||||||
|
|
||||||
|
#define BOOST_VERSION_NUMBER_MAX \
|
||||||
|
BOOST_VERSION_NUMBER(99,99,99999)
|
||||||
|
|
||||||
|
#define BOOST_VERSION_NUMBER_ZERO \
|
||||||
|
BOOST_VERSION_NUMBER(0,0,0)
|
||||||
|
|
||||||
|
#define BOOST_VERSION_NUMBER_MIN \
|
||||||
|
BOOST_VERSION_NUMBER(0,0,1)
|
||||||
|
|
||||||
|
#define BOOST_VERSION_NUMBER_AVAILABLE \
|
||||||
|
BOOST_VERSION_NUMBER_MIN
|
||||||
|
|
||||||
|
#define BOOST_VERSION_NUMBER_NOT_AVAILABLE \
|
||||||
|
BOOST_VERSION_NUMBER_ZERO
|
||||||
|
|
||||||
|
#endif
|
||||||
699
src/vision_opencv/cv_bridge/src/cv_bridge.cpp
Normal file
699
src/vision_opencv/cv_bridge/src/cv_bridge.cpp
Normal file
@@ -0,0 +1,699 @@
|
|||||||
|
/*********************************************************************
|
||||||
|
* Software License Agreement (BSD License)
|
||||||
|
*
|
||||||
|
* Copyright (c) 2011, Willow Garage, Inc.
|
||||||
|
* Copyright (c) 2015, Tal Regev.
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* * Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* * Redistributions in binary form must reproduce the above
|
||||||
|
* copyright notice, this list of conditions and the following
|
||||||
|
* disclaimer in the documentation and/or other materials provided
|
||||||
|
* with the distribution.
|
||||||
|
* * Neither the name of the Willow Garage nor the names of its
|
||||||
|
* contributors may be used to endorse or promote products derived
|
||||||
|
* from this software without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||||
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*********************************************************************/
|
||||||
|
|
||||||
|
#include "boost/endian/conversion.hpp"
|
||||||
|
|
||||||
|
#include <map>
|
||||||
|
|
||||||
|
#include <boost/make_shared.hpp>
|
||||||
|
#include <boost/regex.hpp>
|
||||||
|
|
||||||
|
#include <opencv2/imgcodecs.hpp>
|
||||||
|
#include <opencv2/imgproc/imgproc.hpp>
|
||||||
|
|
||||||
|
#include <sensor_msgs/image_encodings.h>
|
||||||
|
|
||||||
|
#include <cv_bridge/cv_bridge.h>
|
||||||
|
#include <cv_bridge/rgb_colors.h>
|
||||||
|
|
||||||
|
namespace enc = sensor_msgs::image_encodings;
|
||||||
|
|
||||||
|
namespace cv_bridge {
|
||||||
|
|
||||||
|
static int depthStrToInt(const std::string depth) {
|
||||||
|
if (depth == "8U") {
|
||||||
|
return 0;
|
||||||
|
} else if (depth == "8S") {
|
||||||
|
return 1;
|
||||||
|
} else if (depth == "16U") {
|
||||||
|
return 2;
|
||||||
|
} else if (depth == "16S") {
|
||||||
|
return 3;
|
||||||
|
} else if (depth == "32S") {
|
||||||
|
return 4;
|
||||||
|
} else if (depth == "32F") {
|
||||||
|
return 5;
|
||||||
|
}
|
||||||
|
return 6;
|
||||||
|
}
|
||||||
|
|
||||||
|
int getCvType(const std::string& encoding)
|
||||||
|
{
|
||||||
|
// Check for the most common encodings first
|
||||||
|
if (encoding == enc::BGR8) return CV_8UC3;
|
||||||
|
if (encoding == enc::MONO8) return CV_8UC1;
|
||||||
|
if (encoding == enc::RGB8) return CV_8UC3;
|
||||||
|
if (encoding == enc::MONO16) return CV_16UC1;
|
||||||
|
if (encoding == enc::BGR16) return CV_16UC3;
|
||||||
|
if (encoding == enc::RGB16) return CV_16UC3;
|
||||||
|
if (encoding == enc::BGRA8) return CV_8UC4;
|
||||||
|
if (encoding == enc::RGBA8) return CV_8UC4;
|
||||||
|
if (encoding == enc::BGRA16) return CV_16UC4;
|
||||||
|
if (encoding == enc::RGBA16) return CV_16UC4;
|
||||||
|
|
||||||
|
// For bayer, return one-channel
|
||||||
|
if (encoding == enc::BAYER_RGGB8) return CV_8UC1;
|
||||||
|
if (encoding == enc::BAYER_BGGR8) return CV_8UC1;
|
||||||
|
if (encoding == enc::BAYER_GBRG8) return CV_8UC1;
|
||||||
|
if (encoding == enc::BAYER_GRBG8) return CV_8UC1;
|
||||||
|
if (encoding == enc::BAYER_RGGB16) return CV_16UC1;
|
||||||
|
if (encoding == enc::BAYER_BGGR16) return CV_16UC1;
|
||||||
|
if (encoding == enc::BAYER_GBRG16) return CV_16UC1;
|
||||||
|
if (encoding == enc::BAYER_GRBG16) return CV_16UC1;
|
||||||
|
|
||||||
|
// Miscellaneous
|
||||||
|
if (encoding == enc::YUV422) return CV_8UC2;
|
||||||
|
|
||||||
|
// Check all the generic content encodings
|
||||||
|
boost::cmatch m;
|
||||||
|
|
||||||
|
if (boost::regex_match(encoding.c_str(), m,
|
||||||
|
boost::regex("(8U|8S|16U|16S|32S|32F|64F)C([0-9]+)"))) {
|
||||||
|
return CV_MAKETYPE(depthStrToInt(m[1].str()), atoi(m[2].str().c_str()));
|
||||||
|
}
|
||||||
|
|
||||||
|
if (boost::regex_match(encoding.c_str(), m,
|
||||||
|
boost::regex("(8U|8S|16U|16S|32S|32F|64F)"))) {
|
||||||
|
return CV_MAKETYPE(depthStrToInt(m[1].str()), 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
throw Exception("Unrecognized image encoding [" + encoding + "]");
|
||||||
|
}
|
||||||
|
|
||||||
|
/// @cond DOXYGEN_IGNORE
|
||||||
|
|
||||||
|
enum Encoding { INVALID = -1, GRAY = 0, RGB, BGR, RGBA, BGRA, YUV422, BAYER_RGGB, BAYER_BGGR, BAYER_GBRG, BAYER_GRBG};
|
||||||
|
|
||||||
|
Encoding getEncoding(const std::string& encoding)
|
||||||
|
{
|
||||||
|
if ((encoding == enc::MONO8) || (encoding == enc::MONO16)) return GRAY;
|
||||||
|
if ((encoding == enc::BGR8) || (encoding == enc::BGR16)) return BGR;
|
||||||
|
if ((encoding == enc::RGB8) || (encoding == enc::RGB16)) return RGB;
|
||||||
|
if ((encoding == enc::BGRA8) || (encoding == enc::BGRA16)) return BGRA;
|
||||||
|
if ((encoding == enc::RGBA8) || (encoding == enc::RGBA16)) return RGBA;
|
||||||
|
if (encoding == enc::YUV422) return YUV422;
|
||||||
|
|
||||||
|
if ((encoding == enc::BAYER_RGGB8) || (encoding == enc::BAYER_RGGB16)) return BAYER_RGGB;
|
||||||
|
if ((encoding == enc::BAYER_BGGR8) || (encoding == enc::BAYER_BGGR16)) return BAYER_BGGR;
|
||||||
|
if ((encoding == enc::BAYER_GBRG8) || (encoding == enc::BAYER_GBRG16)) return BAYER_GBRG;
|
||||||
|
if ((encoding == enc::BAYER_GRBG8) || (encoding == enc::BAYER_GRBG16)) return BAYER_GRBG;
|
||||||
|
|
||||||
|
// We don't support conversions to/from other types
|
||||||
|
return INVALID;
|
||||||
|
}
|
||||||
|
|
||||||
|
static const int SAME_FORMAT = -1;
|
||||||
|
|
||||||
|
/** Return a lit of OpenCV conversion codes to get from one Format to the other
|
||||||
|
* The key is a pair: <FromFormat, ToFormat> and the value a succession of OpenCV code conversion
|
||||||
|
* It's not efficient code but it is only called once and the structure is small enough
|
||||||
|
*/
|
||||||
|
std::map<std::pair<Encoding, Encoding>, std::vector<int> > getConversionCodes() {
|
||||||
|
std::map<std::pair<Encoding, Encoding>, std::vector<int> > res;
|
||||||
|
for(int i=0; i<=5; ++i)
|
||||||
|
res[std::pair<Encoding, Encoding>(Encoding(i),Encoding(i))].push_back(SAME_FORMAT);
|
||||||
|
|
||||||
|
res[std::make_pair(GRAY, RGB)].push_back(cv::COLOR_GRAY2RGB);
|
||||||
|
res[std::make_pair(GRAY, BGR)].push_back(cv::COLOR_GRAY2BGR);
|
||||||
|
res[std::make_pair(GRAY, RGBA)].push_back(cv::COLOR_GRAY2RGBA);
|
||||||
|
res[std::make_pair(GRAY, BGRA)].push_back(cv::COLOR_GRAY2BGRA);
|
||||||
|
|
||||||
|
res[std::make_pair(RGB, GRAY)].push_back(cv::COLOR_RGB2GRAY);
|
||||||
|
res[std::make_pair(RGB, BGR)].push_back(cv::COLOR_RGB2BGR);
|
||||||
|
res[std::make_pair(RGB, RGBA)].push_back(cv::COLOR_RGB2RGBA);
|
||||||
|
res[std::make_pair(RGB, BGRA)].push_back(cv::COLOR_RGB2BGRA);
|
||||||
|
|
||||||
|
res[std::make_pair(BGR, GRAY)].push_back(cv::COLOR_BGR2GRAY);
|
||||||
|
res[std::make_pair(BGR, RGB)].push_back(cv::COLOR_BGR2RGB);
|
||||||
|
res[std::make_pair(BGR, RGBA)].push_back(cv::COLOR_BGR2RGBA);
|
||||||
|
res[std::make_pair(BGR, BGRA)].push_back(cv::COLOR_BGR2BGRA);
|
||||||
|
|
||||||
|
res[std::make_pair(RGBA, GRAY)].push_back(cv::COLOR_RGBA2GRAY);
|
||||||
|
res[std::make_pair(RGBA, RGB)].push_back(cv::COLOR_RGBA2RGB);
|
||||||
|
res[std::make_pair(RGBA, BGR)].push_back(cv::COLOR_RGBA2BGR);
|
||||||
|
res[std::make_pair(RGBA, BGRA)].push_back(cv::COLOR_RGBA2BGRA);
|
||||||
|
|
||||||
|
res[std::make_pair(BGRA, GRAY)].push_back(cv::COLOR_BGRA2GRAY);
|
||||||
|
res[std::make_pair(BGRA, RGB)].push_back(cv::COLOR_BGRA2RGB);
|
||||||
|
res[std::make_pair(BGRA, BGR)].push_back(cv::COLOR_BGRA2BGR);
|
||||||
|
res[std::make_pair(BGRA, RGBA)].push_back(cv::COLOR_BGRA2RGBA);
|
||||||
|
|
||||||
|
res[std::make_pair(YUV422, GRAY)].push_back(cv::COLOR_YUV2GRAY_UYVY);
|
||||||
|
res[std::make_pair(YUV422, RGB)].push_back(cv::COLOR_YUV2RGB_UYVY);
|
||||||
|
res[std::make_pair(YUV422, BGR)].push_back(cv::COLOR_YUV2BGR_UYVY);
|
||||||
|
res[std::make_pair(YUV422, RGBA)].push_back(cv::COLOR_YUV2RGBA_UYVY);
|
||||||
|
res[std::make_pair(YUV422, BGRA)].push_back(cv::COLOR_YUV2BGRA_UYVY);
|
||||||
|
|
||||||
|
// Deal with Bayer
|
||||||
|
res[std::make_pair(BAYER_RGGB, GRAY)].push_back(cv::COLOR_BayerBG2GRAY);
|
||||||
|
res[std::make_pair(BAYER_RGGB, RGB)].push_back(cv::COLOR_BayerBG2RGB);
|
||||||
|
res[std::make_pair(BAYER_RGGB, BGR)].push_back(cv::COLOR_BayerBG2BGR);
|
||||||
|
|
||||||
|
res[std::make_pair(BAYER_BGGR, GRAY)].push_back(cv::COLOR_BayerRG2GRAY);
|
||||||
|
res[std::make_pair(BAYER_BGGR, RGB)].push_back(cv::COLOR_BayerRG2RGB);
|
||||||
|
res[std::make_pair(BAYER_BGGR, BGR)].push_back(cv::COLOR_BayerRG2BGR);
|
||||||
|
|
||||||
|
res[std::make_pair(BAYER_GBRG, GRAY)].push_back(cv::COLOR_BayerGR2GRAY);
|
||||||
|
res[std::make_pair(BAYER_GBRG, RGB)].push_back(cv::COLOR_BayerGR2RGB);
|
||||||
|
res[std::make_pair(BAYER_GBRG, BGR)].push_back(cv::COLOR_BayerGR2BGR);
|
||||||
|
|
||||||
|
res[std::make_pair(BAYER_GRBG, GRAY)].push_back(cv::COLOR_BayerGB2GRAY);
|
||||||
|
res[std::make_pair(BAYER_GRBG, RGB)].push_back(cv::COLOR_BayerGB2RGB);
|
||||||
|
res[std::make_pair(BAYER_GRBG, BGR)].push_back(cv::COLOR_BayerGB2BGR);
|
||||||
|
|
||||||
|
return res;
|
||||||
|
}
|
||||||
|
|
||||||
|
const std::vector<int> getConversionCode(std::string src_encoding, std::string dst_encoding)
|
||||||
|
{
|
||||||
|
Encoding src_encod = getEncoding(src_encoding);
|
||||||
|
Encoding dst_encod = getEncoding(dst_encoding);
|
||||||
|
bool is_src_color_format = enc::isColor(src_encoding) || enc::isMono(src_encoding) ||
|
||||||
|
enc::isBayer(src_encoding) || (src_encoding == enc::YUV422);
|
||||||
|
bool is_dst_color_format = enc::isColor(dst_encoding) || enc::isMono(dst_encoding) ||
|
||||||
|
enc::isBayer(dst_encoding) || (dst_encoding == enc::YUV422);
|
||||||
|
bool is_num_channels_the_same = (enc::numChannels(src_encoding) == enc::numChannels(dst_encoding));
|
||||||
|
|
||||||
|
// If we have no color info in the source, we can only convert to the same format which
|
||||||
|
// was resolved in the previous condition. Otherwise, fail
|
||||||
|
if (!is_src_color_format) {
|
||||||
|
if (is_dst_color_format)
|
||||||
|
throw Exception("[" + src_encoding + "] is not a color format. but [" + dst_encoding +
|
||||||
|
"] is. The conversion does not make sense");
|
||||||
|
if (!is_num_channels_the_same)
|
||||||
|
throw Exception("[" + src_encoding + "] and [" + dst_encoding + "] do not have the same number of channel");
|
||||||
|
return std::vector<int>(1, SAME_FORMAT);
|
||||||
|
}
|
||||||
|
|
||||||
|
// If we are converting from a color type to a non color type, we can only do so if we stick
|
||||||
|
// to the number of channels
|
||||||
|
if (!is_dst_color_format) {
|
||||||
|
if (!is_num_channels_the_same)
|
||||||
|
throw Exception("[" + src_encoding + "] is a color format but [" + dst_encoding + "] " +
|
||||||
|
"is not so they must have the same OpenCV type, CV_8UC3, CV16UC1 ....");
|
||||||
|
return std::vector<int>(1, SAME_FORMAT);
|
||||||
|
}
|
||||||
|
|
||||||
|
// If we are converting from a color type to another type, then everything is fine
|
||||||
|
static const std::map<std::pair<Encoding, Encoding>, std::vector<int> > CONVERSION_CODES = getConversionCodes();
|
||||||
|
|
||||||
|
std::pair<Encoding, Encoding> key(src_encod, dst_encod);
|
||||||
|
std::map<std::pair<Encoding, Encoding>, std::vector<int> >::const_iterator val = CONVERSION_CODES.find(key);
|
||||||
|
if (val == CONVERSION_CODES.end())
|
||||||
|
throw Exception("Unsupported conversion from [" + src_encoding +
|
||||||
|
"] to [" + dst_encoding + "]");
|
||||||
|
|
||||||
|
// And deal with depth differences if the colors are different
|
||||||
|
std::vector<int> res = val->second;
|
||||||
|
if ((enc::bitDepth(src_encoding) != enc::bitDepth(dst_encoding)) && (getEncoding(src_encoding) != getEncoding(dst_encoding)))
|
||||||
|
res.push_back(SAME_FORMAT);
|
||||||
|
|
||||||
|
return res;
|
||||||
|
}
|
||||||
|
|
||||||
|
/////////////////////////////////////// Image ///////////////////////////////////////////
|
||||||
|
|
||||||
|
// Converts a ROS Image to a cv::Mat by sharing the data or changing its endianness if needed
|
||||||
|
cv::Mat matFromImage(const sensor_msgs::Image& source)
|
||||||
|
{
|
||||||
|
int source_type = getCvType(source.encoding);
|
||||||
|
int byte_depth = enc::bitDepth(source.encoding) / 8;
|
||||||
|
int num_channels = enc::numChannels(source.encoding);
|
||||||
|
|
||||||
|
if (source.step < source.width * byte_depth * num_channels)
|
||||||
|
{
|
||||||
|
std::stringstream ss;
|
||||||
|
ss << "Image is wrongly formed: step < width * byte_depth * num_channels or " << source.step << " != " <<
|
||||||
|
source.width << " * " << byte_depth << " * " << num_channels;
|
||||||
|
throw Exception(ss.str());
|
||||||
|
}
|
||||||
|
|
||||||
|
if (source.height * source.step != source.data.size())
|
||||||
|
{
|
||||||
|
std::stringstream ss;
|
||||||
|
ss << "Image is wrongly formed: height * step != size or " << source.height << " * " <<
|
||||||
|
source.step << " != " << source.data.size();
|
||||||
|
throw Exception(ss.str());
|
||||||
|
}
|
||||||
|
|
||||||
|
// If the endianness is the same as locally, share the data
|
||||||
|
cv::Mat mat(source.height, source.width, source_type, const_cast<uchar*>(&source.data[0]), source.step);
|
||||||
|
if ((boost::endian::order::native == boost::endian::order::big && source.is_bigendian) ||
|
||||||
|
(boost::endian::order::native == boost::endian::order::little && !source.is_bigendian) ||
|
||||||
|
byte_depth == 1)
|
||||||
|
return mat;
|
||||||
|
|
||||||
|
// Otherwise, reinterpret the data as bytes and switch the channels accordingly
|
||||||
|
mat = cv::Mat(source.height, source.width, CV_MAKETYPE(CV_8U, num_channels*byte_depth),
|
||||||
|
const_cast<uchar*>(&source.data[0]), source.step);
|
||||||
|
cv::Mat mat_swap(source.height, source.width, mat.type());
|
||||||
|
|
||||||
|
std::vector<int> fromTo;
|
||||||
|
fromTo.reserve(num_channels*byte_depth);
|
||||||
|
for(int i = 0; i < num_channels; ++i)
|
||||||
|
for(int j = 0; j < byte_depth; ++j)
|
||||||
|
{
|
||||||
|
fromTo.push_back(byte_depth*i + j);
|
||||||
|
fromTo.push_back(byte_depth*i + byte_depth - 1 - j);
|
||||||
|
}
|
||||||
|
cv::mixChannels(std::vector<cv::Mat>(1, mat), std::vector<cv::Mat>(1, mat_swap), fromTo);
|
||||||
|
|
||||||
|
// Interpret mat_swap back as the proper type
|
||||||
|
mat_swap.reshape(num_channels);
|
||||||
|
|
||||||
|
return mat_swap;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Internal, used by toCvCopy and cvtColor
|
||||||
|
CvImagePtr toCvCopyImpl(const cv::Mat& source,
|
||||||
|
const std_msgs::Header& src_header,
|
||||||
|
const std::string& src_encoding,
|
||||||
|
const std::string& dst_encoding)
|
||||||
|
{
|
||||||
|
// Copy metadata
|
||||||
|
CvImagePtr ptr = boost::make_shared<CvImage>();
|
||||||
|
ptr->header = src_header;
|
||||||
|
|
||||||
|
// Copy to new buffer if same encoding requested
|
||||||
|
if (dst_encoding.empty() || dst_encoding == src_encoding)
|
||||||
|
{
|
||||||
|
ptr->encoding = src_encoding;
|
||||||
|
source.copyTo(ptr->image);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// Convert the source data to the desired encoding
|
||||||
|
const std::vector<int> conversion_codes = getConversionCode(src_encoding, dst_encoding);
|
||||||
|
cv::Mat image1 = source;
|
||||||
|
cv::Mat image2;
|
||||||
|
for(size_t i=0; i<conversion_codes.size(); ++i) {
|
||||||
|
int conversion_code = conversion_codes[i];
|
||||||
|
if (conversion_code == SAME_FORMAT)
|
||||||
|
{
|
||||||
|
// Same number of channels, but different bit depth
|
||||||
|
int src_depth = enc::bitDepth(src_encoding);
|
||||||
|
int dst_depth = enc::bitDepth(dst_encoding);
|
||||||
|
// Keep the number of channels for now but changed to the final depth
|
||||||
|
int image2_type = CV_MAKETYPE(CV_MAT_DEPTH(getCvType(dst_encoding)), image1.channels());
|
||||||
|
|
||||||
|
// Do scaling between CV_8U [0,255] and CV_16U [0,65535] images.
|
||||||
|
if (src_depth == 8 && dst_depth == 16)
|
||||||
|
image1.convertTo(image2, image2_type, 65535. / 255.);
|
||||||
|
else if (src_depth == 16 && dst_depth == 8)
|
||||||
|
image1.convertTo(image2, image2_type, 255. / 65535.);
|
||||||
|
else
|
||||||
|
image1.convertTo(image2, image2_type);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// Perform color conversion
|
||||||
|
cv::cvtColor(image1, image2, conversion_code);
|
||||||
|
}
|
||||||
|
image1 = image2;
|
||||||
|
}
|
||||||
|
ptr->image = image2;
|
||||||
|
ptr->encoding = dst_encoding;
|
||||||
|
}
|
||||||
|
|
||||||
|
return ptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// @endcond
|
||||||
|
|
||||||
|
sensor_msgs::ImagePtr CvImage::toImageMsg() const
|
||||||
|
{
|
||||||
|
sensor_msgs::ImagePtr ptr = boost::make_shared<sensor_msgs::Image>();
|
||||||
|
toImageMsg(*ptr);
|
||||||
|
return ptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
void CvImage::toImageMsg(sensor_msgs::Image& ros_image) const
|
||||||
|
{
|
||||||
|
ros_image.header = header;
|
||||||
|
ros_image.height = image.rows;
|
||||||
|
ros_image.width = image.cols;
|
||||||
|
ros_image.encoding = encoding;
|
||||||
|
ros_image.is_bigendian = (boost::endian::order::native == boost::endian::order::big);
|
||||||
|
ros_image.step = image.cols * image.elemSize();
|
||||||
|
size_t size = ros_image.step * image.rows;
|
||||||
|
ros_image.data.resize(size);
|
||||||
|
|
||||||
|
if (image.isContinuous())
|
||||||
|
{
|
||||||
|
memcpy((char*)(&ros_image.data[0]), image.data, size);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// Copy by row by row
|
||||||
|
uchar* ros_data_ptr = (uchar*)(&ros_image.data[0]);
|
||||||
|
uchar* cv_data_ptr = image.data;
|
||||||
|
for (int i = 0; i < image.rows; ++i)
|
||||||
|
{
|
||||||
|
memcpy(ros_data_ptr, cv_data_ptr, ros_image.step);
|
||||||
|
ros_data_ptr += ros_image.step;
|
||||||
|
cv_data_ptr += image.step;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Deep copy data, returnee is mutable
|
||||||
|
CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr& source,
|
||||||
|
const std::string& encoding)
|
||||||
|
{
|
||||||
|
return toCvCopy(*source, encoding);
|
||||||
|
}
|
||||||
|
|
||||||
|
CvImagePtr toCvCopy(const sensor_msgs::Image& source,
|
||||||
|
const std::string& encoding)
|
||||||
|
{
|
||||||
|
// Construct matrix pointing to source data
|
||||||
|
return toCvCopyImpl(matFromImage(source), source.header, source.encoding, encoding);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Share const data, returnee is immutable
|
||||||
|
CvImageConstPtr toCvShare(const sensor_msgs::ImageConstPtr& source,
|
||||||
|
const std::string& encoding)
|
||||||
|
{
|
||||||
|
return toCvShare(*source, source, encoding);
|
||||||
|
}
|
||||||
|
|
||||||
|
CvImageConstPtr toCvShare(const sensor_msgs::Image& source,
|
||||||
|
const boost::shared_ptr<void const>& tracked_object,
|
||||||
|
const std::string& encoding)
|
||||||
|
{
|
||||||
|
// If the encoding different or the endianness different, you have to copy
|
||||||
|
if ((!encoding.empty() && source.encoding != encoding) || (source.is_bigendian &&
|
||||||
|
(boost::endian::order::native != boost::endian::order::big)))
|
||||||
|
return toCvCopy(source, encoding);
|
||||||
|
|
||||||
|
CvImagePtr ptr = boost::make_shared<CvImage>();
|
||||||
|
ptr->header = source.header;
|
||||||
|
ptr->encoding = source.encoding;
|
||||||
|
ptr->tracked_object_ = tracked_object;
|
||||||
|
ptr->image = matFromImage(source);
|
||||||
|
return ptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
CvImagePtr cvtColor(const CvImageConstPtr& source,
|
||||||
|
const std::string& encoding)
|
||||||
|
{
|
||||||
|
return toCvCopyImpl(source->image, source->header, source->encoding, encoding);
|
||||||
|
}
|
||||||
|
|
||||||
|
/////////////////////////////////////// CompressedImage ///////////////////////////////////////////
|
||||||
|
|
||||||
|
sensor_msgs::CompressedImagePtr CvImage::toCompressedImageMsg(const Format dst_format) const
|
||||||
|
{
|
||||||
|
sensor_msgs::CompressedImagePtr ptr = boost::make_shared<sensor_msgs::CompressedImage>();
|
||||||
|
toCompressedImageMsg(*ptr,dst_format);
|
||||||
|
return ptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
std::string getFormat(Format format) {
|
||||||
|
|
||||||
|
switch (format) {
|
||||||
|
case DIB:
|
||||||
|
return "dib";
|
||||||
|
case BMP:
|
||||||
|
return "bmp";
|
||||||
|
case JPG:
|
||||||
|
return "jpg";
|
||||||
|
case JPEG:
|
||||||
|
return "jpeg";
|
||||||
|
case JPE:
|
||||||
|
return "jpe";
|
||||||
|
case JP2:
|
||||||
|
return "jp2";
|
||||||
|
case PNG:
|
||||||
|
return "png";
|
||||||
|
case PBM:
|
||||||
|
return "pbm";
|
||||||
|
case PGM:
|
||||||
|
return "pgm";
|
||||||
|
case PPM:
|
||||||
|
return "ppm";
|
||||||
|
case RAS:
|
||||||
|
return "ras";
|
||||||
|
case SR:
|
||||||
|
return "sr";
|
||||||
|
case TIF:
|
||||||
|
return "tif";
|
||||||
|
case TIFF:
|
||||||
|
return "tiff";
|
||||||
|
}
|
||||||
|
|
||||||
|
throw Exception("Unrecognized image format");
|
||||||
|
}
|
||||||
|
|
||||||
|
void CvImage::toCompressedImageMsg(sensor_msgs::CompressedImage& ros_image, const Format dst_format) const
|
||||||
|
{
|
||||||
|
ros_image.header = header;
|
||||||
|
cv::Mat image;
|
||||||
|
if (encoding == enc::BGR8 || encoding == enc::BGRA8)
|
||||||
|
{
|
||||||
|
image = this->image;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
CvImagePtr tempThis = boost::make_shared<CvImage>(*this);
|
||||||
|
CvImagePtr temp;
|
||||||
|
if (enc::hasAlpha(encoding))
|
||||||
|
{
|
||||||
|
temp = cvtColor(tempThis, enc::BGRA8);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
temp = cvtColor(tempThis, enc::BGR8);
|
||||||
|
}
|
||||||
|
image = temp->image;
|
||||||
|
}
|
||||||
|
|
||||||
|
std::string format = getFormat(dst_format);
|
||||||
|
ros_image.format = format;
|
||||||
|
cv::imencode("." + format, image, ros_image.data);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Deep copy data, returnee is mutable
|
||||||
|
CvImagePtr toCvCopy(const sensor_msgs::CompressedImageConstPtr& source,
|
||||||
|
const std::string& encoding)
|
||||||
|
{
|
||||||
|
return toCvCopy(*source, encoding);
|
||||||
|
}
|
||||||
|
|
||||||
|
CvImagePtr toCvCopy(const sensor_msgs::CompressedImage& source, const std::string& encoding)
|
||||||
|
{
|
||||||
|
// Construct matrix pointing to source data
|
||||||
|
const cv::Mat_<uchar> in(1, source.data.size(), const_cast<uchar*>(&source.data[0]));
|
||||||
|
// Loads as BGR or BGRA.
|
||||||
|
const cv::Mat rgb_a = cv::imdecode(in, cv::IMREAD_UNCHANGED);
|
||||||
|
|
||||||
|
switch (rgb_a.channels())
|
||||||
|
{
|
||||||
|
case 4:
|
||||||
|
return toCvCopyImpl(rgb_a, source.header, enc::BGRA8, encoding);
|
||||||
|
break;
|
||||||
|
case 3:
|
||||||
|
return toCvCopyImpl(rgb_a, source.header, enc::BGR8, encoding);
|
||||||
|
break;
|
||||||
|
case 1:
|
||||||
|
return toCvCopyImpl(rgb_a, source.header, enc::MONO8, encoding);
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
return CvImagePtr();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
CvImageConstPtr cvtColorForDisplay(const CvImageConstPtr& source,
|
||||||
|
const std::string& encoding_out,
|
||||||
|
const CvtColorForDisplayOptions options)
|
||||||
|
{
|
||||||
|
double min_image_value = options.min_image_value;
|
||||||
|
double max_image_value = options.max_image_value;
|
||||||
|
|
||||||
|
if (!source)
|
||||||
|
throw Exception("cv_bridge.cvtColorForDisplay() called with empty image.");
|
||||||
|
// let's figure out what to do with the empty encoding
|
||||||
|
std::string encoding = encoding_out;
|
||||||
|
if (encoding.empty())
|
||||||
|
{
|
||||||
|
try
|
||||||
|
{
|
||||||
|
// Let's decide upon an output format
|
||||||
|
if (enc::numChannels(source->encoding) == 1)
|
||||||
|
{
|
||||||
|
if ((source->encoding == enc::TYPE_32SC1) ||
|
||||||
|
(enc::bitDepth(source->encoding) == 8) ||
|
||||||
|
(enc::bitDepth(source->encoding) == 16) ||
|
||||||
|
(enc::bitDepth(source->encoding) == 32))
|
||||||
|
encoding = enc::BGR8;
|
||||||
|
else
|
||||||
|
throw std::runtime_error("Unsupported depth of the source encoding " + encoding);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// We choose BGR by default here as we assume people will use OpenCV
|
||||||
|
if ((enc::bitDepth(source->encoding) == 8) ||
|
||||||
|
(enc::bitDepth(source->encoding) == 16))
|
||||||
|
encoding = enc::BGR8;
|
||||||
|
else
|
||||||
|
throw std::runtime_error("Unsupported depth of the source encoding " + encoding);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
// We could have cv_bridge exception or std_runtime_error from sensor_msgs::image_codings routines
|
||||||
|
catch (const std::runtime_error& e)
|
||||||
|
{
|
||||||
|
throw Exception("cv_bridge.cvtColorForDisplay() output encoding is empty and cannot be guessed.");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
if ((!enc::isColor(encoding_out) && !enc::isMono(encoding_out)) ||
|
||||||
|
(enc::bitDepth(encoding) != 8))
|
||||||
|
throw Exception("cv_bridge.cvtColorForDisplay() does not have an output encoding that is color or mono, and has is bit in depth");
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
// Convert label to bgr image
|
||||||
|
if (encoding == sensor_msgs::image_encodings::BGR8 &&
|
||||||
|
source->encoding == enc::TYPE_32SC1)
|
||||||
|
{
|
||||||
|
CvImagePtr result(new CvImage());
|
||||||
|
result->header = source->header;
|
||||||
|
result->encoding = encoding;
|
||||||
|
result->image = cv::Mat(source->image.rows, source->image.cols, CV_8UC3);
|
||||||
|
for (size_t j = 0; j < source->image.rows; ++j) {
|
||||||
|
for (size_t i = 0; i < source->image.cols; ++i) {
|
||||||
|
int label = source->image.at<int>(j, i);
|
||||||
|
if (label == options.bg_label) { // background label
|
||||||
|
result->image.at<cv::Vec3b>(j, i) = cv::Vec3b(0, 0, 0);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
cv::Vec3d rgb = rgb_colors::getRGBColor(label);
|
||||||
|
// result image should be BGR
|
||||||
|
result->image.at<cv::Vec3b>(j, i) = cv::Vec3b(int(rgb[2] * 255), int(rgb[1] * 255), int(rgb[0] * 255));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Perform scaling if asked for
|
||||||
|
if (options.do_dynamic_scaling)
|
||||||
|
{
|
||||||
|
cv::minMaxLoc(source->image, &min_image_value, &max_image_value);
|
||||||
|
if (min_image_value == max_image_value)
|
||||||
|
{
|
||||||
|
CvImagePtr result(new CvImage());
|
||||||
|
result->header = source->header;
|
||||||
|
result->encoding = encoding;
|
||||||
|
if (enc::bitDepth(encoding) == 1)
|
||||||
|
{
|
||||||
|
result->image = cv::Mat(source->image.size(), CV_8UC1);
|
||||||
|
result->image.setTo(255./2.);
|
||||||
|
} else {
|
||||||
|
result->image = cv::Mat(source->image.size(), CV_8UC3);
|
||||||
|
result->image.setTo(cv::Scalar(1., 1., 1.)*255./2.);
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (min_image_value != max_image_value)
|
||||||
|
{
|
||||||
|
if (enc::numChannels(source->encoding) != 1)
|
||||||
|
throw Exception("cv_bridge.cvtColorForDisplay() scaling for images with more than one channel is unsupported");
|
||||||
|
CvImagePtr img_scaled(new CvImage());
|
||||||
|
img_scaled->header = source->header;
|
||||||
|
if (options.colormap == -1) {
|
||||||
|
img_scaled->encoding = enc::MONO8;
|
||||||
|
cv::Mat(source->image-min_image_value).convertTo(img_scaled->image, CV_8UC1, 255.0 /
|
||||||
|
(max_image_value - min_image_value));
|
||||||
|
} else {
|
||||||
|
img_scaled->encoding = enc::BGR8;
|
||||||
|
cv::Mat(source->image-min_image_value).convertTo(img_scaled->image, CV_8UC3, 255.0 /
|
||||||
|
(max_image_value - min_image_value));
|
||||||
|
cv::applyColorMap(img_scaled->image, img_scaled->image, options.colormap);
|
||||||
|
// Fill black color to the nan region.
|
||||||
|
if (source->encoding == enc::TYPE_32FC1) {
|
||||||
|
for (size_t j = 0; j < source->image.rows; ++j) {
|
||||||
|
for (size_t i = 0; i < source->image.cols; ++i) {
|
||||||
|
float float_value = source->image.at<float>(j, i);
|
||||||
|
if (std::isnan(float_value)) {
|
||||||
|
img_scaled->image.at<cv::Vec3b>(j, i) = cv::Vec3b(0, 0, 0);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return cvtColor(img_scaled, encoding);
|
||||||
|
}
|
||||||
|
|
||||||
|
// If no color conversion is possible, we must "guess" the input format
|
||||||
|
CvImagePtr source_typed(new CvImage());
|
||||||
|
source_typed->image = source->image;
|
||||||
|
source_typed->header = source->header;
|
||||||
|
source_typed->encoding = source->encoding;
|
||||||
|
|
||||||
|
// If we get the OpenCV format, if we have 1,3 or 4 channels, we are most likely in mono, BGR or BGRA modes
|
||||||
|
if (source->encoding == "CV_8UC1")
|
||||||
|
source_typed->encoding = enc::MONO8;
|
||||||
|
else if (source->encoding == "16UC1")
|
||||||
|
source_typed->encoding = enc::MONO16;
|
||||||
|
else if (source->encoding == "CV_8UC3")
|
||||||
|
source_typed->encoding = enc::BGR8;
|
||||||
|
else if (source->encoding == "CV_8UC4")
|
||||||
|
source_typed->encoding = enc::BGRA8;
|
||||||
|
else if (source->encoding == "CV_16UC3")
|
||||||
|
source_typed->encoding = enc::BGR8;
|
||||||
|
else if (source->encoding == "CV_16UC4")
|
||||||
|
source_typed->encoding = enc::BGRA8;
|
||||||
|
|
||||||
|
// If no conversion is needed, don't convert
|
||||||
|
if (source_typed->encoding == encoding)
|
||||||
|
return source;
|
||||||
|
|
||||||
|
try
|
||||||
|
{
|
||||||
|
// Now that the output is a proper color format, try to see if any conversion is possible
|
||||||
|
return cvtColor(source_typed, encoding);
|
||||||
|
}
|
||||||
|
catch (cv_bridge::Exception& e)
|
||||||
|
{
|
||||||
|
throw Exception("cv_bridge.cvtColorForDisplay() while trying to convert image from '" + source->encoding + "' to '" + encoding + "' an exception was thrown (" + e.what() + ")");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
} //namespace cv_bridge
|
||||||
110
src/vision_opencv/cv_bridge/src/module.cpp
Normal file
110
src/vision_opencv/cv_bridge/src/module.cpp
Normal file
@@ -0,0 +1,110 @@
|
|||||||
|
/*********************************************************************
|
||||||
|
* Software License Agreement (BSD License)
|
||||||
|
*
|
||||||
|
* Copyright (c) 2012, Willow Garage, Inc.
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* * Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* * Redistributions in binary form must reproduce the above
|
||||||
|
* copyright notice, this list of conditions and the following
|
||||||
|
* disclaimer in the documentation and/or other materials provided
|
||||||
|
* with the distribution.
|
||||||
|
* * Neither the name of the Willow Garage nor the names of its
|
||||||
|
* contributors may be used to endorse or promote products derived
|
||||||
|
* from this software without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||||
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*********************************************************************/
|
||||||
|
|
||||||
|
#include "module.hpp"
|
||||||
|
|
||||||
|
PyObject *mod_opencv;
|
||||||
|
|
||||||
|
bp::object
|
||||||
|
cvtColor2Wrap(bp::object obj_in, const std::string & encoding_in, const std::string & encoding_out) {
|
||||||
|
// Convert the Python input to an image
|
||||||
|
cv::Mat mat_in;
|
||||||
|
convert_to_CvMat2(obj_in.ptr(), mat_in);
|
||||||
|
|
||||||
|
// Call cv_bridge for color conversion
|
||||||
|
cv_bridge::CvImagePtr cv_image(new cv_bridge::CvImage(std_msgs::Header(), encoding_in, mat_in));
|
||||||
|
|
||||||
|
cv::Mat mat = cv_bridge::cvtColor(cv_image, encoding_out)->image;
|
||||||
|
|
||||||
|
return bp::object(boost::python::handle<>(pyopencv_from(mat)));
|
||||||
|
}
|
||||||
|
|
||||||
|
bp::object
|
||||||
|
cvtColorForDisplayWrap(bp::object obj_in,
|
||||||
|
const std::string & encoding_in,
|
||||||
|
const std::string & encoding_out,
|
||||||
|
bool do_dynamic_scaling = false,
|
||||||
|
double min_image_value = 0.0,
|
||||||
|
double max_image_value = 0.0) {
|
||||||
|
// Convert the Python input to an image
|
||||||
|
cv::Mat mat_in;
|
||||||
|
convert_to_CvMat2(obj_in.ptr(), mat_in);
|
||||||
|
|
||||||
|
cv_bridge::CvImagePtr cv_image(new cv_bridge::CvImage(std_msgs::Header(), encoding_in, mat_in));
|
||||||
|
|
||||||
|
cv_bridge::CvtColorForDisplayOptions options;
|
||||||
|
options.do_dynamic_scaling = do_dynamic_scaling;
|
||||||
|
options.min_image_value = min_image_value;
|
||||||
|
options.max_image_value = max_image_value;
|
||||||
|
cv::Mat mat = cv_bridge::cvtColorForDisplay(/*source=*/cv_image,
|
||||||
|
/*encoding_out=*/encoding_out,
|
||||||
|
/*options=*/options)->image;
|
||||||
|
|
||||||
|
return bp::object(boost::python::handle<>(pyopencv_from(mat)));
|
||||||
|
}
|
||||||
|
|
||||||
|
BOOST_PYTHON_FUNCTION_OVERLOADS(cvtColorForDisplayWrap_overloads, cvtColorForDisplayWrap, 3, 6)
|
||||||
|
|
||||||
|
int CV_MAT_CNWrap(int i) {
|
||||||
|
return CV_MAT_CN(i);
|
||||||
|
}
|
||||||
|
|
||||||
|
int CV_MAT_DEPTHWrap(int i) {
|
||||||
|
return CV_MAT_DEPTH(i);
|
||||||
|
}
|
||||||
|
|
||||||
|
BOOST_PYTHON_MODULE(cv_bridge_boost)
|
||||||
|
{
|
||||||
|
do_numpy_import();
|
||||||
|
mod_opencv = PyImport_ImportModule("cv2");
|
||||||
|
|
||||||
|
// Wrap the function to get encodings as OpenCV types
|
||||||
|
boost::python::def("getCvType", cv_bridge::getCvType);
|
||||||
|
boost::python::def("cvtColor2", cvtColor2Wrap);
|
||||||
|
boost::python::def("CV_MAT_CNWrap", CV_MAT_CNWrap);
|
||||||
|
boost::python::def("CV_MAT_DEPTHWrap", CV_MAT_DEPTHWrap);
|
||||||
|
boost::python::def("cvtColorForDisplay", cvtColorForDisplayWrap,
|
||||||
|
cvtColorForDisplayWrap_overloads(
|
||||||
|
boost::python::args("source", "encoding_in", "encoding_out", "do_dynamic_scaling",
|
||||||
|
"min_image_value", "max_image_value"),
|
||||||
|
"Convert image to display with specified encodings.\n\n"
|
||||||
|
"Args:\n"
|
||||||
|
" - source (numpy.ndarray): input image\n"
|
||||||
|
" - encoding_in (str): input image encoding\n"
|
||||||
|
" - encoding_out (str): encoding to which the image conveted\n"
|
||||||
|
" - do_dynamic_scaling (bool): flag to do dynamic scaling with min/max value\n"
|
||||||
|
" - min_image_value (float): minimum pixel value for dynamic scaling\n"
|
||||||
|
" - max_image_value (float): maximum pixel value for dynamic scaling\n"
|
||||||
|
));
|
||||||
|
}
|
||||||
49
src/vision_opencv/cv_bridge/src/module.hpp
Normal file
49
src/vision_opencv/cv_bridge/src/module.hpp
Normal file
@@ -0,0 +1,49 @@
|
|||||||
|
/*
|
||||||
|
* Copyright 2014 Open Source Robotics Foundation, Inc.
|
||||||
|
*
|
||||||
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
* you may not use this file except in compliance with the License.
|
||||||
|
* You may obtain a copy of the License at
|
||||||
|
*
|
||||||
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
*
|
||||||
|
* Unless required by applicable law or agreed to in writing, software
|
||||||
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
* See the License for the specific language governing permissions and
|
||||||
|
* limitations under the License.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef CV_BRIDGE_MODULE_HPP_
|
||||||
|
#define CV_BRIDGE_MODULE_HPP_
|
||||||
|
|
||||||
|
#include <iostream>
|
||||||
|
#include <boost/python.hpp>
|
||||||
|
#include <cv_bridge/cv_bridge.h>
|
||||||
|
#include <Python.h>
|
||||||
|
|
||||||
|
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||||
|
#include <numpy/ndarrayobject.h>
|
||||||
|
|
||||||
|
#include <opencv2/core/core.hpp>
|
||||||
|
|
||||||
|
namespace bp = boost::python;
|
||||||
|
|
||||||
|
int convert_to_CvMat2(const PyObject* o, cv::Mat& m);
|
||||||
|
|
||||||
|
PyObject* pyopencv_from(const cv::Mat& m);
|
||||||
|
|
||||||
|
#if PYTHON3
|
||||||
|
static void * do_numpy_import( )
|
||||||
|
{
|
||||||
|
import_array( );
|
||||||
|
return nullptr;
|
||||||
|
}
|
||||||
|
#else
|
||||||
|
static void do_numpy_import( )
|
||||||
|
{
|
||||||
|
import_array( );
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif
|
||||||
262
src/vision_opencv/cv_bridge/src/module_opencv2.cpp
Normal file
262
src/vision_opencv/cv_bridge/src/module_opencv2.cpp
Normal file
@@ -0,0 +1,262 @@
|
|||||||
|
/*********************************************************************
|
||||||
|
* Software License Agreement (BSD License)
|
||||||
|
*
|
||||||
|
* Copyright (c) 2012, Willow Garage, Inc.
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* * Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* * Redistributions in binary form must reproduce the above
|
||||||
|
* copyright notice, this list of conditions and the following
|
||||||
|
* disclaimer in the documentation and/or other materials provided
|
||||||
|
* with the distribution.
|
||||||
|
* * Neither the name of the Willow Garage nor the names of its
|
||||||
|
* contributors may be used to endorse or promote products derived
|
||||||
|
* from this software without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||||
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*********************************************************************/
|
||||||
|
|
||||||
|
#include "module.hpp"
|
||||||
|
|
||||||
|
using namespace cv;
|
||||||
|
|
||||||
|
// These are sucky, sketchy versions of the real things in OpenCV Python,
|
||||||
|
// inferior in every way.
|
||||||
|
|
||||||
|
static int failmsg(const char *fmt, ...)
|
||||||
|
{
|
||||||
|
char str[1000];
|
||||||
|
|
||||||
|
va_list ap;
|
||||||
|
va_start(ap, fmt);
|
||||||
|
vsnprintf(str, sizeof(str), fmt, ap);
|
||||||
|
va_end(ap);
|
||||||
|
|
||||||
|
PyErr_SetString(PyExc_TypeError, str);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
static PyObject* opencv_error = 0;
|
||||||
|
|
||||||
|
class PyAllowThreads
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
PyAllowThreads() : _state(PyEval_SaveThread()) {}
|
||||||
|
~PyAllowThreads()
|
||||||
|
{
|
||||||
|
PyEval_RestoreThread(_state);
|
||||||
|
}
|
||||||
|
private:
|
||||||
|
PyThreadState* _state;
|
||||||
|
};
|
||||||
|
|
||||||
|
#define ERRWRAP2(expr) \
|
||||||
|
try \
|
||||||
|
{ \
|
||||||
|
PyAllowThreads allowThreads; \
|
||||||
|
expr; \
|
||||||
|
} \
|
||||||
|
catch (const cv::Exception &e) \
|
||||||
|
{ \
|
||||||
|
PyErr_SetString(opencv_error, e.what()); \
|
||||||
|
return 0; \
|
||||||
|
}
|
||||||
|
|
||||||
|
// Taken from http://stackoverflow.com/questions/19136944/call-c-opencv-functions-from-python-send-a-cv-mat-to-c-dll-which-is-usi
|
||||||
|
|
||||||
|
|
||||||
|
static size_t REFCOUNT_OFFSET = ( size_t )&((( PyObject* )0)->ob_refcnt ) +
|
||||||
|
( 0x12345678 != *( const size_t* )"\x78\x56\x34\x12\0\0\0\0\0" )*sizeof( int );
|
||||||
|
|
||||||
|
|
||||||
|
static inline PyObject* pyObjectFromRefcount( const int* refcount )
|
||||||
|
{
|
||||||
|
return ( PyObject* )(( size_t )refcount - REFCOUNT_OFFSET );
|
||||||
|
}
|
||||||
|
|
||||||
|
static inline int* refcountFromPyObject( const PyObject* obj )
|
||||||
|
{
|
||||||
|
return ( int* )(( size_t )obj + REFCOUNT_OFFSET );
|
||||||
|
}
|
||||||
|
|
||||||
|
class NumpyAllocator : public cv::MatAllocator
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
NumpyAllocator( ) { }
|
||||||
|
~NumpyAllocator( ) { }
|
||||||
|
|
||||||
|
void allocate( int dims, const int* sizes, int type, int*& refcount,
|
||||||
|
uchar*& datastart, uchar*& data, size_t* step );
|
||||||
|
|
||||||
|
void deallocate( int* refcount, uchar* datastart, uchar* data );
|
||||||
|
};
|
||||||
|
|
||||||
|
void NumpyAllocator::allocate( int dims, const int* sizes, int type, int*& refcount, uchar*& datastart, uchar*& data, size_t* step )
|
||||||
|
{
|
||||||
|
int depth = CV_MAT_DEPTH( type );
|
||||||
|
int cn = CV_MAT_CN( type );
|
||||||
|
const int f = ( int )( sizeof( size_t )/8 );
|
||||||
|
int typenum = depth == CV_8U ? NPY_UBYTE : depth == CV_8S ? NPY_BYTE :
|
||||||
|
depth == CV_16U ? NPY_USHORT : depth == CV_16S ? NPY_SHORT :
|
||||||
|
depth == CV_32S ? NPY_INT : depth == CV_32F ? NPY_FLOAT :
|
||||||
|
depth == CV_64F ? NPY_DOUBLE : f*NPY_ULONGLONG + (f^1)*NPY_UINT;
|
||||||
|
int i;
|
||||||
|
npy_intp _sizes[CV_MAX_DIM+1];
|
||||||
|
for( i = 0; i < dims; i++ )
|
||||||
|
_sizes[i] = sizes[i];
|
||||||
|
if( cn > 1 )
|
||||||
|
{
|
||||||
|
/*if( _sizes[dims-1] == 1 )
|
||||||
|
_sizes[dims-1] = cn;
|
||||||
|
else*/
|
||||||
|
_sizes[dims++] = cn;
|
||||||
|
}
|
||||||
|
PyObject* o = PyArray_SimpleNew( dims, _sizes, typenum );
|
||||||
|
if( !o )
|
||||||
|
CV_Error_(CV_StsError, ("The numpy array of typenum=%d, ndims=%d can not be created", typenum, dims));
|
||||||
|
refcount = refcountFromPyObject(o);
|
||||||
|
npy_intp* _strides = PyArray_STRIDES((PyArrayObject*) o);
|
||||||
|
for( i = 0; i < dims - (cn > 1); i++ )
|
||||||
|
step[i] = (size_t)_strides[i];
|
||||||
|
datastart = data = (uchar*)PyArray_DATA((PyArrayObject*)o);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
void NumpyAllocator::deallocate( int* refcount, uchar* datastart, uchar* data )
|
||||||
|
{
|
||||||
|
if( !refcount )
|
||||||
|
return;
|
||||||
|
PyObject* o = pyObjectFromRefcount(refcount);
|
||||||
|
Py_INCREF(o);
|
||||||
|
Py_DECREF(o);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Declare the object
|
||||||
|
NumpyAllocator g_numpyAllocator;
|
||||||
|
|
||||||
|
int convert_to_CvMat2(const PyObject* o, cv::Mat& m)
|
||||||
|
{
|
||||||
|
// to avoid PyArray_Check() to crash even with valid array
|
||||||
|
do_numpy_import();
|
||||||
|
|
||||||
|
if(!o || o == Py_None)
|
||||||
|
{
|
||||||
|
if( !m.data )
|
||||||
|
m.allocator = &g_numpyAllocator;
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( !PyArray_Check(o) )
|
||||||
|
{
|
||||||
|
failmsg("Not a numpy array");
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
// NPY_LONG (64 bit) is converted to CV_32S (32 bit)
|
||||||
|
int typenum = PyArray_TYPE((PyArrayObject*) o);
|
||||||
|
int type = typenum == NPY_UBYTE ? CV_8U : typenum == NPY_BYTE ? CV_8S :
|
||||||
|
typenum == NPY_USHORT ? CV_16U : typenum == NPY_SHORT ? CV_16S :
|
||||||
|
typenum == NPY_INT || typenum == NPY_LONG ? CV_32S :
|
||||||
|
typenum == NPY_FLOAT ? CV_32F :
|
||||||
|
typenum == NPY_DOUBLE ? CV_64F : -1;
|
||||||
|
|
||||||
|
if( type < 0 )
|
||||||
|
{
|
||||||
|
failmsg("data type = %d is not supported", typenum);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
int ndims = PyArray_NDIM((PyArrayObject*) o);
|
||||||
|
if(ndims >= CV_MAX_DIM)
|
||||||
|
{
|
||||||
|
failmsg("dimensionality (=%d) is too high", ndims);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
int size[CV_MAX_DIM+1];
|
||||||
|
size_t step[CV_MAX_DIM+1], elemsize = CV_ELEM_SIZE1(type);
|
||||||
|
const npy_intp* _sizes = PyArray_DIMS((PyArrayObject*) o);
|
||||||
|
const npy_intp* _strides = PyArray_STRIDES((PyArrayObject*) o);
|
||||||
|
bool transposed = false;
|
||||||
|
|
||||||
|
for(int i = 0; i < ndims; i++)
|
||||||
|
{
|
||||||
|
size[i] = (int)_sizes[i];
|
||||||
|
step[i] = (size_t)_strides[i];
|
||||||
|
}
|
||||||
|
|
||||||
|
if( ndims == 0 || step[ndims-1] > elemsize ) {
|
||||||
|
size[ndims] = 1;
|
||||||
|
step[ndims] = elemsize;
|
||||||
|
ndims++;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( ndims >= 2 && step[0] < step[1] )
|
||||||
|
{
|
||||||
|
std::swap(size[0], size[1]);
|
||||||
|
std::swap(step[0], step[1]);
|
||||||
|
transposed = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( ndims == 3 && size[2] <= CV_CN_MAX && step[1] == elemsize*size[2] )
|
||||||
|
{
|
||||||
|
ndims--;
|
||||||
|
type |= CV_MAKETYPE(0, size[2]);
|
||||||
|
}
|
||||||
|
|
||||||
|
if( ndims > 2 )
|
||||||
|
{
|
||||||
|
failmsg("more than 2 dimensions");
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
m = cv::Mat(ndims, size, type, PyArray_DATA((PyArrayObject*) o), step);
|
||||||
|
|
||||||
|
if( m.data )
|
||||||
|
{
|
||||||
|
m.refcount = refcountFromPyObject(o);
|
||||||
|
m.addref(); // protect the original numpy array from deallocation
|
||||||
|
// (since Mat destructor will decrement the reference counter)
|
||||||
|
};
|
||||||
|
m.allocator = &g_numpyAllocator;
|
||||||
|
|
||||||
|
if( transposed )
|
||||||
|
{
|
||||||
|
cv::Mat tmp;
|
||||||
|
tmp.allocator = &g_numpyAllocator;
|
||||||
|
transpose(m, tmp);
|
||||||
|
m = tmp;
|
||||||
|
}
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
PyObject* pyopencv_from(const Mat& m)
|
||||||
|
{
|
||||||
|
if( !m.data )
|
||||||
|
Py_RETURN_NONE;
|
||||||
|
Mat temp, *p = (Mat*)&m;
|
||||||
|
if(!p->refcount || p->allocator != &g_numpyAllocator)
|
||||||
|
{
|
||||||
|
temp.allocator = &g_numpyAllocator;
|
||||||
|
ERRWRAP2(m.copyTo(temp));
|
||||||
|
p = &temp;
|
||||||
|
}
|
||||||
|
p->addref();
|
||||||
|
return pyObjectFromRefcount(p->refcount);
|
||||||
|
}
|
||||||
367
src/vision_opencv/cv_bridge/src/module_opencv3.cpp
Normal file
367
src/vision_opencv/cv_bridge/src/module_opencv3.cpp
Normal file
@@ -0,0 +1,367 @@
|
|||||||
|
// Taken from opencv/modules/python/src2/cv2.cpp
|
||||||
|
|
||||||
|
#include "module.hpp"
|
||||||
|
|
||||||
|
#include "opencv2/core/types_c.h"
|
||||||
|
|
||||||
|
#include "opencv2/opencv_modules.hpp"
|
||||||
|
|
||||||
|
#include "pycompat.hpp"
|
||||||
|
|
||||||
|
static PyObject* opencv_error = 0;
|
||||||
|
|
||||||
|
static int failmsg(const char *fmt, ...)
|
||||||
|
{
|
||||||
|
char str[1000];
|
||||||
|
|
||||||
|
va_list ap;
|
||||||
|
va_start(ap, fmt);
|
||||||
|
vsnprintf(str, sizeof(str), fmt, ap);
|
||||||
|
va_end(ap);
|
||||||
|
|
||||||
|
PyErr_SetString(PyExc_TypeError, str);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
struct ArgInfo
|
||||||
|
{
|
||||||
|
const char * name;
|
||||||
|
bool outputarg;
|
||||||
|
// more fields may be added if necessary
|
||||||
|
|
||||||
|
ArgInfo(const char * name_, bool outputarg_)
|
||||||
|
: name(name_)
|
||||||
|
, outputarg(outputarg_) {}
|
||||||
|
|
||||||
|
// to match with older pyopencv_to function signature
|
||||||
|
operator const char *() const { return name; }
|
||||||
|
};
|
||||||
|
|
||||||
|
class PyAllowThreads
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
PyAllowThreads() : _state(PyEval_SaveThread()) {}
|
||||||
|
~PyAllowThreads()
|
||||||
|
{
|
||||||
|
PyEval_RestoreThread(_state);
|
||||||
|
}
|
||||||
|
private:
|
||||||
|
PyThreadState* _state;
|
||||||
|
};
|
||||||
|
|
||||||
|
class PyEnsureGIL
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
PyEnsureGIL() : _state(PyGILState_Ensure()) {}
|
||||||
|
~PyEnsureGIL()
|
||||||
|
{
|
||||||
|
PyGILState_Release(_state);
|
||||||
|
}
|
||||||
|
private:
|
||||||
|
PyGILState_STATE _state;
|
||||||
|
};
|
||||||
|
|
||||||
|
#define ERRWRAP2(expr) \
|
||||||
|
try \
|
||||||
|
{ \
|
||||||
|
PyAllowThreads allowThreads; \
|
||||||
|
expr; \
|
||||||
|
} \
|
||||||
|
catch (const cv::Exception &e) \
|
||||||
|
{ \
|
||||||
|
PyErr_SetString(opencv_error, e.what()); \
|
||||||
|
return 0; \
|
||||||
|
}
|
||||||
|
|
||||||
|
using namespace cv;
|
||||||
|
|
||||||
|
static PyObject* failmsgp(const char *fmt, ...)
|
||||||
|
{
|
||||||
|
char str[1000];
|
||||||
|
|
||||||
|
va_list ap;
|
||||||
|
va_start(ap, fmt);
|
||||||
|
vsnprintf(str, sizeof(str), fmt, ap);
|
||||||
|
va_end(ap);
|
||||||
|
|
||||||
|
PyErr_SetString(PyExc_TypeError, str);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
class NumpyAllocator : public MatAllocator
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
NumpyAllocator() { stdAllocator = Mat::getStdAllocator(); }
|
||||||
|
~NumpyAllocator() {}
|
||||||
|
|
||||||
|
UMatData* allocate(PyObject* o, int dims, const int* sizes, int type, size_t* step) const
|
||||||
|
{
|
||||||
|
UMatData* u = new UMatData(this);
|
||||||
|
u->data = u->origdata = (uchar*)PyArray_DATA((PyArrayObject*) o);
|
||||||
|
npy_intp* _strides = PyArray_STRIDES((PyArrayObject*) o);
|
||||||
|
for( int i = 0; i < dims - 1; i++ )
|
||||||
|
step[i] = (size_t)_strides[i];
|
||||||
|
step[dims-1] = CV_ELEM_SIZE(type);
|
||||||
|
u->size = sizes[0]*step[0];
|
||||||
|
u->userdata = o;
|
||||||
|
return u;
|
||||||
|
}
|
||||||
|
|
||||||
|
UMatData* allocate(int dims0, const int* sizes, int type, void* data, size_t* step, int flags, UMatUsageFlags usageFlags) const
|
||||||
|
{
|
||||||
|
if( data != 0 )
|
||||||
|
{
|
||||||
|
CV_Error(Error::StsAssert, "The data should normally be NULL!");
|
||||||
|
// probably this is safe to do in such extreme case
|
||||||
|
return stdAllocator->allocate(dims0, sizes, type, data, step, flags, usageFlags);
|
||||||
|
}
|
||||||
|
PyEnsureGIL gil;
|
||||||
|
|
||||||
|
int depth = CV_MAT_DEPTH(type);
|
||||||
|
int cn = CV_MAT_CN(type);
|
||||||
|
const int f = (int)(sizeof(size_t)/8);
|
||||||
|
int typenum = depth == CV_8U ? NPY_UBYTE : depth == CV_8S ? NPY_BYTE :
|
||||||
|
depth == CV_16U ? NPY_USHORT : depth == CV_16S ? NPY_SHORT :
|
||||||
|
depth == CV_32S ? NPY_INT : depth == CV_32F ? NPY_FLOAT :
|
||||||
|
depth == CV_64F ? NPY_DOUBLE : f*NPY_ULONGLONG + (f^1)*NPY_UINT;
|
||||||
|
int i, dims = dims0;
|
||||||
|
cv::AutoBuffer<npy_intp> _sizes(dims + 1);
|
||||||
|
for( i = 0; i < dims; i++ )
|
||||||
|
_sizes[i] = sizes[i];
|
||||||
|
if( cn > 1 )
|
||||||
|
_sizes[dims++] = cn;
|
||||||
|
PyObject* o = PyArray_SimpleNew(dims, _sizes, typenum);
|
||||||
|
if(!o)
|
||||||
|
CV_Error_(Error::StsError, ("The numpy array of typenum=%d, ndims=%d can not be created", typenum, dims));
|
||||||
|
return allocate(o, dims0, sizes, type, step);
|
||||||
|
}
|
||||||
|
|
||||||
|
bool allocate(UMatData* u, int accessFlags, UMatUsageFlags usageFlags) const
|
||||||
|
{
|
||||||
|
return stdAllocator->allocate(u, accessFlags, usageFlags);
|
||||||
|
}
|
||||||
|
|
||||||
|
void deallocate(UMatData* u) const
|
||||||
|
{
|
||||||
|
if(u)
|
||||||
|
{
|
||||||
|
PyEnsureGIL gil;
|
||||||
|
PyObject* o = (PyObject*)u->userdata;
|
||||||
|
Py_XDECREF(o);
|
||||||
|
delete u;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
const MatAllocator* stdAllocator;
|
||||||
|
};
|
||||||
|
|
||||||
|
NumpyAllocator g_numpyAllocator;
|
||||||
|
|
||||||
|
|
||||||
|
template<typename T> static
|
||||||
|
bool pyopencv_to(PyObject* obj, T& p, const char* name = "<unknown>");
|
||||||
|
|
||||||
|
template<typename T> static
|
||||||
|
PyObject* pyopencv_from(const T& src);
|
||||||
|
|
||||||
|
enum { ARG_NONE = 0, ARG_MAT = 1, ARG_SCALAR = 2 };
|
||||||
|
|
||||||
|
// special case, when the convertor needs full ArgInfo structure
|
||||||
|
static bool pyopencv_to(PyObject* o, Mat& m, const ArgInfo info)
|
||||||
|
{
|
||||||
|
// to avoid PyArray_Check() to crash even with valid array
|
||||||
|
do_numpy_import( );
|
||||||
|
|
||||||
|
|
||||||
|
bool allowND = true;
|
||||||
|
if(!o || o == Py_None)
|
||||||
|
{
|
||||||
|
if( !m.data )
|
||||||
|
m.allocator = &g_numpyAllocator;
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( PyInt_Check(o) )
|
||||||
|
{
|
||||||
|
double v[] = {(double)PyInt_AsLong((PyObject*)o), 0., 0., 0.};
|
||||||
|
m = Mat(4, 1, CV_64F, v).clone();
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
if( PyFloat_Check(o) )
|
||||||
|
{
|
||||||
|
double v[] = {PyFloat_AsDouble((PyObject*)o), 0., 0., 0.};
|
||||||
|
m = Mat(4, 1, CV_64F, v).clone();
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
if( PyTuple_Check(o) )
|
||||||
|
{
|
||||||
|
int i, sz = (int)PyTuple_Size((PyObject*)o);
|
||||||
|
m = Mat(sz, 1, CV_64F);
|
||||||
|
for( i = 0; i < sz; i++ )
|
||||||
|
{
|
||||||
|
PyObject* oi = PyTuple_GET_ITEM(o, i);
|
||||||
|
if( PyInt_Check(oi) )
|
||||||
|
m.at<double>(i) = (double)PyInt_AsLong(oi);
|
||||||
|
else if( PyFloat_Check(oi) )
|
||||||
|
m.at<double>(i) = (double)PyFloat_AsDouble(oi);
|
||||||
|
else
|
||||||
|
{
|
||||||
|
failmsg("%s is not a numerical tuple", info.name);
|
||||||
|
m.release();
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( !PyArray_Check(o) )
|
||||||
|
{
|
||||||
|
failmsg("%s is not a numpy array, neither a scalar", info.name);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
PyArrayObject* oarr = (PyArrayObject*) o;
|
||||||
|
|
||||||
|
bool needcopy = false, needcast = false;
|
||||||
|
int typenum = PyArray_TYPE(oarr), new_typenum = typenum;
|
||||||
|
int type = typenum == NPY_UBYTE ? CV_8U :
|
||||||
|
typenum == NPY_BYTE ? CV_8S :
|
||||||
|
typenum == NPY_USHORT ? CV_16U :
|
||||||
|
typenum == NPY_SHORT ? CV_16S :
|
||||||
|
typenum == NPY_INT ? CV_32S :
|
||||||
|
typenum == NPY_INT32 ? CV_32S :
|
||||||
|
typenum == NPY_FLOAT ? CV_32F :
|
||||||
|
typenum == NPY_DOUBLE ? CV_64F : -1;
|
||||||
|
|
||||||
|
if( type < 0 )
|
||||||
|
{
|
||||||
|
if( typenum == NPY_INT64 || typenum == NPY_UINT64 || type == NPY_LONG )
|
||||||
|
{
|
||||||
|
needcopy = needcast = true;
|
||||||
|
new_typenum = NPY_INT;
|
||||||
|
type = CV_32S;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
failmsg("%s data type = %d is not supported", info.name, typenum);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#ifndef CV_MAX_DIM
|
||||||
|
const int CV_MAX_DIM = 32;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
int ndims = PyArray_NDIM(oarr);
|
||||||
|
if(ndims >= CV_MAX_DIM)
|
||||||
|
{
|
||||||
|
failmsg("%s dimensionality (=%d) is too high", info.name, ndims);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
int size[CV_MAX_DIM+1];
|
||||||
|
size_t step[CV_MAX_DIM+1];
|
||||||
|
size_t elemsize = CV_ELEM_SIZE1(type);
|
||||||
|
const npy_intp* _sizes = PyArray_DIMS(oarr);
|
||||||
|
const npy_intp* _strides = PyArray_STRIDES(oarr);
|
||||||
|
bool ismultichannel = ndims == 3 && _sizes[2] <= CV_CN_MAX;
|
||||||
|
|
||||||
|
for( int i = ndims-1; i >= 0 && !needcopy; i-- )
|
||||||
|
{
|
||||||
|
// these checks handle cases of
|
||||||
|
// a) multi-dimensional (ndims > 2) arrays, as well as simpler 1- and 2-dimensional cases
|
||||||
|
// b) transposed arrays, where _strides[] elements go in non-descending order
|
||||||
|
// c) flipped arrays, where some of _strides[] elements are negative
|
||||||
|
if( (i == ndims-1 && (size_t)_strides[i] != elemsize) ||
|
||||||
|
(i < ndims-1 && _strides[i] < _strides[i+1]) )
|
||||||
|
needcopy = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( ismultichannel && _strides[1] != (npy_intp)elemsize*_sizes[2] )
|
||||||
|
needcopy = true;
|
||||||
|
|
||||||
|
if (needcopy)
|
||||||
|
{
|
||||||
|
if (info.outputarg)
|
||||||
|
{
|
||||||
|
failmsg("Layout of the output array %s is incompatible with cv::Mat (step[ndims-1] != elemsize or step[1] != elemsize*nchannels)", info.name);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( needcast ) {
|
||||||
|
o = PyArray_Cast(oarr, new_typenum);
|
||||||
|
oarr = (PyArrayObject*) o;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
oarr = PyArray_GETCONTIGUOUS(oarr);
|
||||||
|
o = (PyObject*) oarr;
|
||||||
|
}
|
||||||
|
|
||||||
|
_strides = PyArray_STRIDES(oarr);
|
||||||
|
}
|
||||||
|
|
||||||
|
for(int i = 0; i < ndims; i++)
|
||||||
|
{
|
||||||
|
size[i] = (int)_sizes[i];
|
||||||
|
step[i] = (size_t)_strides[i];
|
||||||
|
}
|
||||||
|
|
||||||
|
// handle degenerate case
|
||||||
|
if( ndims == 0) {
|
||||||
|
size[ndims] = 1;
|
||||||
|
step[ndims] = elemsize;
|
||||||
|
ndims++;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( ismultichannel )
|
||||||
|
{
|
||||||
|
ndims--;
|
||||||
|
type |= CV_MAKETYPE(0, size[2]);
|
||||||
|
}
|
||||||
|
|
||||||
|
if( ndims > 2 && !allowND )
|
||||||
|
{
|
||||||
|
failmsg("%s has more than 2 dimensions", info.name);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
m = Mat(ndims, size, type, PyArray_DATA(oarr), step);
|
||||||
|
m.u = g_numpyAllocator.allocate(o, ndims, size, type, step);
|
||||||
|
m.addref();
|
||||||
|
|
||||||
|
if( !needcopy )
|
||||||
|
{
|
||||||
|
Py_INCREF(o);
|
||||||
|
}
|
||||||
|
m.allocator = &g_numpyAllocator;
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
template<>
|
||||||
|
bool pyopencv_to(PyObject* o, Mat& m, const char* name)
|
||||||
|
{
|
||||||
|
return pyopencv_to(o, m, ArgInfo(name, 0));
|
||||||
|
}
|
||||||
|
|
||||||
|
PyObject* pyopencv_from(const Mat& m)
|
||||||
|
{
|
||||||
|
if( !m.data )
|
||||||
|
Py_RETURN_NONE;
|
||||||
|
Mat temp, *p = (Mat*)&m;
|
||||||
|
if(!p->u || p->allocator != &g_numpyAllocator)
|
||||||
|
{
|
||||||
|
temp.allocator = &g_numpyAllocator;
|
||||||
|
ERRWRAP2(m.copyTo(temp));
|
||||||
|
p = &temp;
|
||||||
|
}
|
||||||
|
PyObject* o = (PyObject*)p->u->userdata;
|
||||||
|
Py_INCREF(o);
|
||||||
|
return o;
|
||||||
|
}
|
||||||
|
|
||||||
|
int convert_to_CvMat2(const PyObject* o, cv::Mat& m)
|
||||||
|
{
|
||||||
|
pyopencv_to(const_cast<PyObject*>(o), m, "unknown");
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
70
src/vision_opencv/cv_bridge/src/pycompat.hpp
Normal file
70
src/vision_opencv/cv_bridge/src/pycompat.hpp
Normal file
@@ -0,0 +1,70 @@
|
|||||||
|
/*M///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
//
|
||||||
|
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||||
|
//
|
||||||
|
// By downloading, copying, installing or using the software you agree to this license.
|
||||||
|
// If you do not agree to this license, do not download, install,
|
||||||
|
// copy or use the software.
|
||||||
|
//
|
||||||
|
//
|
||||||
|
// License Agreement
|
||||||
|
// For Open Source Computer Vision Library
|
||||||
|
//
|
||||||
|
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||||
|
// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
|
||||||
|
// Third party copyrights are property of their respective owners.
|
||||||
|
//
|
||||||
|
// Redistribution and use in source and binary forms, with or without modification,
|
||||||
|
// are permitted provided that the following conditions are met:
|
||||||
|
//
|
||||||
|
// * Redistribution's of source code must retain the above copyright notice,
|
||||||
|
// this list of conditions and the following disclaimer.
|
||||||
|
//
|
||||||
|
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||||
|
// this list of conditions and the following disclaimer in the documentation
|
||||||
|
// and/or other materials provided with the distribution.
|
||||||
|
//
|
||||||
|
// * The name of the copyright holders may not be used to endorse or promote products
|
||||||
|
// derived from this software without specific prior written permission.
|
||||||
|
//
|
||||||
|
// This software is provided by the copyright holders and contributors "as is" and
|
||||||
|
// any express or implied warranties, including, but not limited to, the implied
|
||||||
|
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||||
|
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||||
|
// indirect, incidental, special, exemplary, or consequential damages
|
||||||
|
// (including, but not limited to, procurement of substitute goods or services;
|
||||||
|
// loss of use, data, or profits; or business interruption) however caused
|
||||||
|
// and on any theory of liability, whether in contract, strict liability,
|
||||||
|
// or tort (including negligence or otherwise) arising in any way out of
|
||||||
|
// the use of this software, even if advised of the possibility of such damage.
|
||||||
|
//
|
||||||
|
//M*/
|
||||||
|
|
||||||
|
// Defines for Python 2/3 compatibility.
|
||||||
|
#ifndef __PYCOMPAT_HPP__
|
||||||
|
#define __PYCOMPAT_HPP__
|
||||||
|
|
||||||
|
#if PY_MAJOR_VERSION >= 3
|
||||||
|
// Python3 treats all ints as longs, PyInt_X functions have been removed.
|
||||||
|
#define PyInt_Check PyLong_Check
|
||||||
|
#define PyInt_CheckExact PyLong_CheckExact
|
||||||
|
#define PyInt_AsLong PyLong_AsLong
|
||||||
|
#define PyInt_AS_LONG PyLong_AS_LONG
|
||||||
|
#define PyInt_FromLong PyLong_FromLong
|
||||||
|
#define PyNumber_Int PyNumber_Long
|
||||||
|
|
||||||
|
// Python3 strings are unicode, these defines mimic the Python2 functionality.
|
||||||
|
#define PyString_Check PyUnicode_Check
|
||||||
|
#define PyString_FromString PyUnicode_FromString
|
||||||
|
#define PyString_FromStringAndSize PyUnicode_FromStringAndSize
|
||||||
|
#define PyString_Size PyUnicode_GET_SIZE
|
||||||
|
|
||||||
|
// PyUnicode_AsUTF8 isn't available until Python 3.3
|
||||||
|
#if (PY_VERSION_HEX < 0x03030000)
|
||||||
|
#define PyString_AsString _PyUnicode_AsString
|
||||||
|
#else
|
||||||
|
#define PyString_AsString PyUnicode_AsUTF8
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif // END HEADER GUARD
|
||||||
202
src/vision_opencv/cv_bridge/src/rgb_colors.cpp
Normal file
202
src/vision_opencv/cv_bridge/src/rgb_colors.cpp
Normal file
@@ -0,0 +1,202 @@
|
|||||||
|
// -*- mode: c++ -*-
|
||||||
|
/*********************************************************************
|
||||||
|
* Original color definition is at scikit-image distributed with
|
||||||
|
* following license disclaimer:
|
||||||
|
*
|
||||||
|
* Copyright (C) 2011, the scikit-image team
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions are
|
||||||
|
* met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name of skimage nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software without
|
||||||
|
* specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
|
||||||
|
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||||
|
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||||
|
* DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT,
|
||||||
|
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||||
|
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||||
|
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
|
||||||
|
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
||||||
|
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
|
||||||
|
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*********************************************************************/
|
||||||
|
|
||||||
|
#include "cv_bridge/rgb_colors.h"
|
||||||
|
#include <opencv2/core/core.hpp>
|
||||||
|
|
||||||
|
|
||||||
|
namespace cv_bridge
|
||||||
|
{
|
||||||
|
|
||||||
|
namespace rgb_colors
|
||||||
|
{
|
||||||
|
|
||||||
|
cv::Vec3d getRGBColor(const int color)
|
||||||
|
{
|
||||||
|
cv::Vec3d c;
|
||||||
|
switch (color % 146) {
|
||||||
|
case ALICEBLUE: c = cv::Vec3d(0.941, 0.973, 1); break;
|
||||||
|
case ANTIQUEWHITE: c = cv::Vec3d(0.98, 0.922, 0.843); break;
|
||||||
|
case AQUA: c = cv::Vec3d(0, 1, 1); break;
|
||||||
|
case AQUAMARINE: c = cv::Vec3d(0.498, 1, 0.831); break;
|
||||||
|
case AZURE: c = cv::Vec3d(0.941, 1, 1); break;
|
||||||
|
case BEIGE: c = cv::Vec3d(0.961, 0.961, 0.863); break;
|
||||||
|
case BISQUE: c = cv::Vec3d(1, 0.894, 0.769); break;
|
||||||
|
case BLACK: c = cv::Vec3d(0, 0, 0); break;
|
||||||
|
case BLANCHEDALMOND: c = cv::Vec3d(1, 0.922, 0.804); break;
|
||||||
|
case BLUE: c = cv::Vec3d(0, 0, 1); break;
|
||||||
|
case BLUEVIOLET: c = cv::Vec3d(0.541, 0.169, 0.886); break;
|
||||||
|
case BROWN: c = cv::Vec3d(0.647, 0.165, 0.165); break;
|
||||||
|
case BURLYWOOD: c = cv::Vec3d(0.871, 0.722, 0.529); break;
|
||||||
|
case CADETBLUE: c = cv::Vec3d(0.373, 0.62, 0.627); break;
|
||||||
|
case CHARTREUSE: c = cv::Vec3d(0.498, 1, 0); break;
|
||||||
|
case CHOCOLATE: c = cv::Vec3d(0.824, 0.412, 0.118); break;
|
||||||
|
case CORAL: c = cv::Vec3d(1, 0.498, 0.314); break;
|
||||||
|
case CORNFLOWERBLUE: c = cv::Vec3d(0.392, 0.584, 0.929); break;
|
||||||
|
case CORNSILK: c = cv::Vec3d(1, 0.973, 0.863); break;
|
||||||
|
case CRIMSON: c = cv::Vec3d(0.863, 0.0784, 0.235); break;
|
||||||
|
case CYAN: c = cv::Vec3d(0, 1, 1); break;
|
||||||
|
case DARKBLUE: c = cv::Vec3d(0, 0, 0.545); break;
|
||||||
|
case DARKCYAN: c = cv::Vec3d(0, 0.545, 0.545); break;
|
||||||
|
case DARKGOLDENROD: c = cv::Vec3d(0.722, 0.525, 0.0431); break;
|
||||||
|
case DARKGRAY: c = cv::Vec3d(0.663, 0.663, 0.663); break;
|
||||||
|
case DARKGREEN: c = cv::Vec3d(0, 0.392, 0); break;
|
||||||
|
case DARKGREY: c = cv::Vec3d(0.663, 0.663, 0.663); break;
|
||||||
|
case DARKKHAKI: c = cv::Vec3d(0.741, 0.718, 0.42); break;
|
||||||
|
case DARKMAGENTA: c = cv::Vec3d(0.545, 0, 0.545); break;
|
||||||
|
case DARKOLIVEGREEN: c = cv::Vec3d(0.333, 0.42, 0.184); break;
|
||||||
|
case DARKORANGE: c = cv::Vec3d(1, 0.549, 0); break;
|
||||||
|
case DARKORCHID: c = cv::Vec3d(0.6, 0.196, 0.8); break;
|
||||||
|
case DARKRED: c = cv::Vec3d(0.545, 0, 0); break;
|
||||||
|
case DARKSALMON: c = cv::Vec3d(0.914, 0.588, 0.478); break;
|
||||||
|
case DARKSEAGREEN: c = cv::Vec3d(0.561, 0.737, 0.561); break;
|
||||||
|
case DARKSLATEBLUE: c = cv::Vec3d(0.282, 0.239, 0.545); break;
|
||||||
|
case DARKSLATEGRAY: c = cv::Vec3d(0.184, 0.31, 0.31); break;
|
||||||
|
case DARKSLATEGREY: c = cv::Vec3d(0.184, 0.31, 0.31); break;
|
||||||
|
case DARKTURQUOISE: c = cv::Vec3d(0, 0.808, 0.82); break;
|
||||||
|
case DARKVIOLET: c = cv::Vec3d(0.58, 0, 0.827); break;
|
||||||
|
case DEEPPINK: c = cv::Vec3d(1, 0.0784, 0.576); break;
|
||||||
|
case DEEPSKYBLUE: c = cv::Vec3d(0, 0.749, 1); break;
|
||||||
|
case DIMGRAY: c = cv::Vec3d(0.412, 0.412, 0.412); break;
|
||||||
|
case DIMGREY: c = cv::Vec3d(0.412, 0.412, 0.412); break;
|
||||||
|
case DODGERBLUE: c = cv::Vec3d(0.118, 0.565, 1); break;
|
||||||
|
case FIREBRICK: c = cv::Vec3d(0.698, 0.133, 0.133); break;
|
||||||
|
case FLORALWHITE: c = cv::Vec3d(1, 0.98, 0.941); break;
|
||||||
|
case FORESTGREEN: c = cv::Vec3d(0.133, 0.545, 0.133); break;
|
||||||
|
case FUCHSIA: c = cv::Vec3d(1, 0, 1); break;
|
||||||
|
case GAINSBORO: c = cv::Vec3d(0.863, 0.863, 0.863); break;
|
||||||
|
case GHOSTWHITE: c = cv::Vec3d(0.973, 0.973, 1); break;
|
||||||
|
case GOLD: c = cv::Vec3d(1, 0.843, 0); break;
|
||||||
|
case GOLDENROD: c = cv::Vec3d(0.855, 0.647, 0.125); break;
|
||||||
|
case GRAY: c = cv::Vec3d(0.502, 0.502, 0.502); break;
|
||||||
|
case GREEN: c = cv::Vec3d(0, 0.502, 0); break;
|
||||||
|
case GREENYELLOW: c = cv::Vec3d(0.678, 1, 0.184); break;
|
||||||
|
case GREY: c = cv::Vec3d(0.502, 0.502, 0.502); break;
|
||||||
|
case HONEYDEW: c = cv::Vec3d(0.941, 1, 0.941); break;
|
||||||
|
case HOTPINK: c = cv::Vec3d(1, 0.412, 0.706); break;
|
||||||
|
case INDIANRED: c = cv::Vec3d(0.804, 0.361, 0.361); break;
|
||||||
|
case INDIGO: c = cv::Vec3d(0.294, 0, 0.51); break;
|
||||||
|
case IVORY: c = cv::Vec3d(1, 1, 0.941); break;
|
||||||
|
case KHAKI: c = cv::Vec3d(0.941, 0.902, 0.549); break;
|
||||||
|
case LAVENDER: c = cv::Vec3d(0.902, 0.902, 0.98); break;
|
||||||
|
case LAVENDERBLUSH: c = cv::Vec3d(1, 0.941, 0.961); break;
|
||||||
|
case LAWNGREEN: c = cv::Vec3d(0.486, 0.988, 0); break;
|
||||||
|
case LEMONCHIFFON: c = cv::Vec3d(1, 0.98, 0.804); break;
|
||||||
|
case LIGHTBLUE: c = cv::Vec3d(0.678, 0.847, 0.902); break;
|
||||||
|
case LIGHTCORAL: c = cv::Vec3d(0.941, 0.502, 0.502); break;
|
||||||
|
case LIGHTCYAN: c = cv::Vec3d(0.878, 1, 1); break;
|
||||||
|
case LIGHTGOLDENRODYELLOW: c = cv::Vec3d(0.98, 0.98, 0.824); break;
|
||||||
|
case LIGHTGRAY: c = cv::Vec3d(0.827, 0.827, 0.827); break;
|
||||||
|
case LIGHTGREEN: c = cv::Vec3d(0.565, 0.933, 0.565); break;
|
||||||
|
case LIGHTGREY: c = cv::Vec3d(0.827, 0.827, 0.827); break;
|
||||||
|
case LIGHTPINK: c = cv::Vec3d(1, 0.714, 0.757); break;
|
||||||
|
case LIGHTSALMON: c = cv::Vec3d(1, 0.627, 0.478); break;
|
||||||
|
case LIGHTSEAGREEN: c = cv::Vec3d(0.125, 0.698, 0.667); break;
|
||||||
|
case LIGHTSKYBLUE: c = cv::Vec3d(0.529, 0.808, 0.98); break;
|
||||||
|
case LIGHTSLATEGRAY: c = cv::Vec3d(0.467, 0.533, 0.6); break;
|
||||||
|
case LIGHTSLATEGREY: c = cv::Vec3d(0.467, 0.533, 0.6); break;
|
||||||
|
case LIGHTSTEELBLUE: c = cv::Vec3d(0.69, 0.769, 0.871); break;
|
||||||
|
case LIGHTYELLOW: c = cv::Vec3d(1, 1, 0.878); break;
|
||||||
|
case LIME: c = cv::Vec3d(0, 1, 0); break;
|
||||||
|
case LIMEGREEN: c = cv::Vec3d(0.196, 0.804, 0.196); break;
|
||||||
|
case LINEN: c = cv::Vec3d(0.98, 0.941, 0.902); break;
|
||||||
|
case MAGENTA: c = cv::Vec3d(1, 0, 1); break;
|
||||||
|
case MAROON: c = cv::Vec3d(0.502, 0, 0); break;
|
||||||
|
case MEDIUMAQUAMARINE: c = cv::Vec3d(0.4, 0.804, 0.667); break;
|
||||||
|
case MEDIUMBLUE: c = cv::Vec3d(0, 0, 0.804); break;
|
||||||
|
case MEDIUMORCHID: c = cv::Vec3d(0.729, 0.333, 0.827); break;
|
||||||
|
case MEDIUMPURPLE: c = cv::Vec3d(0.576, 0.439, 0.859); break;
|
||||||
|
case MEDIUMSEAGREEN: c = cv::Vec3d(0.235, 0.702, 0.443); break;
|
||||||
|
case MEDIUMSLATEBLUE: c = cv::Vec3d(0.482, 0.408, 0.933); break;
|
||||||
|
case MEDIUMSPRINGGREEN: c = cv::Vec3d(0, 0.98, 0.604); break;
|
||||||
|
case MEDIUMTURQUOISE: c = cv::Vec3d(0.282, 0.82, 0.8); break;
|
||||||
|
case MEDIUMVIOLETRED: c = cv::Vec3d(0.78, 0.0824, 0.522); break;
|
||||||
|
case MIDNIGHTBLUE: c = cv::Vec3d(0.098, 0.098, 0.439); break;
|
||||||
|
case MINTCREAM: c = cv::Vec3d(0.961, 1, 0.98); break;
|
||||||
|
case MISTYROSE: c = cv::Vec3d(1, 0.894, 0.882); break;
|
||||||
|
case MOCCASIN: c = cv::Vec3d(1, 0.894, 0.71); break;
|
||||||
|
case NAVAJOWHITE: c = cv::Vec3d(1, 0.871, 0.678); break;
|
||||||
|
case NAVY: c = cv::Vec3d(0, 0, 0.502); break;
|
||||||
|
case OLDLACE: c = cv::Vec3d(0.992, 0.961, 0.902); break;
|
||||||
|
case OLIVE: c = cv::Vec3d(0.502, 0.502, 0); break;
|
||||||
|
case OLIVEDRAB: c = cv::Vec3d(0.42, 0.557, 0.137); break;
|
||||||
|
case ORANGE: c = cv::Vec3d(1, 0.647, 0); break;
|
||||||
|
case ORANGERED: c = cv::Vec3d(1, 0.271, 0); break;
|
||||||
|
case ORCHID: c = cv::Vec3d(0.855, 0.439, 0.839); break;
|
||||||
|
case PALEGOLDENROD: c = cv::Vec3d(0.933, 0.91, 0.667); break;
|
||||||
|
case PALEGREEN: c = cv::Vec3d(0.596, 0.984, 0.596); break;
|
||||||
|
case PALEVIOLETRED: c = cv::Vec3d(0.686, 0.933, 0.933); break;
|
||||||
|
case PAPAYAWHIP: c = cv::Vec3d(1, 0.937, 0.835); break;
|
||||||
|
case PEACHPUFF: c = cv::Vec3d(1, 0.855, 0.725); break;
|
||||||
|
case PERU: c = cv::Vec3d(0.804, 0.522, 0.247); break;
|
||||||
|
case PINK: c = cv::Vec3d(1, 0.753, 0.796); break;
|
||||||
|
case PLUM: c = cv::Vec3d(0.867, 0.627, 0.867); break;
|
||||||
|
case POWDERBLUE: c = cv::Vec3d(0.69, 0.878, 0.902); break;
|
||||||
|
case PURPLE: c = cv::Vec3d(0.502, 0, 0.502); break;
|
||||||
|
case RED: c = cv::Vec3d(1, 0, 0); break;
|
||||||
|
case ROSYBROWN: c = cv::Vec3d(0.737, 0.561, 0.561); break;
|
||||||
|
case ROYALBLUE: c = cv::Vec3d(0.255, 0.412, 0.882); break;
|
||||||
|
case SADDLEBROWN: c = cv::Vec3d(0.545, 0.271, 0.0745); break;
|
||||||
|
case SALMON: c = cv::Vec3d(0.98, 0.502, 0.447); break;
|
||||||
|
case SANDYBROWN: c = cv::Vec3d(0.98, 0.643, 0.376); break;
|
||||||
|
case SEAGREEN: c = cv::Vec3d(0.18, 0.545, 0.341); break;
|
||||||
|
case SEASHELL: c = cv::Vec3d(1, 0.961, 0.933); break;
|
||||||
|
case SIENNA: c = cv::Vec3d(0.627, 0.322, 0.176); break;
|
||||||
|
case SILVER: c = cv::Vec3d(0.753, 0.753, 0.753); break;
|
||||||
|
case SKYBLUE: c = cv::Vec3d(0.529, 0.808, 0.922); break;
|
||||||
|
case SLATEBLUE: c = cv::Vec3d(0.416, 0.353, 0.804); break;
|
||||||
|
case SLATEGRAY: c = cv::Vec3d(0.439, 0.502, 0.565); break;
|
||||||
|
case SLATEGREY: c = cv::Vec3d(0.439, 0.502, 0.565); break;
|
||||||
|
case SNOW: c = cv::Vec3d(1, 0.98, 0.98); break;
|
||||||
|
case SPRINGGREEN: c = cv::Vec3d(0, 1, 0.498); break;
|
||||||
|
case STEELBLUE: c = cv::Vec3d(0.275, 0.51, 0.706); break;
|
||||||
|
case TAN: c = cv::Vec3d(0.824, 0.706, 0.549); break;
|
||||||
|
case TEAL: c = cv::Vec3d(0, 0.502, 0.502); break;
|
||||||
|
case THISTLE: c = cv::Vec3d(0.847, 0.749, 0.847); break;
|
||||||
|
case TOMATO: c = cv::Vec3d(1, 0.388, 0.278); break;
|
||||||
|
case TURQUOISE: c = cv::Vec3d(0.251, 0.878, 0.816); break;
|
||||||
|
case VIOLET: c = cv::Vec3d(0.933, 0.51, 0.933); break;
|
||||||
|
case WHEAT: c = cv::Vec3d(0.961, 0.871, 0.702); break;
|
||||||
|
case WHITE: c = cv::Vec3d(1, 1, 1); break;
|
||||||
|
case WHITESMOKE: c = cv::Vec3d(0.961, 0.961, 0.961); break;
|
||||||
|
case YELLOW: c = cv::Vec3d(1, 1, 0); break;
|
||||||
|
case YELLOWGREEN: c = cv::Vec3d(0.604, 0.804, 0.196); break;
|
||||||
|
} // switch
|
||||||
|
return c;
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace rgb_colors
|
||||||
|
|
||||||
|
} // namespace cv_bridge
|
||||||
15
src/vision_opencv/cv_bridge/test/CMakeLists.txt
Normal file
15
src/vision_opencv/cv_bridge/test/CMakeLists.txt
Normal file
@@ -0,0 +1,15 @@
|
|||||||
|
# add the tests
|
||||||
|
|
||||||
|
# add boost directories for now
|
||||||
|
include_directories("../src")
|
||||||
|
|
||||||
|
catkin_add_gtest(${PROJECT_NAME}-utest test_endian.cpp test_compression.cpp utest.cpp utest2.cpp test_rgb_colors.cpp)
|
||||||
|
target_link_libraries(${PROJECT_NAME}-utest
|
||||||
|
${PROJECT_NAME}
|
||||||
|
${OpenCV_LIBRARIES}
|
||||||
|
${catkin_LIBRARIES}
|
||||||
|
)
|
||||||
|
|
||||||
|
catkin_add_nosetests(enumerants.py)
|
||||||
|
catkin_add_nosetests(conversions.py)
|
||||||
|
catkin_add_nosetests(python_bindings.py)
|
||||||
87
src/vision_opencv/cv_bridge/test/conversions.py
Normal file
87
src/vision_opencv/cv_bridge/test/conversions.py
Normal file
@@ -0,0 +1,87 @@
|
|||||||
|
#!/usr/bin/env python
|
||||||
|
import rostest
|
||||||
|
import unittest
|
||||||
|
|
||||||
|
import numpy as np
|
||||||
|
|
||||||
|
import sensor_msgs.msg
|
||||||
|
|
||||||
|
from cv_bridge import CvBridge, CvBridgeError
|
||||||
|
|
||||||
|
class TestConversions(unittest.TestCase):
|
||||||
|
|
||||||
|
def test_mono16_cv2(self):
|
||||||
|
import numpy as np
|
||||||
|
br = CvBridge()
|
||||||
|
im = np.uint8(np.random.randint(0, 255, size=(480, 640, 3)))
|
||||||
|
self.assertRaises(CvBridgeError, lambda: br.imgmsg_to_cv2(br.cv2_to_imgmsg(im), "mono16"))
|
||||||
|
br.imgmsg_to_cv2(br.cv2_to_imgmsg(im,"rgb8"), "mono16")
|
||||||
|
|
||||||
|
def test_encode_decode_cv2(self):
|
||||||
|
import cv2
|
||||||
|
import numpy as np
|
||||||
|
fmts = [cv2.CV_8U, cv2.CV_8S, cv2.CV_16U, cv2.CV_16S, cv2.CV_32S, cv2.CV_32F, cv2.CV_64F]
|
||||||
|
|
||||||
|
cvb_en = CvBridge()
|
||||||
|
cvb_de = CvBridge()
|
||||||
|
|
||||||
|
for w in range(100, 800, 100):
|
||||||
|
for h in range(100, 800, 100):
|
||||||
|
for f in fmts:
|
||||||
|
for channels in ([], 1, 2, 3, 4, 5):
|
||||||
|
if channels == []:
|
||||||
|
original = np.uint8(np.random.randint(0, 255, size=(h, w)))
|
||||||
|
else:
|
||||||
|
original = np.uint8(np.random.randint(0, 255, size=(h, w, channels)))
|
||||||
|
rosmsg = cvb_en.cv2_to_imgmsg(original)
|
||||||
|
newimg = cvb_de.imgmsg_to_cv2(rosmsg)
|
||||||
|
|
||||||
|
self.assert_(original.dtype == newimg.dtype)
|
||||||
|
if channels == 1:
|
||||||
|
# in that case, a gray image has a shape of size 2
|
||||||
|
self.assert_(original.shape[:2] == newimg.shape[:2])
|
||||||
|
else:
|
||||||
|
self.assert_(original.shape == newimg.shape)
|
||||||
|
self.assert_(len(original.tostring()) == len(newimg.tostring()))
|
||||||
|
|
||||||
|
def test_encode_decode_cv2_compressed(self):
|
||||||
|
import numpy as np
|
||||||
|
# from: http://docs.opencv.org/2.4/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
|
||||||
|
# NOTE: remove jp2(a.k.a JPEG2000) as its JASPER codec is disabled within Ubuntu opencv library
|
||||||
|
# due to security issues, but it works once you rebuild your opencv library with JASPER enabled
|
||||||
|
formats = ["jpg", "jpeg", "jpe", "png", "bmp", "dib", "ppm", "pgm", "pbm",
|
||||||
|
"sr", "ras", "tif", "tiff"] # this formats rviz is not support
|
||||||
|
|
||||||
|
cvb_en = CvBridge()
|
||||||
|
cvb_de = CvBridge()
|
||||||
|
|
||||||
|
for w in range(100, 800, 100):
|
||||||
|
for h in range(100, 800, 100):
|
||||||
|
for f in formats:
|
||||||
|
for channels in ([], 1, 3):
|
||||||
|
if channels == []:
|
||||||
|
original = np.uint8(np.random.randint(0, 255, size=(h, w)))
|
||||||
|
else:
|
||||||
|
original = np.uint8(np.random.randint(0, 255, size=(h, w, channels)))
|
||||||
|
compress_rosmsg = cvb_en.cv2_to_compressed_imgmsg(original, f)
|
||||||
|
newimg = cvb_de.compressed_imgmsg_to_cv2(compress_rosmsg)
|
||||||
|
self.assert_(original.dtype == newimg.dtype)
|
||||||
|
if channels == 1:
|
||||||
|
# in that case, a gray image has a shape of size 2
|
||||||
|
self.assert_(original.shape[:2] == newimg.shape[:2])
|
||||||
|
else:
|
||||||
|
self.assert_(original.shape == newimg.shape)
|
||||||
|
self.assert_(len(original.tostring()) == len(newimg.tostring()))
|
||||||
|
|
||||||
|
def test_endianness(self):
|
||||||
|
br = CvBridge()
|
||||||
|
dtype = np.dtype('int32')
|
||||||
|
# Set to big endian.
|
||||||
|
dtype = dtype.newbyteorder('>')
|
||||||
|
img = np.random.randint(0, 255, size=(30, 40))
|
||||||
|
msg = br.cv2_to_imgmsg(img.astype(dtype))
|
||||||
|
self.assert_(msg.is_bigendian == True)
|
||||||
|
self.assert_((br.imgmsg_to_cv2(msg) == img).all())
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
rosunit.unitrun('opencv_tests', 'conversions', TestConversions)
|
||||||
47
src/vision_opencv/cv_bridge/test/enumerants.py
Normal file
47
src/vision_opencv/cv_bridge/test/enumerants.py
Normal file
@@ -0,0 +1,47 @@
|
|||||||
|
#!/usr/bin/env python
|
||||||
|
import rostest
|
||||||
|
import unittest
|
||||||
|
|
||||||
|
import numpy as np
|
||||||
|
import cv2
|
||||||
|
|
||||||
|
import sensor_msgs.msg
|
||||||
|
|
||||||
|
from cv_bridge import CvBridge, CvBridgeError, getCvType
|
||||||
|
|
||||||
|
class TestEnumerants(unittest.TestCase):
|
||||||
|
|
||||||
|
def test_enumerants_cv2(self):
|
||||||
|
img_msg = sensor_msgs.msg.Image()
|
||||||
|
img_msg.width = 640
|
||||||
|
img_msg.height = 480
|
||||||
|
img_msg.encoding = "rgba8"
|
||||||
|
img_msg.step = 640*4
|
||||||
|
img_msg.data = (640 * 480) * "1234"
|
||||||
|
|
||||||
|
bridge_ = CvBridge()
|
||||||
|
cvim = bridge_.imgmsg_to_cv2(img_msg, "rgb8")
|
||||||
|
import sys
|
||||||
|
self.assertRaises(sys.getrefcount(cvim) == 2)
|
||||||
|
|
||||||
|
# A 3 channel image cannot be sent as an rgba8
|
||||||
|
self.assertRaises(CvBridgeError, lambda: bridge_.cv2_to_imgmsg(cvim, "rgba8"))
|
||||||
|
|
||||||
|
# but it can be sent as rgb8 and bgr8
|
||||||
|
bridge_.cv2_to_imgmsg(cvim, "rgb8")
|
||||||
|
bridge_.cv2_to_imgmsg(cvim, "bgr8")
|
||||||
|
|
||||||
|
self.assertRaises(getCvType("32FC4") == cv2.CV_8UC4)
|
||||||
|
self.assertRaises(getCvType("8UC1") == cv2.CV_8UC1)
|
||||||
|
self.assertRaises(getCvType("8U") == cv2.CV_8UC1)
|
||||||
|
|
||||||
|
def test_numpy_types(self):
|
||||||
|
import cv2
|
||||||
|
import numpy as np
|
||||||
|
bridge_ = CvBridge()
|
||||||
|
self.assertRaises(TypeError, lambda: bridge_.cv2_to_imgmsg(1, "rgba8"))
|
||||||
|
if hasattr(cv2, 'cv'):
|
||||||
|
self.assertRaises(TypeError, lambda: bridge_.cv2_to_imgmsg(cv2.cv(), "rgba8"))
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
rosunit.unitrun('opencv_tests', 'enumerants', TestEnumerants)
|
||||||
35
src/vision_opencv/cv_bridge/test/python_bindings.py
Normal file
35
src/vision_opencv/cv_bridge/test/python_bindings.py
Normal file
@@ -0,0 +1,35 @@
|
|||||||
|
from nose.tools import assert_equal
|
||||||
|
import numpy as np
|
||||||
|
|
||||||
|
import cv_bridge
|
||||||
|
|
||||||
|
|
||||||
|
def test_cvtColorForDisplay():
|
||||||
|
# convert label image to display
|
||||||
|
label = np.zeros((480, 640), dtype=np.int32)
|
||||||
|
height, width = label.shape[:2]
|
||||||
|
label_value = 0
|
||||||
|
grid_num_y, grid_num_x = 3, 4
|
||||||
|
for grid_row in xrange(grid_num_y):
|
||||||
|
grid_size_y = height / grid_num_y
|
||||||
|
min_y = grid_size_y * grid_row
|
||||||
|
max_y = min_y + grid_size_y
|
||||||
|
for grid_col in xrange(grid_num_x):
|
||||||
|
grid_size_x = width / grid_num_x
|
||||||
|
min_x = grid_size_x * grid_col
|
||||||
|
max_x = min_x + grid_size_x
|
||||||
|
label[min_y:max_y, min_x:max_x] = label_value
|
||||||
|
label_value += 1
|
||||||
|
label_viz = cv_bridge.cvtColorForDisplay(label, '32SC1', 'bgr8')
|
||||||
|
assert_equal(label_viz.dtype, np.uint8)
|
||||||
|
assert_equal(label_viz.min(), 0)
|
||||||
|
assert_equal(label_viz.max(), 255)
|
||||||
|
|
||||||
|
# Check that mono8 conversion returns the right shape.
|
||||||
|
bridge = cv_bridge.CvBridge()
|
||||||
|
mono = np.random.random((100, 100)) * 255
|
||||||
|
mono = mono.astype(np.uint8)
|
||||||
|
|
||||||
|
input_msg = bridge.cv2_to_imgmsg(mono, encoding='mono8')
|
||||||
|
output = bridge.imgmsg_to_cv2(input_msg, desired_encoding='mono8')
|
||||||
|
assert_equal(output.shape, (100,100))
|
||||||
36
src/vision_opencv/cv_bridge/test/test_compression.cpp
Normal file
36
src/vision_opencv/cv_bridge/test/test_compression.cpp
Normal file
@@ -0,0 +1,36 @@
|
|||||||
|
#include <cv_bridge/cv_bridge.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <gtest/gtest.h>
|
||||||
|
|
||||||
|
TEST(CvBridgeTest, compression)
|
||||||
|
{
|
||||||
|
cv::RNG rng(0);
|
||||||
|
std_msgs::Header header;
|
||||||
|
|
||||||
|
// Test 3 channel images.
|
||||||
|
for (int i = 0; i < 2; ++i)
|
||||||
|
{
|
||||||
|
const std::string format = (i == 0) ? "bgr8" : "rgb8";
|
||||||
|
cv::Mat_<cv::Vec3b> in(10, 10);
|
||||||
|
rng.fill(in, cv::RNG::UNIFORM, 0, 256);
|
||||||
|
|
||||||
|
sensor_msgs::CompressedImagePtr msg = cv_bridge::CvImage(header, format, in).toCompressedImageMsg(cv_bridge::PNG);
|
||||||
|
const cv_bridge::CvImageConstPtr out = cv_bridge::toCvCopy(msg, format);
|
||||||
|
|
||||||
|
EXPECT_EQ(out->image.channels(), 3);
|
||||||
|
EXPECT_EQ(cv::norm(out->image, in), 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Test 4 channel images.
|
||||||
|
for (int i = 0; i < 2; ++i)
|
||||||
|
{
|
||||||
|
const std::string format = (i == 0) ? "bgra8" : "rgba8";
|
||||||
|
cv::Mat_<cv::Vec4b> in(10, 10);
|
||||||
|
rng.fill(in, cv::RNG::UNIFORM, 0, 256);
|
||||||
|
|
||||||
|
sensor_msgs::CompressedImagePtr msg = cv_bridge::CvImage(header, format, in).toCompressedImageMsg(cv_bridge::PNG);
|
||||||
|
const cv_bridge::CvImageConstPtr out = cv_bridge::toCvCopy(msg, format);
|
||||||
|
EXPECT_EQ(out->image.channels(), 4);
|
||||||
|
EXPECT_EQ(cv::norm(out->image, in), 0);
|
||||||
|
}
|
||||||
|
}
|
||||||
38
src/vision_opencv/cv_bridge/test/test_endian.cpp
Normal file
38
src/vision_opencv/cv_bridge/test/test_endian.cpp
Normal file
@@ -0,0 +1,38 @@
|
|||||||
|
#include "boost/endian/conversion.hpp"
|
||||||
|
#include <boost/make_shared.hpp>
|
||||||
|
#include <cv_bridge/cv_bridge.h>
|
||||||
|
#include <gtest/gtest.h>
|
||||||
|
|
||||||
|
TEST(CvBridgeTest, endianness)
|
||||||
|
{
|
||||||
|
using namespace boost::endian;
|
||||||
|
|
||||||
|
// Create an image of the type opposite to the platform
|
||||||
|
sensor_msgs::Image msg;
|
||||||
|
msg.height = 1;
|
||||||
|
msg.width = 1;
|
||||||
|
msg.encoding = "32SC2";
|
||||||
|
msg.step = 8;
|
||||||
|
|
||||||
|
msg.data.resize(msg.step);
|
||||||
|
int32_t* data = reinterpret_cast<int32_t*>(&msg.data[0]);
|
||||||
|
|
||||||
|
// Write 1 and 2 in order, but with an endianness opposite to the platform
|
||||||
|
if (order::native == order::little)
|
||||||
|
{
|
||||||
|
msg.is_bigendian = true;
|
||||||
|
*(data++) = native_to_big(static_cast<int32_t>(1));
|
||||||
|
*data = native_to_big(static_cast<int32_t>(2));
|
||||||
|
} else {
|
||||||
|
msg.is_bigendian = false;
|
||||||
|
*(data++) = native_to_little(static_cast<int32_t>(1));
|
||||||
|
*data = native_to_little(static_cast<int32_t>(2));
|
||||||
|
}
|
||||||
|
|
||||||
|
// Make sure the values are still the same
|
||||||
|
cv_bridge::CvImageConstPtr img = cv_bridge::toCvShare(boost::make_shared<sensor_msgs::Image>(msg));
|
||||||
|
EXPECT_EQ(img->image.at<cv::Vec2i>(0, 0)[0], 1);
|
||||||
|
EXPECT_EQ(img->image.at<cv::Vec2i>(0, 0)[1], 2);
|
||||||
|
// Make sure we cannot share data
|
||||||
|
EXPECT_NE(img->image.data, &msg.data[0]);
|
||||||
|
}
|
||||||
19
src/vision_opencv/cv_bridge/test/test_rgb_colors.cpp
Normal file
19
src/vision_opencv/cv_bridge/test/test_rgb_colors.cpp
Normal file
@@ -0,0 +1,19 @@
|
|||||||
|
#include "cv_bridge/rgb_colors.h"
|
||||||
|
#include <opencv2/opencv.hpp>
|
||||||
|
#include <gtest/gtest.h>
|
||||||
|
|
||||||
|
|
||||||
|
TEST(RGBColors, testGetRGBColor)
|
||||||
|
{
|
||||||
|
cv::Vec3d color;
|
||||||
|
// red
|
||||||
|
color = cv_bridge::rgb_colors::getRGBColor(cv_bridge::rgb_colors::RED);
|
||||||
|
EXPECT_EQ(1, color[0]);
|
||||||
|
EXPECT_EQ(0, color[1]);
|
||||||
|
EXPECT_EQ(0, color[2]);
|
||||||
|
// gray
|
||||||
|
color = cv_bridge::rgb_colors::getRGBColor(cv_bridge::rgb_colors::GRAY);
|
||||||
|
EXPECT_EQ(0.502, color[0]);
|
||||||
|
EXPECT_EQ(0.502, color[1]);
|
||||||
|
EXPECT_EQ(0.502, color[2]);
|
||||||
|
}
|
||||||
141
src/vision_opencv/cv_bridge/test/utest.cpp
Normal file
141
src/vision_opencv/cv_bridge/test/utest.cpp
Normal file
@@ -0,0 +1,141 @@
|
|||||||
|
#include "cv_bridge/cv_bridge.h"
|
||||||
|
#include <sensor_msgs/image_encodings.h>
|
||||||
|
#include <gtest/gtest.h>
|
||||||
|
|
||||||
|
|
||||||
|
// Tests conversion of non-continuous cv::Mat. #5206
|
||||||
|
TEST(CvBridgeTest, NonContinuous)
|
||||||
|
{
|
||||||
|
cv::Mat full = cv::Mat::eye(8, 8, CV_16U);
|
||||||
|
cv::Mat partial = full.colRange(2, 5);
|
||||||
|
|
||||||
|
cv_bridge::CvImage cvi;
|
||||||
|
cvi.encoding = sensor_msgs::image_encodings::MONO16;
|
||||||
|
cvi.image = partial;
|
||||||
|
|
||||||
|
sensor_msgs::ImagePtr msg = cvi.toImageMsg();
|
||||||
|
EXPECT_EQ(msg->height, 8);
|
||||||
|
EXPECT_EQ(msg->width, 3);
|
||||||
|
EXPECT_EQ(msg->encoding, cvi.encoding);
|
||||||
|
EXPECT_EQ(msg->step, 6);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(CvBridgeTest, ChannelOrder)
|
||||||
|
{
|
||||||
|
cv::Mat_<uint16_t> mat(200, 200);
|
||||||
|
mat.setTo(cv::Scalar(1000,0,0,0));
|
||||||
|
sensor_msgs::ImagePtr image(new sensor_msgs::Image());
|
||||||
|
|
||||||
|
image = cv_bridge::CvImage(image->header, sensor_msgs::image_encodings::MONO16, mat).toImageMsg();
|
||||||
|
|
||||||
|
cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(image);
|
||||||
|
|
||||||
|
cv_bridge::CvImagePtr res = cv_bridge::cvtColor(cv_ptr, sensor_msgs::image_encodings::BGR8);
|
||||||
|
EXPECT_EQ(res->encoding, sensor_msgs::image_encodings::BGR8);
|
||||||
|
EXPECT_EQ(res->image.type(), cv_bridge::getCvType(res->encoding));
|
||||||
|
EXPECT_EQ(res->image.channels(), sensor_msgs::image_encodings::numChannels(res->encoding));
|
||||||
|
EXPECT_EQ(res->image.depth(), CV_8U);
|
||||||
|
|
||||||
|
// The matrix should be the following
|
||||||
|
cv::Mat_<cv::Vec3b> gt(200, 200);
|
||||||
|
gt.setTo(cv::Scalar(1, 1, 1)*1000.*255./65535.);
|
||||||
|
|
||||||
|
ASSERT_EQ(res->image.type(), gt.type());
|
||||||
|
EXPECT_EQ(cv::norm(res->image, gt, cv::NORM_INF), 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(CvBridgeTest, initialization)
|
||||||
|
{
|
||||||
|
sensor_msgs::Image image;
|
||||||
|
cv_bridge::CvImagePtr cv_ptr;
|
||||||
|
|
||||||
|
image.encoding = "bgr8";
|
||||||
|
image.height = 200;
|
||||||
|
image.width = 200;
|
||||||
|
|
||||||
|
try {
|
||||||
|
cv_ptr = cv_bridge::toCvCopy(image, "mono8");
|
||||||
|
// Before the fix, it would never get here, as it would segfault
|
||||||
|
EXPECT_EQ(1, 0);
|
||||||
|
} catch (cv_bridge::Exception& e) {
|
||||||
|
EXPECT_EQ(1, 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Check some normal images with different ratios
|
||||||
|
for(int height = 100; height <= 300; ++height) {
|
||||||
|
image.encoding = sensor_msgs::image_encodings::RGB8;
|
||||||
|
image.step = image.width*3;
|
||||||
|
image.data.resize(image.height*image.step);
|
||||||
|
cv_ptr = cv_bridge::toCvCopy(image, "mono8");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(CvBridgeTest, imageMessageStep)
|
||||||
|
{
|
||||||
|
// Test 1: image step is padded
|
||||||
|
sensor_msgs::Image image;
|
||||||
|
cv_bridge::CvImagePtr cv_ptr;
|
||||||
|
|
||||||
|
image.encoding = "mono8";
|
||||||
|
image.height = 220;
|
||||||
|
image.width = 200;
|
||||||
|
image.is_bigendian = false;
|
||||||
|
image.step = 208;
|
||||||
|
|
||||||
|
image.data.resize(image.height*image.step);
|
||||||
|
|
||||||
|
ASSERT_NO_THROW(cv_ptr = cv_bridge::toCvCopy(image, "mono8"));
|
||||||
|
ASSERT_EQ(220, cv_ptr->image.rows);
|
||||||
|
ASSERT_EQ(200, cv_ptr->image.cols);
|
||||||
|
//OpenCV copyTo argument removes the stride
|
||||||
|
ASSERT_EQ(200, cv_ptr->image.step[0]);
|
||||||
|
|
||||||
|
//Test 2: image step is invalid
|
||||||
|
image.step = 199;
|
||||||
|
|
||||||
|
ASSERT_THROW(cv_ptr = cv_bridge::toCvCopy(image, "mono8"), cv_bridge::Exception);
|
||||||
|
|
||||||
|
//Test 3: image step == image.width * element size * number of channels
|
||||||
|
image.step = 200;
|
||||||
|
image.data.resize(image.height*image.step);
|
||||||
|
|
||||||
|
ASSERT_NO_THROW(cv_ptr = cv_bridge::toCvCopy(image, "mono8"));
|
||||||
|
ASSERT_EQ(220, cv_ptr->image.rows);
|
||||||
|
ASSERT_EQ(200, cv_ptr->image.cols);
|
||||||
|
ASSERT_EQ(200, cv_ptr->image.step[0]);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(CvBridgeTest, imageMessageConversion)
|
||||||
|
{
|
||||||
|
sensor_msgs::Image imgmsg;
|
||||||
|
cv_bridge::CvImagePtr cv_ptr;
|
||||||
|
imgmsg.height = 220;
|
||||||
|
imgmsg.width = 200;
|
||||||
|
imgmsg.is_bigendian = false;
|
||||||
|
|
||||||
|
// image with data type float32 and 1 channels
|
||||||
|
imgmsg.encoding = "32FC1";
|
||||||
|
imgmsg.step = imgmsg.width * 32 / 8 * 1;
|
||||||
|
imgmsg.data.resize(imgmsg.height * imgmsg.step);
|
||||||
|
ASSERT_NO_THROW(cv_ptr = cv_bridge::toCvCopy(imgmsg, imgmsg.encoding));
|
||||||
|
ASSERT_EQ(imgmsg.height, cv_ptr->image.rows);
|
||||||
|
ASSERT_EQ(imgmsg.width, cv_ptr->image.cols);
|
||||||
|
ASSERT_EQ(1, cv_ptr->image.channels());
|
||||||
|
ASSERT_EQ(imgmsg.step, cv_ptr->image.step[0]);
|
||||||
|
|
||||||
|
// image with data type float32 and 10 channels
|
||||||
|
imgmsg.encoding = "32FC10";
|
||||||
|
imgmsg.step = imgmsg.width * 32 / 8 * 10;
|
||||||
|
imgmsg.data.resize(imgmsg.height * imgmsg.step);
|
||||||
|
ASSERT_NO_THROW(cv_ptr = cv_bridge::toCvCopy(imgmsg, imgmsg.encoding));
|
||||||
|
ASSERT_EQ(imgmsg.height, cv_ptr->image.rows);
|
||||||
|
ASSERT_EQ(imgmsg.width, cv_ptr->image.cols);
|
||||||
|
ASSERT_EQ(10, cv_ptr->image.channels());
|
||||||
|
ASSERT_EQ(imgmsg.step, cv_ptr->image.step[0]);
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(int argc, char** argv)
|
||||||
|
{
|
||||||
|
testing::InitGoogleTest(&argc, argv);
|
||||||
|
return RUN_ALL_TESTS();
|
||||||
|
}
|
||||||
150
src/vision_opencv/cv_bridge/test/utest2.cpp
Normal file
150
src/vision_opencv/cv_bridge/test/utest2.cpp
Normal file
@@ -0,0 +1,150 @@
|
|||||||
|
/*********************************************************************
|
||||||
|
* Software License Agreement (BSD License)
|
||||||
|
*
|
||||||
|
* Copyright (c) 2009, Willow Garage, Inc.
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* * Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* * Redistributions in binary form must reproduce the above
|
||||||
|
* copyright notice, this list of conditions and the following
|
||||||
|
* disclaimer in the documentation and/or other materials provided
|
||||||
|
* with the distribution.
|
||||||
|
* * Neither the name of the Willow Garage nor the names of its
|
||||||
|
* contributors may be used to endorse or promote products derived
|
||||||
|
* from this software without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||||
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*********************************************************************/
|
||||||
|
|
||||||
|
#include <string>
|
||||||
|
#include <vector>
|
||||||
|
#include <gtest/gtest.h>
|
||||||
|
|
||||||
|
#include "opencv2/core/core.hpp"
|
||||||
|
|
||||||
|
#include "cv_bridge/cv_bridge.h"
|
||||||
|
#include <sensor_msgs/Image.h>
|
||||||
|
#include <sensor_msgs/image_encodings.h>
|
||||||
|
|
||||||
|
using namespace sensor_msgs::image_encodings;
|
||||||
|
|
||||||
|
bool isUnsigned(const std::string & encoding) {
|
||||||
|
return encoding == RGB8 || encoding == RGBA8 || encoding == RGB16 || encoding == RGBA16 || encoding == BGR8 || encoding == BGRA8 || encoding == BGR16 || encoding == BGRA16 || encoding == MONO8 || encoding == MONO16 ||
|
||||||
|
encoding == MONO8 || encoding == MONO16 || encoding == TYPE_8UC1 || encoding == TYPE_8UC2 || encoding == TYPE_8UC3 || encoding == TYPE_8UC4 ||
|
||||||
|
encoding == TYPE_16UC1 || encoding == TYPE_16UC2 || encoding == TYPE_16UC3 || encoding == TYPE_16UC4;
|
||||||
|
//BAYER_RGGB8, BAYER_BGGR8, BAYER_GBRG8, BAYER_GRBG8, BAYER_RGGB16, BAYER_BGGR16, BAYER_GBRG16, BAYER_GRBG16,
|
||||||
|
//YUV422
|
||||||
|
}
|
||||||
|
std::vector<std::string>
|
||||||
|
getEncodings() {
|
||||||
|
// TODO for Groovy, the following types should be uncommented
|
||||||
|
std::string encodings[] = { RGB8, RGBA8, RGB16, RGBA16, BGR8, BGRA8, BGR16, BGRA16, MONO8, MONO16,
|
||||||
|
TYPE_8UC1, /*TYPE_8UC2,*/ TYPE_8UC3, TYPE_8UC4,
|
||||||
|
TYPE_8SC1, /*TYPE_8SC2,*/ TYPE_8SC3, TYPE_8SC4,
|
||||||
|
TYPE_16UC1, /*TYPE_16UC2,*/ TYPE_16UC3, TYPE_16UC4,
|
||||||
|
TYPE_16SC1, /*TYPE_16SC2,*/ TYPE_16SC3, TYPE_16SC4,
|
||||||
|
TYPE_32SC1, /*TYPE_32SC2,*/ TYPE_32SC3, TYPE_32SC4,
|
||||||
|
TYPE_32FC1, /*TYPE_32FC2,*/ TYPE_32FC3, TYPE_32FC4,
|
||||||
|
TYPE_64FC1, /*TYPE_64FC2,*/ TYPE_64FC3, TYPE_64FC4,
|
||||||
|
//BAYER_RGGB8, BAYER_BGGR8, BAYER_GBRG8, BAYER_GRBG8, BAYER_RGGB16, BAYER_BGGR16, BAYER_GBRG16, BAYER_GRBG16,
|
||||||
|
YUV422
|
||||||
|
};
|
||||||
|
return std::vector<std::string>(encodings, encodings+47-8-7);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(OpencvTests, testCase_encode_decode)
|
||||||
|
{
|
||||||
|
std::vector<std::string> encodings = getEncodings();
|
||||||
|
for(size_t i=0; i<encodings.size(); ++i) {
|
||||||
|
std::string src_encoding = encodings[i];
|
||||||
|
bool is_src_color_format = isColor(src_encoding) || isMono(src_encoding) || (src_encoding == sensor_msgs::image_encodings::YUV422);
|
||||||
|
cv::Mat image_original(cv::Size(400, 400), cv_bridge::getCvType(src_encoding));
|
||||||
|
cv::RNG r(77);
|
||||||
|
r.fill(image_original, cv::RNG::UNIFORM, 0, 127);
|
||||||
|
|
||||||
|
sensor_msgs::Image image_message;
|
||||||
|
cv_bridge::CvImage image_bridge(std_msgs::Header(), src_encoding, image_original);
|
||||||
|
|
||||||
|
// Convert to a sensor_msgs::Image
|
||||||
|
sensor_msgs::ImagePtr image_msg = image_bridge.toImageMsg();
|
||||||
|
|
||||||
|
for(size_t j=0; j<encodings.size(); ++j) {
|
||||||
|
std::string dst_encoding = encodings[j];
|
||||||
|
bool is_dst_color_format = isColor(dst_encoding) || isMono(dst_encoding) || (dst_encoding == sensor_msgs::image_encodings::YUV422);
|
||||||
|
bool is_num_channels_the_same = (numChannels(src_encoding) == numChannels(dst_encoding));
|
||||||
|
|
||||||
|
cv_bridge::CvImageConstPtr cv_image;
|
||||||
|
cv::Mat image_back;
|
||||||
|
// If the first type does not contain any color information
|
||||||
|
if (!is_src_color_format) {
|
||||||
|
// Converting from a non color type to a color type does no make sense
|
||||||
|
if (is_dst_color_format) {
|
||||||
|
EXPECT_THROW(cv_bridge::toCvShare(image_msg, dst_encoding), cv_bridge::Exception);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
// We can only convert non-color types with the same number of channels
|
||||||
|
if (!is_num_channels_the_same) {
|
||||||
|
EXPECT_THROW(cv_bridge::toCvShare(image_msg, dst_encoding), cv_bridge::Exception);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
cv_image = cv_bridge::toCvShare(image_msg, dst_encoding);
|
||||||
|
} else {
|
||||||
|
// If we are converting to a non-color, you cannot convert to a different number of channels
|
||||||
|
if (!is_dst_color_format) {
|
||||||
|
if (!is_num_channels_the_same) {
|
||||||
|
EXPECT_THROW(cv_bridge::toCvShare(image_msg, dst_encoding), cv_bridge::Exception);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
cv_image = cv_bridge::toCvShare(image_msg, dst_encoding);
|
||||||
|
// We cannot convert from non-color to color
|
||||||
|
EXPECT_THROW(cvtColor(cv_image, src_encoding)->image, cv_bridge::Exception);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
// We do not support conversion to YUV422 for now, except from YUV422
|
||||||
|
if ((dst_encoding == YUV422) && (src_encoding != YUV422)) {
|
||||||
|
EXPECT_THROW(cv_bridge::toCvShare(image_msg, dst_encoding), cv_bridge::Exception);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
cv_image = cv_bridge::toCvShare(image_msg, dst_encoding);
|
||||||
|
|
||||||
|
// We do not support conversion to YUV422 for now, except from YUV422
|
||||||
|
if ((src_encoding == YUV422) && (dst_encoding != YUV422)) {
|
||||||
|
EXPECT_THROW(cvtColor(cv_image, src_encoding)->image, cv_bridge::Exception);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
// And convert back to a cv::Mat
|
||||||
|
image_back = cvtColor(cv_image, src_encoding)->image;
|
||||||
|
|
||||||
|
// If the number of channels,s different some information got lost at some point, so no possible test
|
||||||
|
if (!is_num_channels_the_same)
|
||||||
|
continue;
|
||||||
|
if (bitDepth(src_encoding) >= 32) {
|
||||||
|
// In the case where the input has floats, we will lose precision but no more than 1
|
||||||
|
EXPECT_LT(cv::norm(image_original, image_back, cv::NORM_INF), 1) << "problem converting from " << src_encoding << " to " << dst_encoding << " and back.";
|
||||||
|
} else if ((bitDepth(src_encoding) == 16) && (bitDepth(dst_encoding) == 8)) {
|
||||||
|
// In the case where the input has floats, we will lose precision but no more than 1 * max(127)
|
||||||
|
EXPECT_LT(cv::norm(image_original, image_back, cv::NORM_INF), 128) << "problem converting from " << src_encoding << " to " << dst_encoding << " and back.";
|
||||||
|
} else {
|
||||||
|
EXPECT_EQ(cv::norm(image_original, image_back, cv::NORM_INF), 0) << "problem converting from " << src_encoding << " to " << dst_encoding << " and back.";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
383
src/vision_opencv/image_geometry/CHANGELOG.rst
Normal file
383
src/vision_opencv/image_geometry/CHANGELOG.rst
Normal file
@@ -0,0 +1,383 @@
|
|||||||
|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||||
|
Changelog for package image_geometry
|
||||||
|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||||
|
|
||||||
|
1.13.1 (2022-10-03)
|
||||||
|
-------------------
|
||||||
|
* Update CMakeLists.txt for Windows build environment (`#265 <https://github.com/ros-perception/vision_opencv/issues/265>`_)
|
||||||
|
* Windows bringup
|
||||||
|
* Correct binary locations for shared libraries.
|
||||||
|
* Fix build break.
|
||||||
|
* Fix cv_bridge_boost.pyd.
|
||||||
|
* remove hard-coded STATIC (`#3 <https://github.com/ros-perception/vision_opencv/issues/3>`_)
|
||||||
|
* remove WINDOWS_EXPORT_ALL_SYMBOLS property (`#4 <https://github.com/ros-perception/vision_opencv/issues/4>`_)
|
||||||
|
* add DLL import/export macros (`#266 <https://github.com/ros-perception/vision_opencv/issues/266>`_)
|
||||||
|
* update macro names (`#2 <https://github.com/ros-perception/vision_opencv/issues/2>`_)
|
||||||
|
* add exports.h and dll import/export macros
|
||||||
|
* Contributors: James Xu
|
||||||
|
|
||||||
|
1.13.0 (2018-04-30)
|
||||||
|
-------------------
|
||||||
|
* Use rosdep OpenCV and not ROS one.
|
||||||
|
We defintely don't need the whole OpenCV.
|
||||||
|
We need to clean the rosdep keys.
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.12.8 (2018-04-17)
|
||||||
|
-------------------
|
||||||
|
* Merge pull request `#189 <https://github.com/ros-perception/vision_opencv/issues/189>`_ from ros2/python3_support_in_test
|
||||||
|
python 3 compatibility in test
|
||||||
|
* python 3 compatibility in test
|
||||||
|
* fix doc job
|
||||||
|
* Contributors: Mikael Arguedas, Vincent Rabaud
|
||||||
|
|
||||||
|
1.12.7 (2017-11-12)
|
||||||
|
-------------------
|
||||||
|
* get shared_ptr from boost or C++11
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.12.6 (2017-11-11)
|
||||||
|
-------------------
|
||||||
|
* missing STL includes
|
||||||
|
* Contributors: Mikael Arguedas, Vincent Rabaud
|
||||||
|
|
||||||
|
1.12.5 (2017-11-05)
|
||||||
|
-------------------
|
||||||
|
* Fix compilation issues.
|
||||||
|
Fix suggested by `#173 <https://github.com/ros-perception/vision_opencv/issues/173>`_ comment
|
||||||
|
* Make sure to initialize the distorted_image Mat.
|
||||||
|
Otherwise, valgrind throws errors about accessing uninitialized
|
||||||
|
memory.
|
||||||
|
Signed-off-by: Chris Lalancette <clalancette@osrfoundation.org>
|
||||||
|
* Remove the last remnants of boost from image_geometry.
|
||||||
|
All of its functionality can be had from std:: in C++11, so
|
||||||
|
use that instead. This also requires us to add the -std=c++11
|
||||||
|
flag.
|
||||||
|
Signed-off-by: Chris Lalancette <clalancette@osrfoundation.org>
|
||||||
|
* Contributors: Chris Lalancette, Vincent Rabaud
|
||||||
|
|
||||||
|
1.12.4 (2017-01-29)
|
||||||
|
-------------------
|
||||||
|
* Import using __future_\_ for python 3 compatibility.
|
||||||
|
* Contributors: Hans Gaiser
|
||||||
|
|
||||||
|
1.12.3 (2016-12-04)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.2 (2016-09-24)
|
||||||
|
-------------------
|
||||||
|
* Fix "stdlib.h: No such file or directory" errors in GCC-6
|
||||||
|
Including '-isystem /usr/include' breaks building with GCC-6.
|
||||||
|
See https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129
|
||||||
|
* Merge pull request `#142 <https://github.com/ros-perception/vision_opencv/issues/142>`_ from YuOhara/remap_with_nan_border_value
|
||||||
|
remap with nan border if mat value is float or double
|
||||||
|
* remap with nan border if mat value is float or double
|
||||||
|
* Contributors: Hodorgasm, Vincent Rabaud, YuOhara
|
||||||
|
|
||||||
|
1.12.1 (2016-07-11)
|
||||||
|
-------------------
|
||||||
|
* Add fullResolution getter to PinholeCameraModel
|
||||||
|
* add a missing dependency when building the doc
|
||||||
|
* fix sphinx doc path
|
||||||
|
* Contributors: Jacob Panikulam, Vincent Rabaud
|
||||||
|
|
||||||
|
1.12.0 (2016-03-18)
|
||||||
|
-------------------
|
||||||
|
* depend on OpenCV3 only
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.12 (2016-03-10)
|
||||||
|
--------------------
|
||||||
|
* issue `#117 <https://github.com/ros-perception/vision_opencv/issues/117>`_ pull request `#118 <https://github.com/ros-perception/vision_opencv/issues/118>`_ check all distortion coefficients to see if rectification ought to be done
|
||||||
|
* Contributors: Lucas Walter
|
||||||
|
|
||||||
|
1.11.11 (2016-01-31)
|
||||||
|
--------------------
|
||||||
|
* clean up the doc files
|
||||||
|
* fix a few warnings in doc jobs
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.10 (2016-01-16)
|
||||||
|
--------------------
|
||||||
|
|
||||||
|
1.11.9 (2015-11-29)
|
||||||
|
-------------------
|
||||||
|
* add a condition if D=None
|
||||||
|
* fix compilation warnings
|
||||||
|
* Contributors: Vincent Rabaud, YuOhara
|
||||||
|
|
||||||
|
1.11.8 (2015-07-15)
|
||||||
|
-------------------
|
||||||
|
* fixes `#62 <https://github.com/ros-perception/vision_opencv/issues/62>`_, bug in Python rectifyPoint old opencv1 API
|
||||||
|
* Simplify some OpenCV3 distinction
|
||||||
|
* Contributors: Basheer Subei, Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.7 (2014-12-14)
|
||||||
|
-------------------
|
||||||
|
* Merge pull request `#53 <https://github.com/ros-perception/vision_opencv/issues/53>`_ from carnegieroboticsllc/patch-1
|
||||||
|
Update stereo_camera_model.cpp
|
||||||
|
* Updated inline math for reprojecting a single disparity
|
||||||
|
* Update stereo_camera_model.cpp
|
||||||
|
Correct slight error in the Q matrix derivation
|
||||||
|
* Updated Q matrix to account for cameras with different Fx and Fy values
|
||||||
|
* Contributors: Carnegie Robotics LLC, Matt Alvarado, Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.6 (2014-11-16)
|
||||||
|
-------------------
|
||||||
|
* Fixes in image_geometry for Python cv2 API
|
||||||
|
* Fixed typo: np -> numpy
|
||||||
|
* Added missing tfFrame method to Python PinholeCameraModel.
|
||||||
|
* Removed trailing whitespace.
|
||||||
|
* Contributors: Daniel Maturana
|
||||||
|
|
||||||
|
1.11.5 (2014-09-21)
|
||||||
|
-------------------
|
||||||
|
* get code to work with OpenCV3
|
||||||
|
actually fixes `#46 <https://github.com/ros-perception/vision_opencv/issues/46>`_ properly
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.4 (2014-07-27)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.3 (2014-06-08)
|
||||||
|
-------------------
|
||||||
|
* pinhole_camera_model: fix implicit shared_ptr cast to bool for C++11
|
||||||
|
In C++11 boost::shared_ptr does not provide the implicit bool conversion
|
||||||
|
operator anymore, so make the cast in pinhole_camera_model.h explicit.
|
||||||
|
That does not hurt in older C++ standards and makes compilation with C++11
|
||||||
|
possible.
|
||||||
|
* Contributors: Max Schwarz
|
||||||
|
|
||||||
|
1.11.2 (2014-04-28)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.1 (2014-04-16)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.0 (2014-02-15)
|
||||||
|
-------------------
|
||||||
|
* remove OpenCV 1 API
|
||||||
|
* fixes `#6 <https://github.com/ros-perception/vision_opencv/issues/6>`_
|
||||||
|
* fix OpenCV dependencies
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.15 (2014-02-07)
|
||||||
|
--------------------
|
||||||
|
* add assignment operator for StereoCameraModel
|
||||||
|
* fixed Python rectifyImage implementation in PinholeCameraModel
|
||||||
|
* Added operator= for the PinholeCameraModel.
|
||||||
|
Added the operator= for the PinholeCameraModel. I am not sure if the
|
||||||
|
PinholeCameraModel needs to have a destructor, too. To follow the
|
||||||
|
'rule of three' it should actually have one.
|
||||||
|
* Contributors: Tobias Bar, Valsamis Ntouskos, Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.14 (2013-11-23 16:17)
|
||||||
|
--------------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.13 (2013-11-23 09:19)
|
||||||
|
--------------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.12 (2013-11-22)
|
||||||
|
--------------------
|
||||||
|
* "1.10.12"
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.11 (2013-10-23)
|
||||||
|
--------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.10 (2013-10-19)
|
||||||
|
--------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.9 (2013-10-07)
|
||||||
|
-------------------
|
||||||
|
* fixes `#23 <https://github.com/ros-perception/vision_opencv/issues/23>`_
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.8 (2013-09-09)
|
||||||
|
-------------------
|
||||||
|
* check for CATKIN_ENABLE_TESTING
|
||||||
|
* update email address
|
||||||
|
* Contributors: Lukas Bulwahn, Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.7 (2013-07-17)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.6 (2013-03-01)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.5 (2013-02-11)
|
||||||
|
-------------------
|
||||||
|
* Add dependency on generated messages
|
||||||
|
Catkin requires explicit enumeration of dependencies on generated messages.
|
||||||
|
Add this declaration to properly flatten the dependency graph and force Catkin
|
||||||
|
to generate geometry_msgs before compiling image_geometry.
|
||||||
|
* Contributors: Adam Hachey
|
||||||
|
|
||||||
|
1.10.4 (2013-02-02)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.3 (2013-01-17)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.2 (2013-01-13)
|
||||||
|
-------------------
|
||||||
|
* fix ticket 4253
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.1 (2013-01-10)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.0 (2013-01-03)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.15 (2013-01-02)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.14 (2012-12-30)
|
||||||
|
-------------------
|
||||||
|
* add feature for https://code.ros.org/trac/ros-pkg/ticket/5592
|
||||||
|
* CMake cleanups
|
||||||
|
* fix a failing test
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.13 (2012-12-15)
|
||||||
|
-------------------
|
||||||
|
* use the catkin macros for the setup.py
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.12 (2012-12-14)
|
||||||
|
-------------------
|
||||||
|
* buildtool_depend catkin fix
|
||||||
|
* Contributors: William Woodall
|
||||||
|
|
||||||
|
1.9.11 (2012-12-10)
|
||||||
|
-------------------
|
||||||
|
* Fixing image_geometry package.xml
|
||||||
|
* fix https://code.ros.org/trac/ros-pkg/ticket/5570
|
||||||
|
* Contributors: Vincent Rabaud, William Woodall
|
||||||
|
|
||||||
|
1.9.10 (2012-10-04)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.9 (2012-10-01)
|
||||||
|
------------------
|
||||||
|
* fix dependencies
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.8 (2012-09-30)
|
||||||
|
------------------
|
||||||
|
* fix some dependencies
|
||||||
|
* fix missing Python at install and fix some dependencies
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.7 (2012-09-28 21:07)
|
||||||
|
------------------------
|
||||||
|
* add missing stuff
|
||||||
|
* make sure we find catkin
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.6 (2012-09-28 15:17)
|
||||||
|
------------------------
|
||||||
|
* make all the tests pass
|
||||||
|
* comply to the new Catkin API
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.5 (2012-09-15)
|
||||||
|
------------------
|
||||||
|
* remove dependencies to the opencv2 ROS package
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.4 (2012-09-13)
|
||||||
|
------------------
|
||||||
|
* make sure the include folders are copied to the right place
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.3 (2012-09-12)
|
||||||
|
------------------
|
||||||
|
|
||||||
|
1.9.2 (2012-09-07)
|
||||||
|
------------------
|
||||||
|
* be more compliant to the latest catkin
|
||||||
|
* added catkin_project() to cv_bridge, image_geometry, and opencv_tests
|
||||||
|
* Contributors: Jonathan Binney, Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.1 (2012-08-28 22:06)
|
||||||
|
------------------------
|
||||||
|
* remove things that were marked as ROS_DEPRECATED
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.0 (2012-08-28 14:29)
|
||||||
|
------------------------
|
||||||
|
* catkinized opencv_tests by Jon Binney
|
||||||
|
* fix ticket 5449
|
||||||
|
* use OpenCV's projectPoints
|
||||||
|
* remove the version check, let's trust OpenCV :)
|
||||||
|
* revert the removal of opencv2
|
||||||
|
* vision_opencv: Export OpenCV flags in manifests for image_geometry, cv_bridge.
|
||||||
|
* finally get rid of opencv2 as it is a system dependency now
|
||||||
|
* bump REQUIRED version of OpenCV to 2.3.2, which is what's in ros-fuerte-opencv
|
||||||
|
* switch rosdep name to opencv2, to refer to ros-fuerte-opencv2
|
||||||
|
* Adding a few missing headers so that client code may compile against pinhole camera model.
|
||||||
|
* Adding opencv2 to all manifests, so that client packages may
|
||||||
|
not break when using them.
|
||||||
|
* baking in opencv debs and attempting a pre-release
|
||||||
|
* image_geometry: (Python) Adjust K and P for ROI/binning. Also expose full resolution K and P. Add raw_roi property.
|
||||||
|
* image_geometry: Add Tx, Ty getters (Python).
|
||||||
|
* image_geometry: Added tf_frame and stamp properties. Only generate undistort maps when rectifyImage is called.
|
||||||
|
* image_geometry: Fix for when D is empty (Python).
|
||||||
|
* image_geometry: Take all D coefficients, not just the first 4 (Python).
|
||||||
|
* image_geometry: Fix rectification in the presence of binning (`#4848 <https://github.com/ros-perception/vision_opencv/issues/4848>`_).
|
||||||
|
* image_geometry: Fixed wg-ros-pkg `#5019 <https://github.com/ros-perception/vision_opencv/issues/5019>`_, error updating StereoCameraModel. Removed manifest dependency on cv_bridge.
|
||||||
|
* image_geometry: fromCameraInfo() returns bool, true if parameters have changed since last call.
|
||||||
|
* image_geometry: Accessors for full-res K, P.
|
||||||
|
* image_geometry: Implemented toFullResolution(), toReducedResolution().
|
||||||
|
* image_geometry: Implemented reducedResolution().
|
||||||
|
* image_geometry: Implemented rectifiedRoi() with caching. Fixed bug that would cause rectification maps to be regenerated every time.
|
||||||
|
* image_geometry: Implemented rectifyRoi().
|
||||||
|
* image_geometry: Overloads of projection functions that return the output directly instead of through a reference parameter. Implemented unrectifyRoi(). Added fullResolution(), rawRoi().
|
||||||
|
* image_geometry: Library-specific exception class.
|
||||||
|
* image_geometry: PIMPL pattern for cached data, so I can change in patch releases if necessary. Changed projectPixelTo3dRay() to normalize to z=1.
|
||||||
|
* image_geometry (rep0104): Added binning. Partially fixed ROI (not finding rectified ROI yet). Now interpreting distortion_model. Lots of code cleanup.
|
||||||
|
* image_geometry (rep0104): Got tests passing again, were issues with D becoming variable-length.
|
||||||
|
* image_geometry: Fixed swapped width/height in computing ROI undistort maps. Partially fixes `#4206 <https://github.com/ros-perception/vision_opencv/issues/4206>`_.
|
||||||
|
* image_geometry: getDelta functions, getZ and getDisparity in C++ and Python. Docs and tests for them. Changed Python fx() and friends to pull values out of P instead of K.
|
||||||
|
* image_geometry: Added C++ getDeltaU and getDeltaV.
|
||||||
|
* `#4201 <https://github.com/ros-perception/vision_opencv/issues/4201>`_, implement/doc/test for getDeltaU getDeltaX getDeltaV getDeltaY
|
||||||
|
* Added Ubuntu platform tags to manifest
|
||||||
|
* `#4083 <https://github.com/ros-perception/vision_opencv/issues/4083>`_, projectPixelTo3dRay implemented
|
||||||
|
* image_geometry: Added PinholeCameraModel::stamp() returning the time stamp.
|
||||||
|
* image_geometry: Fixed bugs related to ignoring Tx & Ty in projectPixelTo3dRay and unrectifyPoint. Added Tx() and Ty() accessors.
|
||||||
|
* image_geometry: Fixed `#4063 <https://github.com/ros-perception/vision_opencv/issues/4063>`_, PinholeCameraModel ignores Tx term in P matrix.
|
||||||
|
* image_geometry: Implemented projectDisparityTo3d, `#4019 <https://github.com/ros-perception/vision_opencv/issues/4019>`_.
|
||||||
|
* image_geometry: Implemented unrectifyPoint, with unit tests.
|
||||||
|
* image_geometry: Fixed bug in rectifyPoint due to cv::undistortPoints not accepting double pt data, `#4053 <https://github.com/ros-perception/vision_opencv/issues/4053>`_.
|
||||||
|
* image_geometry: Tweaked manifest.
|
||||||
|
* image_geometry: Better manifest description.
|
||||||
|
* Removed tfFrame sample
|
||||||
|
* image_geometry: Doxygen main page, manifest updates.
|
||||||
|
* image_geometry: Doxygen for StereoCameraModel.
|
||||||
|
* image_geometry: Made Q calculation match old stereoproc one.
|
||||||
|
* image_geometry: Tweaked projectDisparityImageTo3D API for handling missing values.
|
||||||
|
* image_geometry: Added method to project disparity image to 3d. Added ConstPtr version of fromCameraInfo in StereoCameraModel.
|
||||||
|
* image_geometry: Export linker flags. Fixed bug that could cause rectification maps to not be initialized before use.
|
||||||
|
* Fixed path-handling on gtest for CMake 2.6
|
||||||
|
* image_geometry: Added missing source file.
|
||||||
|
* image_geometry: Added some C++ docs.
|
||||||
|
* image_geometry: Minor cleanup of StereoCameraModel, added it to build. Put in copy constructors.
|
||||||
|
* image_geometry: Switched pinhole_camera_model to use new C++ OpenCV types and functions.
|
||||||
|
* Remove use of deprecated rosbuild macros
|
||||||
|
* image_geometry (C++): Unit test for projecting points uv <-> xyz.
|
||||||
|
* image_geometry (C++): Implemented more projection functions, added beginnings of the unit tests.
|
||||||
|
* trigger rebuild
|
||||||
|
* Enable rosdoc.yaml
|
||||||
|
* docs
|
||||||
|
* image_geometry: Started C++ API. PinholeCameraModel is in theory (untested) able to track state efficiently and rectify images.
|
||||||
|
* First stereo test
|
||||||
|
* Checkpoint
|
||||||
|
* Skeleton of test
|
||||||
|
* First cut
|
||||||
|
* Contributors: Vincent Rabaud, ethanrublee, gerkey, jamesb, mihelich, vrabaud, wheeler
|
||||||
37
src/vision_opencv/image_geometry/CMakeLists.txt
Normal file
37
src/vision_opencv/image_geometry/CMakeLists.txt
Normal file
@@ -0,0 +1,37 @@
|
|||||||
|
cmake_minimum_required(VERSION 2.8)
|
||||||
|
project(image_geometry)
|
||||||
|
|
||||||
|
find_package(catkin REQUIRED sensor_msgs)
|
||||||
|
find_package(OpenCV REQUIRED)
|
||||||
|
|
||||||
|
catkin_package(CATKIN_DEPENDS sensor_msgs
|
||||||
|
DEPENDS OpenCV
|
||||||
|
INCLUDE_DIRS include
|
||||||
|
LIBRARIES ${PROJECT_NAME}
|
||||||
|
)
|
||||||
|
|
||||||
|
catkin_python_setup()
|
||||||
|
|
||||||
|
include_directories(include)
|
||||||
|
include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
|
||||||
|
|
||||||
|
# add a library
|
||||||
|
add_library(${PROJECT_NAME} src/pinhole_camera_model.cpp src/stereo_camera_model.cpp)
|
||||||
|
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
|
||||||
|
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/
|
||||||
|
)
|
||||||
|
|
||||||
|
# install library
|
||||||
|
install(TARGETS ${PROJECT_NAME}
|
||||||
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
|
)
|
||||||
|
|
||||||
|
# add tests
|
||||||
|
if(CATKIN_ENABLE_TESTING)
|
||||||
|
add_subdirectory(test)
|
||||||
|
endif()
|
||||||
201
src/vision_opencv/image_geometry/doc/conf.py
Normal file
201
src/vision_opencv/image_geometry/doc/conf.py
Normal file
@@ -0,0 +1,201 @@
|
|||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
#
|
||||||
|
# image_geometry documentation build configuration file, created by
|
||||||
|
# sphinx-quickstart on Mon Jun 1 14:21:53 2009.
|
||||||
|
#
|
||||||
|
# This file is execfile()d with the current directory set to its containing dir.
|
||||||
|
#
|
||||||
|
# Note that not all possible configuration values are present in this
|
||||||
|
# autogenerated file.
|
||||||
|
#
|
||||||
|
# All configuration values have a default; values that are commented out
|
||||||
|
# serve to show the default.
|
||||||
|
|
||||||
|
import sys, os
|
||||||
|
|
||||||
|
# If extensions (or modules to document with autodoc) are in another directory,
|
||||||
|
# add these directories to sys.path here. If the directory is relative to the
|
||||||
|
# documentation root, use os.path.abspath to make it absolute, like shown here.
|
||||||
|
#sys.path.append(os.path.abspath('.'))
|
||||||
|
|
||||||
|
# -- General configuration -----------------------------------------------------
|
||||||
|
|
||||||
|
# Add any Sphinx extension module names here, as strings. They can be extensions
|
||||||
|
# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
|
||||||
|
extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.intersphinx', 'sphinx.ext.pngmath']
|
||||||
|
|
||||||
|
# Add any paths that contain templates here, relative to this directory.
|
||||||
|
templates_path = ['_templates']
|
||||||
|
|
||||||
|
# The suffix of source filenames.
|
||||||
|
source_suffix = '.rst'
|
||||||
|
|
||||||
|
# The encoding of source files.
|
||||||
|
#source_encoding = 'utf-8'
|
||||||
|
|
||||||
|
# The master toctree document.
|
||||||
|
master_doc = 'index'
|
||||||
|
|
||||||
|
# General information about the project.
|
||||||
|
project = u'image_geometry'
|
||||||
|
copyright = u'2009, Willow Garage, Inc.'
|
||||||
|
|
||||||
|
# The version info for the project you're documenting, acts as replacement for
|
||||||
|
# |version| and |release|, also used in various other places throughout the
|
||||||
|
# built documents.
|
||||||
|
#
|
||||||
|
# The short X.Y version.
|
||||||
|
version = '0.1'
|
||||||
|
# The full version, including alpha/beta/rc tags.
|
||||||
|
release = '0.1.0'
|
||||||
|
|
||||||
|
# The language for content autogenerated by Sphinx. Refer to documentation
|
||||||
|
# for a list of supported languages.
|
||||||
|
#language = None
|
||||||
|
|
||||||
|
# There are two options for replacing |today|: either, you set today to some
|
||||||
|
# non-false value, then it is used:
|
||||||
|
#today = ''
|
||||||
|
# Else, today_fmt is used as the format for a strftime call.
|
||||||
|
#today_fmt = '%B %d, %Y'
|
||||||
|
|
||||||
|
# List of documents that shouldn't be included in the build.
|
||||||
|
#unused_docs = []
|
||||||
|
|
||||||
|
# List of directories, relative to source directory, that shouldn't be searched
|
||||||
|
# for source files.
|
||||||
|
exclude_trees = ['_build']
|
||||||
|
|
||||||
|
# The reST default role (used for this markup: `text`) to use for all documents.
|
||||||
|
#default_role = None
|
||||||
|
|
||||||
|
# If true, '()' will be appended to :func: etc. cross-reference text.
|
||||||
|
#add_function_parentheses = True
|
||||||
|
|
||||||
|
# If true, the current module name will be prepended to all description
|
||||||
|
# unit titles (such as .. function::).
|
||||||
|
#add_module_names = True
|
||||||
|
|
||||||
|
# If true, sectionauthor and moduleauthor directives will be shown in the
|
||||||
|
# output. They are ignored by default.
|
||||||
|
#show_authors = False
|
||||||
|
|
||||||
|
# The name of the Pygments (syntax highlighting) style to use.
|
||||||
|
pygments_style = 'sphinx'
|
||||||
|
|
||||||
|
# A list of ignored prefixes for module index sorting.
|
||||||
|
#modindex_common_prefix = []
|
||||||
|
|
||||||
|
|
||||||
|
# -- Options for HTML output ---------------------------------------------------
|
||||||
|
|
||||||
|
# The theme to use for HTML and HTML Help pages. Major themes that come with
|
||||||
|
# Sphinx are currently 'default' and 'sphinxdoc'.
|
||||||
|
html_theme = 'default'
|
||||||
|
|
||||||
|
# Theme options are theme-specific and customize the look and feel of a theme
|
||||||
|
# further. For a list of options available for each theme, see the
|
||||||
|
# documentation.
|
||||||
|
#html_theme_options = {}
|
||||||
|
|
||||||
|
# Add any paths that contain custom themes here, relative to this directory.
|
||||||
|
#html_theme_path = []
|
||||||
|
|
||||||
|
# The name for this set of Sphinx documents. If None, it defaults to
|
||||||
|
# "<project> v<release> documentation".
|
||||||
|
#html_title = None
|
||||||
|
|
||||||
|
# A shorter title for the navigation bar. Default is the same as html_title.
|
||||||
|
#html_short_title = None
|
||||||
|
|
||||||
|
# The name of an image file (relative to this directory) to place at the top
|
||||||
|
# of the sidebar.
|
||||||
|
#html_logo = None
|
||||||
|
|
||||||
|
# The name of an image file (within the static path) to use as favicon of the
|
||||||
|
# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32
|
||||||
|
# pixels large.
|
||||||
|
#html_favicon = None
|
||||||
|
|
||||||
|
# Add any paths that contain custom static files (such as style sheets) here,
|
||||||
|
# relative to this directory. They are copied after the builtin static files,
|
||||||
|
# so a file named "default.css" will overwrite the builtin "default.css".
|
||||||
|
#html_static_path = ['_static']
|
||||||
|
|
||||||
|
# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
|
||||||
|
# using the given strftime format.
|
||||||
|
#html_last_updated_fmt = '%b %d, %Y'
|
||||||
|
|
||||||
|
# If true, SmartyPants will be used to convert quotes and dashes to
|
||||||
|
# typographically correct entities.
|
||||||
|
#html_use_smartypants = True
|
||||||
|
|
||||||
|
# Custom sidebar templates, maps document names to template names.
|
||||||
|
#html_sidebars = {}
|
||||||
|
|
||||||
|
# Additional templates that should be rendered to pages, maps page names to
|
||||||
|
# template names.
|
||||||
|
#html_additional_pages = {}
|
||||||
|
|
||||||
|
# If false, no module index is generated.
|
||||||
|
#html_use_modindex = True
|
||||||
|
|
||||||
|
# If false, no index is generated.
|
||||||
|
#html_use_index = True
|
||||||
|
|
||||||
|
# If true, the index is split into individual pages for each letter.
|
||||||
|
#html_split_index = False
|
||||||
|
|
||||||
|
# If true, links to the reST sources are added to the pages.
|
||||||
|
#html_show_sourcelink = True
|
||||||
|
|
||||||
|
# If true, an OpenSearch description file will be output, and all pages will
|
||||||
|
# contain a <link> tag referring to it. The value of this option must be the
|
||||||
|
# base URL from which the finished HTML is served.
|
||||||
|
#html_use_opensearch = ''
|
||||||
|
|
||||||
|
# If nonempty, this is the file name suffix for HTML files (e.g. ".xhtml").
|
||||||
|
#html_file_suffix = ''
|
||||||
|
|
||||||
|
# Output file base name for HTML help builder.
|
||||||
|
htmlhelp_basename = 'image_geometrydoc'
|
||||||
|
|
||||||
|
|
||||||
|
# -- Options for LaTeX output --------------------------------------------------
|
||||||
|
|
||||||
|
# The paper size ('letter' or 'a4').
|
||||||
|
#latex_paper_size = 'letter'
|
||||||
|
|
||||||
|
# The font size ('10pt', '11pt' or '12pt').
|
||||||
|
#latex_font_size = '10pt'
|
||||||
|
|
||||||
|
# Grouping the document tree into LaTeX files. List of tuples
|
||||||
|
# (source start file, target name, title, author, documentclass [howto/manual]).
|
||||||
|
latex_documents = [
|
||||||
|
('index', 'image_geometry.tex', u'stereo\\_utils Documentation',
|
||||||
|
u'James Bowman', 'manual'),
|
||||||
|
]
|
||||||
|
|
||||||
|
# The name of an image file (relative to this directory) to place at the top of
|
||||||
|
# the title page.
|
||||||
|
#latex_logo = None
|
||||||
|
|
||||||
|
# For "manual" documents, if this is true, then toplevel headings are parts,
|
||||||
|
# not chapters.
|
||||||
|
#latex_use_parts = False
|
||||||
|
|
||||||
|
# Additional stuff for the LaTeX preamble.
|
||||||
|
#latex_preamble = ''
|
||||||
|
|
||||||
|
# Documents to append as an appendix to all manuals.
|
||||||
|
#latex_appendices = []
|
||||||
|
|
||||||
|
# If false, no module index is generated.
|
||||||
|
#latex_use_modindex = True
|
||||||
|
|
||||||
|
# Example configuration for intersphinx: refer to the Python standard library.
|
||||||
|
intersphinx_mapping = {
|
||||||
|
'http://docs.python.org/': None,
|
||||||
|
'http://docs.scipy.org/doc/numpy' : None,
|
||||||
|
'http://docs.ros.org/api/tf/html/python/' : None,
|
||||||
|
}
|
||||||
21
src/vision_opencv/image_geometry/doc/index.rst
Normal file
21
src/vision_opencv/image_geometry/doc/index.rst
Normal file
@@ -0,0 +1,21 @@
|
|||||||
|
image_geometry
|
||||||
|
==============
|
||||||
|
|
||||||
|
image_geometry simplifies interpreting images geometrically using the
|
||||||
|
parameters from sensor_msgs/CameraInfo.
|
||||||
|
|
||||||
|
.. module:: image_geometry
|
||||||
|
|
||||||
|
.. autoclass:: image_geometry.PinholeCameraModel
|
||||||
|
:members: fromCameraInfo, rectifyImage, rectifyPoint, tfFrame, project3dToPixel, projectPixelTo3dRay, distortionCoeffs, intrinsicMatrix, projectionMatrix, rotationMatrix, cx, cy, fx, fy
|
||||||
|
|
||||||
|
.. autoclass:: image_geometry.StereoCameraModel
|
||||||
|
:members:
|
||||||
|
|
||||||
|
|
||||||
|
Indices and tables
|
||||||
|
==================
|
||||||
|
|
||||||
|
* :ref:`genindex`
|
||||||
|
* :ref:`search`
|
||||||
|
|
||||||
29
src/vision_opencv/image_geometry/doc/mainpage.dox
Normal file
29
src/vision_opencv/image_geometry/doc/mainpage.dox
Normal file
@@ -0,0 +1,29 @@
|
|||||||
|
/**
|
||||||
|
\mainpage
|
||||||
|
\htmlinclude manifest.html
|
||||||
|
|
||||||
|
\b image_geometry contains camera model classes that simplify interpreting
|
||||||
|
images geometrically using the calibration parameters from
|
||||||
|
sensor_msgs/CameraInfo messages. They may be efficiently updated in your
|
||||||
|
image callback:
|
||||||
|
|
||||||
|
\code
|
||||||
|
image_geometry::PinholeCameraModel model_;
|
||||||
|
|
||||||
|
void imageCb(const sensor_msgs::ImageConstPtr& raw_image,
|
||||||
|
const sensor_msgs::CameraInfoConstPtr& cam_info)
|
||||||
|
{
|
||||||
|
// Update the camera model (usually a no-op)
|
||||||
|
model_.fromCameraInfo(cam_info);
|
||||||
|
|
||||||
|
// Do processing...
|
||||||
|
}
|
||||||
|
\endcode
|
||||||
|
|
||||||
|
\section codeapi Code API
|
||||||
|
|
||||||
|
\b image_geometry contains two classes:
|
||||||
|
- image_geometry::PinholeCameraModel - models a pinhole camera with distortion.
|
||||||
|
- image_geometry::StereoCameraModel - models a stereo pair of pinhole cameras.
|
||||||
|
|
||||||
|
*/
|
||||||
@@ -0,0 +1,18 @@
|
|||||||
|
#ifndef IMAGE_GEOMETRY_EXPORTS_H
|
||||||
|
#define IMAGE_GEOMETRY_EXPORTS_H
|
||||||
|
|
||||||
|
#include <ros/macros.h>
|
||||||
|
|
||||||
|
// Import/export for windows dll's and visibility for gcc shared libraries.
|
||||||
|
|
||||||
|
#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
|
||||||
|
#ifdef image_geometry_EXPORTS // we are building a shared lib/dll
|
||||||
|
#define IMAGE_GEOMETRY_DECL ROS_HELPER_EXPORT
|
||||||
|
#else // we are using shared lib/dll
|
||||||
|
#define IMAGE_GEOMETRY_DECL ROS_HELPER_IMPORT
|
||||||
|
#endif
|
||||||
|
#else // ros is being built around static libraries
|
||||||
|
#define IMAGE_GEOMETRY_DECL
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif // IMAGE_GEOMETRY_EXPORTS_H
|
||||||
@@ -0,0 +1,344 @@
|
|||||||
|
#ifndef IMAGE_GEOMETRY_PINHOLE_CAMERA_MODEL_H
|
||||||
|
#define IMAGE_GEOMETRY_PINHOLE_CAMERA_MODEL_H
|
||||||
|
|
||||||
|
#include <sensor_msgs/CameraInfo.h>
|
||||||
|
#include <opencv2/core/core.hpp>
|
||||||
|
#include <opencv2/imgproc/imgproc.hpp>
|
||||||
|
#include <opencv2/calib3d/calib3d.hpp>
|
||||||
|
#include <stdexcept>
|
||||||
|
#include <string>
|
||||||
|
#include "exports.h"
|
||||||
|
|
||||||
|
namespace image_geometry {
|
||||||
|
|
||||||
|
class Exception : public std::runtime_error
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
Exception(const std::string& description) : std::runtime_error(description) {}
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Simplifies interpreting images geometrically using the parameters from
|
||||||
|
* sensor_msgs/CameraInfo.
|
||||||
|
*/
|
||||||
|
class IMAGE_GEOMETRY_DECL PinholeCameraModel
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
|
||||||
|
PinholeCameraModel();
|
||||||
|
|
||||||
|
PinholeCameraModel(const PinholeCameraModel& other);
|
||||||
|
|
||||||
|
PinholeCameraModel& operator=(const PinholeCameraModel& other);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Set the camera parameters from the sensor_msgs/CameraInfo message.
|
||||||
|
*/
|
||||||
|
bool fromCameraInfo(const sensor_msgs::CameraInfo& msg);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Set the camera parameters from the sensor_msgs/CameraInfo message.
|
||||||
|
*/
|
||||||
|
bool fromCameraInfo(const sensor_msgs::CameraInfoConstPtr& msg);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get the name of the camera coordinate frame in tf.
|
||||||
|
*/
|
||||||
|
std::string tfFrame() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get the time stamp associated with this camera model.
|
||||||
|
*/
|
||||||
|
ros::Time stamp() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief The resolution at which the camera was calibrated.
|
||||||
|
*
|
||||||
|
* The maximum resolution at which the camera can be used with the current
|
||||||
|
* calibration; normally this is the same as the imager resolution.
|
||||||
|
*/
|
||||||
|
cv::Size fullResolution() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief The resolution of the current rectified image.
|
||||||
|
*
|
||||||
|
* The size of the rectified image associated with the latest CameraInfo, as
|
||||||
|
* reduced by binning/ROI and affected by distortion. If binning and ROI are
|
||||||
|
* not in use, this is the same as fullResolution().
|
||||||
|
*/
|
||||||
|
cv::Size reducedResolution() const;
|
||||||
|
|
||||||
|
cv::Point2d toFullResolution(const cv::Point2d& uv_reduced) const;
|
||||||
|
|
||||||
|
cv::Rect toFullResolution(const cv::Rect& roi_reduced) const;
|
||||||
|
|
||||||
|
cv::Point2d toReducedResolution(const cv::Point2d& uv_full) const;
|
||||||
|
|
||||||
|
cv::Rect toReducedResolution(const cv::Rect& roi_full) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief The current raw ROI, as used for capture by the camera driver.
|
||||||
|
*/
|
||||||
|
cv::Rect rawRoi() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief The current rectified ROI, which best fits the raw ROI.
|
||||||
|
*/
|
||||||
|
cv::Rect rectifiedRoi() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Project a 3d point to rectified pixel coordinates.
|
||||||
|
*
|
||||||
|
* This is the inverse of projectPixelTo3dRay().
|
||||||
|
*
|
||||||
|
* \param xyz 3d point in the camera coordinate frame
|
||||||
|
* \return (u,v) in rectified pixel coordinates
|
||||||
|
*/
|
||||||
|
cv::Point2d project3dToPixel(const cv::Point3d& xyz) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Project a rectified pixel to a 3d ray.
|
||||||
|
*
|
||||||
|
* Returns the unit vector in the camera coordinate frame in the direction of rectified
|
||||||
|
* pixel (u,v) in the image plane. This is the inverse of project3dToPixel().
|
||||||
|
*
|
||||||
|
* In 1.4.x, the vector has z = 1.0. Previously, this function returned a unit vector.
|
||||||
|
*
|
||||||
|
* \param uv_rect Rectified pixel coordinates
|
||||||
|
* \return 3d ray passing through (u,v)
|
||||||
|
*/
|
||||||
|
cv::Point3d projectPixelTo3dRay(const cv::Point2d& uv_rect) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Rectify a raw camera image.
|
||||||
|
*/
|
||||||
|
void rectifyImage(const cv::Mat& raw, cv::Mat& rectified,
|
||||||
|
int interpolation = cv::INTER_LINEAR) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Apply camera distortion to a rectified image.
|
||||||
|
*/
|
||||||
|
void unrectifyImage(const cv::Mat& rectified, cv::Mat& raw,
|
||||||
|
int interpolation = cv::INTER_LINEAR) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Compute the rectified image coordinates of a pixel in the raw image.
|
||||||
|
*/
|
||||||
|
cv::Point2d rectifyPoint(const cv::Point2d& uv_raw) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Compute the raw image coordinates of a pixel in the rectified image.
|
||||||
|
*/
|
||||||
|
cv::Point2d unrectifyPoint(const cv::Point2d& uv_rect) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Compute the rectified ROI best fitting a raw ROI.
|
||||||
|
*/
|
||||||
|
cv::Rect rectifyRoi(const cv::Rect& roi_raw) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Compute the raw ROI best fitting a rectified ROI.
|
||||||
|
*/
|
||||||
|
cv::Rect unrectifyRoi(const cv::Rect& roi_rect) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the camera info message held internally
|
||||||
|
*/
|
||||||
|
const sensor_msgs::CameraInfo& cameraInfo() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the original camera matrix.
|
||||||
|
*/
|
||||||
|
const cv::Matx33d& intrinsicMatrix() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the distortion coefficients.
|
||||||
|
*/
|
||||||
|
const cv::Mat_<double>& distortionCoeffs() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the rotation matrix.
|
||||||
|
*/
|
||||||
|
const cv::Matx33d& rotationMatrix() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the projection matrix.
|
||||||
|
*/
|
||||||
|
const cv::Matx34d& projectionMatrix() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the original camera matrix for full resolution.
|
||||||
|
*/
|
||||||
|
const cv::Matx33d& fullIntrinsicMatrix() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the projection matrix for full resolution.
|
||||||
|
*/
|
||||||
|
const cv::Matx34d& fullProjectionMatrix() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the focal length (pixels) in x direction of the rectified image.
|
||||||
|
*/
|
||||||
|
double fx() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the focal length (pixels) in y direction of the rectified image.
|
||||||
|
*/
|
||||||
|
double fy() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the x coordinate of the optical center.
|
||||||
|
*/
|
||||||
|
double cx() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the y coordinate of the optical center.
|
||||||
|
*/
|
||||||
|
double cy() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the x-translation term of the projection matrix.
|
||||||
|
*/
|
||||||
|
double Tx() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the y-translation term of the projection matrix.
|
||||||
|
*/
|
||||||
|
double Ty() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the number of columns in each bin.
|
||||||
|
*/
|
||||||
|
uint32_t binningX() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the number of rows in each bin.
|
||||||
|
*/
|
||||||
|
uint32_t binningY() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Compute delta u, given Z and delta X in Cartesian space.
|
||||||
|
*
|
||||||
|
* For given Z, this is the inverse of getDeltaX().
|
||||||
|
*
|
||||||
|
* \param deltaX Delta X, in Cartesian space
|
||||||
|
* \param Z Z (depth), in Cartesian space
|
||||||
|
*/
|
||||||
|
double getDeltaU(double deltaX, double Z) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Compute delta v, given Z and delta Y in Cartesian space.
|
||||||
|
*
|
||||||
|
* For given Z, this is the inverse of getDeltaY().
|
||||||
|
*
|
||||||
|
* \param deltaY Delta Y, in Cartesian space
|
||||||
|
* \param Z Z (depth), in Cartesian space
|
||||||
|
*/
|
||||||
|
double getDeltaV(double deltaY, double Z) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Compute delta X, given Z in Cartesian space and delta u in pixels.
|
||||||
|
*
|
||||||
|
* For given Z, this is the inverse of getDeltaU().
|
||||||
|
*
|
||||||
|
* \param deltaU Delta u, in pixels
|
||||||
|
* \param Z Z (depth), in Cartesian space
|
||||||
|
*/
|
||||||
|
double getDeltaX(double deltaU, double Z) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Compute delta Y, given Z in Cartesian space and delta v in pixels.
|
||||||
|
*
|
||||||
|
* For given Z, this is the inverse of getDeltaV().
|
||||||
|
*
|
||||||
|
* \param deltaV Delta v, in pixels
|
||||||
|
* \param Z Z (depth), in Cartesian space
|
||||||
|
*/
|
||||||
|
double getDeltaY(double deltaV, double Z) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns true if the camera has been initialized
|
||||||
|
*/
|
||||||
|
bool initialized() const { return (bool)cache_; }
|
||||||
|
|
||||||
|
protected:
|
||||||
|
sensor_msgs::CameraInfo cam_info_;
|
||||||
|
cv::Mat_<double> D_; // Unaffected by binning, ROI
|
||||||
|
cv::Matx33d R_; // Unaffected by binning, ROI
|
||||||
|
cv::Matx33d K_; // Describe current image (includes binning, ROI)
|
||||||
|
cv::Matx34d P_; // Describe current image (includes binning, ROI)
|
||||||
|
cv::Matx33d K_full_; // Describe full-res image, needed for full maps
|
||||||
|
cv::Matx34d P_full_; // Describe full-res image, needed for full maps
|
||||||
|
|
||||||
|
// Use PIMPL here so we can change internals in patch updates if needed
|
||||||
|
struct Cache;
|
||||||
|
#ifdef BOOST_SHARED_PTR_HPP_INCLUDED
|
||||||
|
boost::shared_ptr<Cache> cache_; // Holds cached data for internal use
|
||||||
|
#else
|
||||||
|
std::shared_ptr<Cache> cache_; // Holds cached data for internal use
|
||||||
|
#endif
|
||||||
|
|
||||||
|
void initRectificationMaps() const;
|
||||||
|
|
||||||
|
friend class StereoCameraModel;
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
/* Trivial inline functions */
|
||||||
|
inline std::string PinholeCameraModel::tfFrame() const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
return cam_info_.header.frame_id;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline ros::Time PinholeCameraModel::stamp() const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
return cam_info_.header.stamp;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline const sensor_msgs::CameraInfo& PinholeCameraModel::cameraInfo() const { return cam_info_; }
|
||||||
|
inline const cv::Matx33d& PinholeCameraModel::intrinsicMatrix() const { return K_; }
|
||||||
|
inline const cv::Mat_<double>& PinholeCameraModel::distortionCoeffs() const { return D_; }
|
||||||
|
inline const cv::Matx33d& PinholeCameraModel::rotationMatrix() const { return R_; }
|
||||||
|
inline const cv::Matx34d& PinholeCameraModel::projectionMatrix() const { return P_; }
|
||||||
|
inline const cv::Matx33d& PinholeCameraModel::fullIntrinsicMatrix() const { return K_full_; }
|
||||||
|
inline const cv::Matx34d& PinholeCameraModel::fullProjectionMatrix() const { return P_full_; }
|
||||||
|
|
||||||
|
inline double PinholeCameraModel::fx() const { return P_(0,0); }
|
||||||
|
inline double PinholeCameraModel::fy() const { return P_(1,1); }
|
||||||
|
inline double PinholeCameraModel::cx() const { return P_(0,2); }
|
||||||
|
inline double PinholeCameraModel::cy() const { return P_(1,2); }
|
||||||
|
inline double PinholeCameraModel::Tx() const { return P_(0,3); }
|
||||||
|
inline double PinholeCameraModel::Ty() const { return P_(1,3); }
|
||||||
|
|
||||||
|
inline uint32_t PinholeCameraModel::binningX() const { return cam_info_.binning_x; }
|
||||||
|
inline uint32_t PinholeCameraModel::binningY() const { return cam_info_.binning_y; }
|
||||||
|
|
||||||
|
inline double PinholeCameraModel::getDeltaU(double deltaX, double Z) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
return fx() * deltaX / Z;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline double PinholeCameraModel::getDeltaV(double deltaY, double Z) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
return fy() * deltaY / Z;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline double PinholeCameraModel::getDeltaX(double deltaU, double Z) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
return Z * deltaU / fx();
|
||||||
|
}
|
||||||
|
|
||||||
|
inline double PinholeCameraModel::getDeltaY(double deltaV, double Z) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
return Z * deltaV / fy();
|
||||||
|
}
|
||||||
|
|
||||||
|
} //namespace image_geometry
|
||||||
|
|
||||||
|
#endif
|
||||||
@@ -0,0 +1,131 @@
|
|||||||
|
#ifndef IMAGE_GEOMETRY_STEREO_CAMERA_MODEL_H
|
||||||
|
#define IMAGE_GEOMETRY_STEREO_CAMERA_MODEL_H
|
||||||
|
|
||||||
|
#include "image_geometry/pinhole_camera_model.h"
|
||||||
|
#include "exports.h"
|
||||||
|
|
||||||
|
namespace image_geometry {
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Simplifies interpreting stereo image pairs geometrically using the
|
||||||
|
* parameters from the left and right sensor_msgs/CameraInfo.
|
||||||
|
*/
|
||||||
|
class IMAGE_GEOMETRY_DECL StereoCameraModel
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
StereoCameraModel();
|
||||||
|
|
||||||
|
StereoCameraModel(const StereoCameraModel& other);
|
||||||
|
|
||||||
|
StereoCameraModel& operator=(const StereoCameraModel& other);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Set the camera parameters from the sensor_msgs/CameraInfo messages.
|
||||||
|
*/
|
||||||
|
bool fromCameraInfo(const sensor_msgs::CameraInfo& left,
|
||||||
|
const sensor_msgs::CameraInfo& right);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Set the camera parameters from the sensor_msgs/CameraInfo messages.
|
||||||
|
*/
|
||||||
|
bool fromCameraInfo(const sensor_msgs::CameraInfoConstPtr& left,
|
||||||
|
const sensor_msgs::CameraInfoConstPtr& right);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get the left monocular camera model.
|
||||||
|
*/
|
||||||
|
const PinholeCameraModel& left() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get the right monocular camera model.
|
||||||
|
*/
|
||||||
|
const PinholeCameraModel& right() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Get the name of the camera coordinate frame in tf.
|
||||||
|
*
|
||||||
|
* For stereo cameras, both the left and right CameraInfo should be in the left
|
||||||
|
* optical frame.
|
||||||
|
*/
|
||||||
|
std::string tfFrame() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Project a rectified pixel with disparity to a 3d point.
|
||||||
|
*/
|
||||||
|
void projectDisparityTo3d(const cv::Point2d& left_uv_rect, float disparity, cv::Point3d& xyz) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Project a disparity image to a 3d point cloud.
|
||||||
|
*
|
||||||
|
* If handleMissingValues = true, all points with minimal disparity (outliers) have
|
||||||
|
* Z set to MISSING_Z (currently 10000.0).
|
||||||
|
*/
|
||||||
|
void projectDisparityImageTo3d(const cv::Mat& disparity, cv::Mat& point_cloud,
|
||||||
|
bool handleMissingValues = false) const;
|
||||||
|
static const double MISSING_Z;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the disparity reprojection matrix.
|
||||||
|
*/
|
||||||
|
const cv::Matx44d& reprojectionMatrix() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the horizontal baseline in world coordinates.
|
||||||
|
*/
|
||||||
|
double baseline() const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the depth at which a point is observed with a given disparity.
|
||||||
|
*
|
||||||
|
* This is the inverse of getDisparity().
|
||||||
|
*/
|
||||||
|
double getZ(double disparity) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns the disparity observed for a point at depth Z.
|
||||||
|
*
|
||||||
|
* This is the inverse of getZ().
|
||||||
|
*/
|
||||||
|
double getDisparity(double Z) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Returns true if the camera has been initialized
|
||||||
|
*/
|
||||||
|
bool initialized() const { return left_.initialized() && right_.initialized(); }
|
||||||
|
protected:
|
||||||
|
PinholeCameraModel left_, right_;
|
||||||
|
cv::Matx44d Q_;
|
||||||
|
|
||||||
|
void updateQ();
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
/* Trivial inline functions */
|
||||||
|
inline const PinholeCameraModel& StereoCameraModel::left() const { return left_; }
|
||||||
|
inline const PinholeCameraModel& StereoCameraModel::right() const { return right_; }
|
||||||
|
|
||||||
|
inline std::string StereoCameraModel::tfFrame() const { return left_.tfFrame(); }
|
||||||
|
|
||||||
|
inline const cv::Matx44d& StereoCameraModel::reprojectionMatrix() const { return Q_; }
|
||||||
|
|
||||||
|
inline double StereoCameraModel::baseline() const
|
||||||
|
{
|
||||||
|
/// @todo Currently assuming horizontal baseline
|
||||||
|
return -right_.Tx() / right_.fx();
|
||||||
|
}
|
||||||
|
|
||||||
|
inline double StereoCameraModel::getZ(double disparity) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
return -right_.Tx() / (disparity - (left().cx() - right().cx()));
|
||||||
|
}
|
||||||
|
|
||||||
|
inline double StereoCameraModel::getDisparity(double Z) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
return -right_.Tx() / Z + (left().cx() - right().cx()); ;
|
||||||
|
}
|
||||||
|
|
||||||
|
} //namespace image_geometry
|
||||||
|
|
||||||
|
#endif
|
||||||
30
src/vision_opencv/image_geometry/package.xml
Normal file
30
src/vision_opencv/image_geometry/package.xml
Normal file
@@ -0,0 +1,30 @@
|
|||||||
|
<package format="2">
|
||||||
|
<name>image_geometry</name>
|
||||||
|
<version>1.13.1</version>
|
||||||
|
<description>
|
||||||
|
`image_geometry` contains C++ and Python libraries for interpreting images
|
||||||
|
geometrically. It interfaces the calibration parameters in sensor_msgs/CameraInfo
|
||||||
|
messages with OpenCV functions such as image rectification, much as cv_bridge
|
||||||
|
interfaces ROS sensor_msgs/Image with OpenCV data types.
|
||||||
|
</description>
|
||||||
|
<author>Patrick Mihelich</author>
|
||||||
|
<maintainer email="vincent.rabaud@gmail.com">Vincent Rabaud</maintainer>
|
||||||
|
<license>BSD</license>
|
||||||
|
<url>http://www.ros.org/wiki/image_geometry</url>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<rosdoc config="rosdoc.yaml" />
|
||||||
|
</export>
|
||||||
|
|
||||||
|
<buildtool_depend>catkin</buildtool_depend>
|
||||||
|
|
||||||
|
<build_depend>libopencv-dev</build_depend>
|
||||||
|
<build_depend>sensor_msgs</build_depend>
|
||||||
|
|
||||||
|
<exec_depend>libopencv-dev</exec_depend>
|
||||||
|
<build_export_depend>libopencv-dev</build_export_depend>
|
||||||
|
<build_export_depend>sensor_msgs</build_export_depend>
|
||||||
|
|
||||||
|
<doc_depend>dvipng</doc_depend>
|
||||||
|
<doc_depend>texlive-latex-extra</doc_depend>
|
||||||
|
</package>
|
||||||
8
src/vision_opencv/image_geometry/rosdoc.yaml
Normal file
8
src/vision_opencv/image_geometry/rosdoc.yaml
Normal file
@@ -0,0 +1,8 @@
|
|||||||
|
- builder: sphinx
|
||||||
|
name: Python API
|
||||||
|
output_dir: python
|
||||||
|
sphinx_root_dir: doc
|
||||||
|
- builder: doxygen
|
||||||
|
name: C++ API
|
||||||
|
output_dir: c++
|
||||||
|
file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox'
|
||||||
10
src/vision_opencv/image_geometry/setup.py
Normal file
10
src/vision_opencv/image_geometry/setup.py
Normal file
@@ -0,0 +1,10 @@
|
|||||||
|
#!/usr/bin/env python
|
||||||
|
from distutils.core import setup
|
||||||
|
from catkin_pkg.python_setup import generate_distutils_setup
|
||||||
|
|
||||||
|
d = generate_distutils_setup()
|
||||||
|
|
||||||
|
d['packages'] = ['image_geometry']
|
||||||
|
d['package_dir'] = {'' : 'src'}
|
||||||
|
|
||||||
|
setup(**d)
|
||||||
@@ -0,0 +1,2 @@
|
|||||||
|
from __future__ import absolute_import
|
||||||
|
from .cameramodels import PinholeCameraModel, StereoCameraModel
|
||||||
@@ -0,0 +1,373 @@
|
|||||||
|
import array
|
||||||
|
|
||||||
|
import cv2
|
||||||
|
import sensor_msgs.msg
|
||||||
|
import math
|
||||||
|
import copy
|
||||||
|
import numpy
|
||||||
|
|
||||||
|
def mkmat(rows, cols, L):
|
||||||
|
mat = numpy.matrix(L, dtype='float64')
|
||||||
|
mat.resize((rows,cols))
|
||||||
|
return mat
|
||||||
|
|
||||||
|
class PinholeCameraModel:
|
||||||
|
|
||||||
|
"""
|
||||||
|
A pinhole camera is an idealized monocular camera.
|
||||||
|
"""
|
||||||
|
|
||||||
|
def __init__(self):
|
||||||
|
self.K = None
|
||||||
|
self.D = None
|
||||||
|
self.R = None
|
||||||
|
self.P = None
|
||||||
|
self.full_K = None
|
||||||
|
self.full_P = None
|
||||||
|
self.width = None
|
||||||
|
self.height = None
|
||||||
|
self.binning_x = None
|
||||||
|
self.binning_y = None
|
||||||
|
self.raw_roi = None
|
||||||
|
self.tf_frame = None
|
||||||
|
self.stamp = None
|
||||||
|
|
||||||
|
def fromCameraInfo(self, msg):
|
||||||
|
"""
|
||||||
|
:param msg: camera parameters
|
||||||
|
:type msg: sensor_msgs.msg.CameraInfo
|
||||||
|
|
||||||
|
Set the camera parameters from the :class:`sensor_msgs.msg.CameraInfo` message.
|
||||||
|
"""
|
||||||
|
self.K = mkmat(3, 3, msg.K)
|
||||||
|
if msg.D:
|
||||||
|
self.D = mkmat(len(msg.D), 1, msg.D)
|
||||||
|
else:
|
||||||
|
self.D = None
|
||||||
|
self.R = mkmat(3, 3, msg.R)
|
||||||
|
self.P = mkmat(3, 4, msg.P)
|
||||||
|
self.full_K = mkmat(3, 3, msg.K)
|
||||||
|
self.full_P = mkmat(3, 4, msg.P)
|
||||||
|
self.width = msg.width
|
||||||
|
self.height = msg.height
|
||||||
|
self.binning_x = max(1, msg.binning_x)
|
||||||
|
self.binning_y = max(1, msg.binning_y)
|
||||||
|
self.resolution = (msg.width, msg.height)
|
||||||
|
|
||||||
|
self.raw_roi = copy.copy(msg.roi)
|
||||||
|
# ROI all zeros is considered the same as full resolution
|
||||||
|
if (self.raw_roi.x_offset == 0 and self.raw_roi.y_offset == 0 and
|
||||||
|
self.raw_roi.width == 0 and self.raw_roi.height == 0):
|
||||||
|
self.raw_roi.width = self.width
|
||||||
|
self.raw_roi.height = self.height
|
||||||
|
self.tf_frame = msg.header.frame_id
|
||||||
|
self.stamp = msg.header.stamp
|
||||||
|
|
||||||
|
# Adjust K and P for binning and ROI
|
||||||
|
self.K[0,0] /= self.binning_x
|
||||||
|
self.K[1,1] /= self.binning_y
|
||||||
|
self.K[0,2] = (self.K[0,2] - self.raw_roi.x_offset) / self.binning_x
|
||||||
|
self.K[1,2] = (self.K[1,2] - self.raw_roi.y_offset) / self.binning_y
|
||||||
|
self.P[0,0] /= self.binning_x
|
||||||
|
self.P[1,1] /= self.binning_y
|
||||||
|
self.P[0,2] = (self.P[0,2] - self.raw_roi.x_offset) / self.binning_x
|
||||||
|
self.P[1,2] = (self.P[1,2] - self.raw_roi.y_offset) / self.binning_y
|
||||||
|
|
||||||
|
def rectifyImage(self, raw, rectified):
|
||||||
|
"""
|
||||||
|
:param raw: input image
|
||||||
|
:type raw: :class:`CvMat` or :class:`IplImage`
|
||||||
|
:param rectified: rectified output image
|
||||||
|
:type rectified: :class:`CvMat` or :class:`IplImage`
|
||||||
|
|
||||||
|
Applies the rectification specified by camera parameters :math:`K` and and :math:`D` to image `raw` and writes the resulting image `rectified`.
|
||||||
|
"""
|
||||||
|
|
||||||
|
self.mapx = numpy.ndarray(shape=(self.height, self.width, 1),
|
||||||
|
dtype='float32')
|
||||||
|
self.mapy = numpy.ndarray(shape=(self.height, self.width, 1),
|
||||||
|
dtype='float32')
|
||||||
|
cv2.initUndistortRectifyMap(self.K, self.D, self.R, self.P,
|
||||||
|
(self.width, self.height), cv2.CV_32FC1, self.mapx, self.mapy)
|
||||||
|
cv2.remap(raw, self.mapx, self.mapy, cv2.INTER_CUBIC, rectified)
|
||||||
|
|
||||||
|
def rectifyPoint(self, uv_raw):
|
||||||
|
"""
|
||||||
|
:param uv_raw: pixel coordinates
|
||||||
|
:type uv_raw: (u, v)
|
||||||
|
|
||||||
|
Applies the rectification specified by camera parameters
|
||||||
|
:math:`K` and and :math:`D` to point (u, v) and returns the
|
||||||
|
pixel coordinates of the rectified point.
|
||||||
|
"""
|
||||||
|
|
||||||
|
src = mkmat(1, 2, list(uv_raw))
|
||||||
|
src.resize((1,1,2))
|
||||||
|
dst = cv2.undistortPoints(src, self.K, self.D, R=self.R, P=self.P)
|
||||||
|
return dst[0,0]
|
||||||
|
|
||||||
|
def project3dToPixel(self, point):
|
||||||
|
"""
|
||||||
|
:param point: 3D point
|
||||||
|
:type point: (x, y, z)
|
||||||
|
|
||||||
|
Returns the rectified pixel coordinates (u, v) of the 3D point,
|
||||||
|
using the camera :math:`P` matrix.
|
||||||
|
This is the inverse of :meth:`projectPixelTo3dRay`.
|
||||||
|
"""
|
||||||
|
src = mkmat(4, 1, [point[0], point[1], point[2], 1.0])
|
||||||
|
dst = self.P * src
|
||||||
|
x = dst[0,0]
|
||||||
|
y = dst[1,0]
|
||||||
|
w = dst[2,0]
|
||||||
|
if w != 0:
|
||||||
|
return (x / w, y / w)
|
||||||
|
else:
|
||||||
|
return (float('nan'), float('nan'))
|
||||||
|
|
||||||
|
def projectPixelTo3dRay(self, uv):
|
||||||
|
"""
|
||||||
|
:param uv: rectified pixel coordinates
|
||||||
|
:type uv: (u, v)
|
||||||
|
|
||||||
|
Returns the unit vector which passes from the camera center to through rectified pixel (u, v),
|
||||||
|
using the camera :math:`P` matrix.
|
||||||
|
This is the inverse of :meth:`project3dToPixel`.
|
||||||
|
"""
|
||||||
|
x = (uv[0] - self.cx()) / self.fx()
|
||||||
|
y = (uv[1] - self.cy()) / self.fy()
|
||||||
|
norm = math.sqrt(x*x + y*y + 1)
|
||||||
|
x /= norm
|
||||||
|
y /= norm
|
||||||
|
z = 1.0 / norm
|
||||||
|
return (x, y, z)
|
||||||
|
|
||||||
|
def getDeltaU(self, deltaX, Z):
|
||||||
|
"""
|
||||||
|
:param deltaX: delta X, in cartesian space
|
||||||
|
:type deltaX: float
|
||||||
|
:param Z: Z, in cartesian space
|
||||||
|
:type Z: float
|
||||||
|
:rtype: float
|
||||||
|
|
||||||
|
Compute delta u, given Z and delta X in Cartesian space.
|
||||||
|
For given Z, this is the inverse of :meth:`getDeltaX`.
|
||||||
|
"""
|
||||||
|
fx = self.P[0, 0]
|
||||||
|
if Z == 0:
|
||||||
|
return float('inf')
|
||||||
|
else:
|
||||||
|
return fx * deltaX / Z
|
||||||
|
|
||||||
|
def getDeltaV(self, deltaY, Z):
|
||||||
|
"""
|
||||||
|
:param deltaY: delta Y, in cartesian space
|
||||||
|
:type deltaY: float
|
||||||
|
:param Z: Z, in cartesian space
|
||||||
|
:type Z: float
|
||||||
|
:rtype: float
|
||||||
|
|
||||||
|
Compute delta v, given Z and delta Y in Cartesian space.
|
||||||
|
For given Z, this is the inverse of :meth:`getDeltaY`.
|
||||||
|
"""
|
||||||
|
fy = self.P[1, 1]
|
||||||
|
if Z == 0:
|
||||||
|
return float('inf')
|
||||||
|
else:
|
||||||
|
return fy * deltaY / Z
|
||||||
|
|
||||||
|
def getDeltaX(self, deltaU, Z):
|
||||||
|
"""
|
||||||
|
:param deltaU: delta u in pixels
|
||||||
|
:type deltaU: float
|
||||||
|
:param Z: Z, in cartesian space
|
||||||
|
:type Z: float
|
||||||
|
:rtype: float
|
||||||
|
|
||||||
|
Compute delta X, given Z in cartesian space and delta u in pixels.
|
||||||
|
For given Z, this is the inverse of :meth:`getDeltaU`.
|
||||||
|
"""
|
||||||
|
fx = self.P[0, 0]
|
||||||
|
return Z * deltaU / fx
|
||||||
|
|
||||||
|
def getDeltaY(self, deltaV, Z):
|
||||||
|
"""
|
||||||
|
:param deltaV: delta v in pixels
|
||||||
|
:type deltaV: float
|
||||||
|
:param Z: Z, in cartesian space
|
||||||
|
:type Z: float
|
||||||
|
:rtype: float
|
||||||
|
|
||||||
|
Compute delta Y, given Z in cartesian space and delta v in pixels.
|
||||||
|
For given Z, this is the inverse of :meth:`getDeltaV`.
|
||||||
|
"""
|
||||||
|
fy = self.P[1, 1]
|
||||||
|
return Z * deltaV / fy
|
||||||
|
|
||||||
|
def fullResolution(self):
|
||||||
|
"""Returns the full resolution of the camera"""
|
||||||
|
return self.resolution
|
||||||
|
|
||||||
|
def intrinsicMatrix(self):
|
||||||
|
""" Returns :math:`K`, also called camera_matrix in cv docs """
|
||||||
|
return self.K
|
||||||
|
def distortionCoeffs(self):
|
||||||
|
""" Returns :math:`D` """
|
||||||
|
return self.D
|
||||||
|
def rotationMatrix(self):
|
||||||
|
""" Returns :math:`R` """
|
||||||
|
return self.R
|
||||||
|
def projectionMatrix(self):
|
||||||
|
""" Returns :math:`P` """
|
||||||
|
return self.P
|
||||||
|
def fullIntrinsicMatrix(self):
|
||||||
|
""" Return the original camera matrix for full resolution """
|
||||||
|
return self.full_K
|
||||||
|
def fullProjectionMatrix(self):
|
||||||
|
""" Return the projection matrix for full resolution """
|
||||||
|
return self.full_P
|
||||||
|
|
||||||
|
def cx(self):
|
||||||
|
""" Returns x center """
|
||||||
|
return self.P[0,2]
|
||||||
|
def cy(self):
|
||||||
|
""" Returns y center """
|
||||||
|
return self.P[1,2]
|
||||||
|
def fx(self):
|
||||||
|
""" Returns x focal length """
|
||||||
|
return self.P[0,0]
|
||||||
|
def fy(self):
|
||||||
|
""" Returns y focal length """
|
||||||
|
return self.P[1,1]
|
||||||
|
|
||||||
|
def Tx(self):
|
||||||
|
""" Return the x-translation term of the projection matrix """
|
||||||
|
return self.P[0,3]
|
||||||
|
|
||||||
|
def Ty(self):
|
||||||
|
""" Return the y-translation term of the projection matrix """
|
||||||
|
return self.P[1,3]
|
||||||
|
|
||||||
|
def tfFrame(self):
|
||||||
|
""" Returns the tf frame name - a string - of the camera.
|
||||||
|
This is the frame of the :class:`sensor_msgs.msg.CameraInfo` message.
|
||||||
|
"""
|
||||||
|
return self.tf_frame
|
||||||
|
|
||||||
|
class StereoCameraModel:
|
||||||
|
"""
|
||||||
|
An idealized stereo camera.
|
||||||
|
"""
|
||||||
|
def __init__(self):
|
||||||
|
self.left = PinholeCameraModel()
|
||||||
|
self.right = PinholeCameraModel()
|
||||||
|
|
||||||
|
def fromCameraInfo(self, left_msg, right_msg):
|
||||||
|
"""
|
||||||
|
:param left_msg: left camera parameters
|
||||||
|
:type left_msg: sensor_msgs.msg.CameraInfo
|
||||||
|
:param right_msg: right camera parameters
|
||||||
|
:type right_msg: sensor_msgs.msg.CameraInfo
|
||||||
|
|
||||||
|
Set the camera parameters from the :class:`sensor_msgs.msg.CameraInfo` messages.
|
||||||
|
"""
|
||||||
|
self.left.fromCameraInfo(left_msg)
|
||||||
|
self.right.fromCameraInfo(right_msg)
|
||||||
|
|
||||||
|
# [ Fx, 0, Cx, Fx*-Tx ]
|
||||||
|
# [ 0, Fy, Cy, 0 ]
|
||||||
|
# [ 0, 0, 1, 0 ]
|
||||||
|
|
||||||
|
fx = self.right.P[0, 0]
|
||||||
|
fy = self.right.P[1, 1]
|
||||||
|
cx = self.right.P[0, 2]
|
||||||
|
cy = self.right.P[1, 2]
|
||||||
|
tx = -self.right.P[0, 3] / fx
|
||||||
|
|
||||||
|
# Q is:
|
||||||
|
# [ 1, 0, 0, -Clx ]
|
||||||
|
# [ 0, 1, 0, -Cy ]
|
||||||
|
# [ 0, 0, 0, Fx ]
|
||||||
|
# [ 0, 0, 1 / Tx, (Crx-Clx)/Tx ]
|
||||||
|
|
||||||
|
self.Q = numpy.zeros((4, 4), dtype='float64')
|
||||||
|
self.Q[0, 0] = 1.0
|
||||||
|
self.Q[0, 3] = -cx
|
||||||
|
self.Q[1, 1] = 1.0
|
||||||
|
self.Q[1, 3] = -cy
|
||||||
|
self.Q[2, 3] = fx
|
||||||
|
self.Q[3, 2] = 1 / tx
|
||||||
|
|
||||||
|
def tfFrame(self):
|
||||||
|
"""
|
||||||
|
Returns the tf frame name - a string - of the 3d points. This is
|
||||||
|
the frame of the :class:`sensor_msgs.msg.CameraInfo` message. It
|
||||||
|
may be used as a source frame in :class:`tf.TransformListener`.
|
||||||
|
"""
|
||||||
|
|
||||||
|
return self.left.tfFrame()
|
||||||
|
|
||||||
|
def project3dToPixel(self, point):
|
||||||
|
"""
|
||||||
|
:param point: 3D point
|
||||||
|
:type point: (x, y, z)
|
||||||
|
|
||||||
|
Returns the rectified pixel coordinates (u, v) of the 3D point, for each camera, as ((u_left, v_left), (u_right, v_right))
|
||||||
|
using the cameras' :math:`P` matrices.
|
||||||
|
This is the inverse of :meth:`projectPixelTo3d`.
|
||||||
|
"""
|
||||||
|
l = self.left.project3dToPixel(point)
|
||||||
|
r = self.right.project3dToPixel(point)
|
||||||
|
return (l, r)
|
||||||
|
|
||||||
|
def projectPixelTo3d(self, left_uv, disparity):
|
||||||
|
"""
|
||||||
|
:param left_uv: rectified pixel coordinates
|
||||||
|
:type left_uv: (u, v)
|
||||||
|
:param disparity: disparity, in pixels
|
||||||
|
:type disparity: float
|
||||||
|
|
||||||
|
Returns the 3D point (x, y, z) for the given pixel position,
|
||||||
|
using the cameras' :math:`P` matrices.
|
||||||
|
This is the inverse of :meth:`project3dToPixel`.
|
||||||
|
|
||||||
|
Note that a disparity of zero implies that the 3D point is at infinity.
|
||||||
|
"""
|
||||||
|
src = mkmat(4, 1, [left_uv[0], left_uv[1], disparity, 1.0])
|
||||||
|
dst = self.Q * src
|
||||||
|
x = dst[0, 0]
|
||||||
|
y = dst[1, 0]
|
||||||
|
z = dst[2, 0]
|
||||||
|
w = dst[3, 0]
|
||||||
|
if w != 0:
|
||||||
|
return (x / w, y / w, z / w)
|
||||||
|
else:
|
||||||
|
return (0.0, 0.0, 0.0)
|
||||||
|
|
||||||
|
def getZ(self, disparity):
|
||||||
|
"""
|
||||||
|
:param disparity: disparity, in pixels
|
||||||
|
:type disparity: float
|
||||||
|
|
||||||
|
Returns the depth at which a point is observed with a given disparity.
|
||||||
|
This is the inverse of :meth:`getDisparity`.
|
||||||
|
|
||||||
|
Note that a disparity of zero implies Z is infinite.
|
||||||
|
"""
|
||||||
|
if disparity == 0:
|
||||||
|
return float('inf')
|
||||||
|
Tx = -self.right.P[0, 3]
|
||||||
|
return Tx / disparity
|
||||||
|
|
||||||
|
def getDisparity(self, Z):
|
||||||
|
"""
|
||||||
|
:param Z: Z (depth), in cartesian space
|
||||||
|
:type Z: float
|
||||||
|
|
||||||
|
Returns the disparity observed for a point at depth Z.
|
||||||
|
This is the inverse of :meth:`getZ`.
|
||||||
|
"""
|
||||||
|
if Z == 0:
|
||||||
|
return float('inf')
|
||||||
|
Tx = -self.right.P[0, 3]
|
||||||
|
return Tx / Z
|
||||||
484
src/vision_opencv/image_geometry/src/pinhole_camera_model.cpp
Normal file
484
src/vision_opencv/image_geometry/src/pinhole_camera_model.cpp
Normal file
@@ -0,0 +1,484 @@
|
|||||||
|
#include "image_geometry/pinhole_camera_model.h"
|
||||||
|
#include <sensor_msgs/distortion_models.h>
|
||||||
|
#ifdef BOOST_SHARED_PTR_HPP_INCLUDED
|
||||||
|
#include <boost/make_shared.hpp>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
namespace image_geometry {
|
||||||
|
|
||||||
|
enum DistortionState { NONE, CALIBRATED, UNKNOWN };
|
||||||
|
|
||||||
|
struct PinholeCameraModel::Cache
|
||||||
|
{
|
||||||
|
DistortionState distortion_state;
|
||||||
|
|
||||||
|
cv::Mat_<double> K_binned, P_binned; // Binning applied, but not cropping
|
||||||
|
|
||||||
|
mutable bool full_maps_dirty;
|
||||||
|
mutable cv::Mat full_map1, full_map2;
|
||||||
|
|
||||||
|
mutable bool reduced_maps_dirty;
|
||||||
|
mutable cv::Mat reduced_map1, reduced_map2;
|
||||||
|
|
||||||
|
mutable bool rectified_roi_dirty;
|
||||||
|
mutable cv::Rect rectified_roi;
|
||||||
|
|
||||||
|
Cache()
|
||||||
|
: full_maps_dirty(true),
|
||||||
|
reduced_maps_dirty(true),
|
||||||
|
rectified_roi_dirty(true)
|
||||||
|
{
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
PinholeCameraModel::PinholeCameraModel()
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
PinholeCameraModel& PinholeCameraModel::operator=(const PinholeCameraModel& other)
|
||||||
|
{
|
||||||
|
if (other.initialized())
|
||||||
|
this->fromCameraInfo(other.cameraInfo());
|
||||||
|
return *this;
|
||||||
|
}
|
||||||
|
|
||||||
|
PinholeCameraModel::PinholeCameraModel(const PinholeCameraModel& other)
|
||||||
|
{
|
||||||
|
if (other.initialized())
|
||||||
|
fromCameraInfo(other.cam_info_);
|
||||||
|
}
|
||||||
|
|
||||||
|
// For uint32_t, string, bool...
|
||||||
|
template<typename T>
|
||||||
|
bool update(const T& new_val, T& my_val)
|
||||||
|
{
|
||||||
|
if (my_val == new_val)
|
||||||
|
return false;
|
||||||
|
my_val = new_val;
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
// For std::vector
|
||||||
|
template<typename MatT>
|
||||||
|
bool updateMat(const MatT& new_mat, MatT& my_mat, cv::Mat_<double>& cv_mat, int rows, int cols)
|
||||||
|
{
|
||||||
|
if ((my_mat == new_mat) && (my_mat.size() == cv_mat.rows*cv_mat.cols))
|
||||||
|
return false;
|
||||||
|
my_mat = new_mat;
|
||||||
|
// D may be empty if camera is uncalibrated or distortion model is non-standard
|
||||||
|
cv_mat = (my_mat.size() == 0) ? cv::Mat_<double>() : cv::Mat_<double>(rows, cols, &my_mat[0]);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
template<typename MatT, typename MatU>
|
||||||
|
bool updateMat(const MatT& new_mat, MatT& my_mat, MatU& cv_mat)
|
||||||
|
{
|
||||||
|
if ((my_mat == new_mat) && (my_mat.size() == cv_mat.rows*cv_mat.cols))
|
||||||
|
return false;
|
||||||
|
my_mat = new_mat;
|
||||||
|
// D may be empty if camera is uncalibrated or distortion model is non-standard
|
||||||
|
cv_mat = MatU(&my_mat[0]);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool PinholeCameraModel::fromCameraInfo(const sensor_msgs::CameraInfo& msg)
|
||||||
|
{
|
||||||
|
// Create our repository of cached data (rectification maps, etc.)
|
||||||
|
if (!cache_)
|
||||||
|
#ifdef BOOST_SHARED_PTR_HPP_INCLUDED
|
||||||
|
cache_ = boost::make_shared<Cache>();
|
||||||
|
#else
|
||||||
|
cache_ = std::make_shared<Cache>();
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Binning = 0 is considered the same as binning = 1 (no binning).
|
||||||
|
uint32_t binning_x = msg.binning_x ? msg.binning_x : 1;
|
||||||
|
uint32_t binning_y = msg.binning_y ? msg.binning_y : 1;
|
||||||
|
|
||||||
|
// ROI all zeros is considered the same as full resolution.
|
||||||
|
sensor_msgs::RegionOfInterest roi = msg.roi;
|
||||||
|
if (roi.x_offset == 0 && roi.y_offset == 0 && roi.width == 0 && roi.height == 0) {
|
||||||
|
roi.width = msg.width;
|
||||||
|
roi.height = msg.height;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Update time stamp (and frame_id if that changes for some reason)
|
||||||
|
cam_info_.header = msg.header;
|
||||||
|
|
||||||
|
// Update any parameters that have changed. The full rectification maps are
|
||||||
|
// invalidated by any change in the calibration parameters OR binning.
|
||||||
|
bool &full_dirty = cache_->full_maps_dirty;
|
||||||
|
full_dirty |= update(msg.height, cam_info_.height);
|
||||||
|
full_dirty |= update(msg.width, cam_info_.width);
|
||||||
|
full_dirty |= update(msg.distortion_model, cam_info_.distortion_model);
|
||||||
|
full_dirty |= updateMat(msg.D, cam_info_.D, D_, 1, msg.D.size());
|
||||||
|
full_dirty |= updateMat(msg.K, cam_info_.K, K_full_);
|
||||||
|
full_dirty |= updateMat(msg.R, cam_info_.R, R_);
|
||||||
|
full_dirty |= updateMat(msg.P, cam_info_.P, P_full_);
|
||||||
|
full_dirty |= update(binning_x, cam_info_.binning_x);
|
||||||
|
full_dirty |= update(binning_y, cam_info_.binning_y);
|
||||||
|
|
||||||
|
// The reduced rectification maps are invalidated by any of the above or a
|
||||||
|
// change in ROI.
|
||||||
|
bool &reduced_dirty = cache_->reduced_maps_dirty;
|
||||||
|
reduced_dirty = full_dirty;
|
||||||
|
reduced_dirty |= update(roi.x_offset, cam_info_.roi.x_offset);
|
||||||
|
reduced_dirty |= update(roi.y_offset, cam_info_.roi.y_offset);
|
||||||
|
reduced_dirty |= update(roi.height, cam_info_.roi.height);
|
||||||
|
reduced_dirty |= update(roi.width, cam_info_.roi.width);
|
||||||
|
reduced_dirty |= update(roi.do_rectify, cam_info_.roi.do_rectify);
|
||||||
|
// As is the rectified ROI
|
||||||
|
cache_->rectified_roi_dirty = reduced_dirty;
|
||||||
|
|
||||||
|
// Figure out how to handle the distortion
|
||||||
|
if (cam_info_.distortion_model == sensor_msgs::distortion_models::PLUMB_BOB ||
|
||||||
|
cam_info_.distortion_model == sensor_msgs::distortion_models::RATIONAL_POLYNOMIAL) {
|
||||||
|
// If any distortion coefficient is non-zero, then need to apply the distortion
|
||||||
|
cache_->distortion_state = NONE;
|
||||||
|
for (size_t i = 0; i < cam_info_.D.size(); ++i)
|
||||||
|
{
|
||||||
|
if (cam_info_.D[i] != 0)
|
||||||
|
{
|
||||||
|
cache_->distortion_state = CALIBRATED;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
cache_->distortion_state = UNKNOWN;
|
||||||
|
|
||||||
|
// If necessary, create new K_ and P_ adjusted for binning and ROI
|
||||||
|
/// @todo Calculate and use rectified ROI
|
||||||
|
bool adjust_binning = (binning_x > 1) || (binning_y > 1);
|
||||||
|
bool adjust_roi = (roi.x_offset != 0) || (roi.y_offset != 0);
|
||||||
|
|
||||||
|
if (!adjust_binning && !adjust_roi) {
|
||||||
|
K_ = K_full_;
|
||||||
|
P_ = P_full_;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
K_ = K_full_;
|
||||||
|
P_ = P_full_;
|
||||||
|
|
||||||
|
// ROI is in full image coordinates, so change it first
|
||||||
|
if (adjust_roi) {
|
||||||
|
// Move principal point by the offset
|
||||||
|
/// @todo Adjust P by rectified ROI instead
|
||||||
|
K_(0,2) -= roi.x_offset;
|
||||||
|
K_(1,2) -= roi.y_offset;
|
||||||
|
P_(0,2) -= roi.x_offset;
|
||||||
|
P_(1,2) -= roi.y_offset;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (binning_x > 1) {
|
||||||
|
double scale_x = 1.0 / binning_x;
|
||||||
|
K_(0,0) *= scale_x;
|
||||||
|
K_(0,2) *= scale_x;
|
||||||
|
P_(0,0) *= scale_x;
|
||||||
|
P_(0,2) *= scale_x;
|
||||||
|
P_(0,3) *= scale_x;
|
||||||
|
}
|
||||||
|
if (binning_y > 1) {
|
||||||
|
double scale_y = 1.0 / binning_y;
|
||||||
|
K_(1,1) *= scale_y;
|
||||||
|
K_(1,2) *= scale_y;
|
||||||
|
P_(1,1) *= scale_y;
|
||||||
|
P_(1,2) *= scale_y;
|
||||||
|
P_(1,3) *= scale_y;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return reduced_dirty;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool PinholeCameraModel::fromCameraInfo(const sensor_msgs::CameraInfoConstPtr& msg)
|
||||||
|
{
|
||||||
|
return fromCameraInfo(*msg);
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Size PinholeCameraModel::fullResolution() const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
return cv::Size(cam_info_.width, cam_info_.height);
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Size PinholeCameraModel::reducedResolution() const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
|
||||||
|
cv::Rect roi = rectifiedRoi();
|
||||||
|
return cv::Size(roi.width / binningX(), roi.height / binningY());
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Point2d PinholeCameraModel::toFullResolution(const cv::Point2d& uv_reduced) const
|
||||||
|
{
|
||||||
|
cv::Rect roi = rectifiedRoi();
|
||||||
|
return cv::Point2d(uv_reduced.x * binningX() + roi.x,
|
||||||
|
uv_reduced.y * binningY() + roi.y);
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Rect PinholeCameraModel::toFullResolution(const cv::Rect& roi_reduced) const
|
||||||
|
{
|
||||||
|
cv::Rect roi = rectifiedRoi();
|
||||||
|
return cv::Rect(roi_reduced.x * binningX() + roi.x,
|
||||||
|
roi_reduced.y * binningY() + roi.y,
|
||||||
|
roi_reduced.width * binningX(),
|
||||||
|
roi_reduced.height * binningY());
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Point2d PinholeCameraModel::toReducedResolution(const cv::Point2d& uv_full) const
|
||||||
|
{
|
||||||
|
cv::Rect roi = rectifiedRoi();
|
||||||
|
return cv::Point2d((uv_full.x - roi.x) / binningX(),
|
||||||
|
(uv_full.y - roi.y) / binningY());
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Rect PinholeCameraModel::toReducedResolution(const cv::Rect& roi_full) const
|
||||||
|
{
|
||||||
|
cv::Rect roi = rectifiedRoi();
|
||||||
|
return cv::Rect((roi_full.x - roi.x) / binningX(),
|
||||||
|
(roi_full.y - roi.y) / binningY(),
|
||||||
|
roi_full.width / binningX(),
|
||||||
|
roi_full.height / binningY());
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Rect PinholeCameraModel::rawRoi() const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
|
||||||
|
return cv::Rect(cam_info_.roi.x_offset, cam_info_.roi.y_offset,
|
||||||
|
cam_info_.roi.width, cam_info_.roi.height);
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Rect PinholeCameraModel::rectifiedRoi() const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
|
||||||
|
if (cache_->rectified_roi_dirty)
|
||||||
|
{
|
||||||
|
if (!cam_info_.roi.do_rectify)
|
||||||
|
cache_->rectified_roi = rawRoi();
|
||||||
|
else
|
||||||
|
cache_->rectified_roi = rectifyRoi(rawRoi());
|
||||||
|
cache_->rectified_roi_dirty = false;
|
||||||
|
}
|
||||||
|
return cache_->rectified_roi;
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Point2d PinholeCameraModel::project3dToPixel(const cv::Point3d& xyz) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
assert(P_(2, 3) == 0.0); // Calibrated stereo cameras should be in the same plane
|
||||||
|
|
||||||
|
// [U V W]^T = P * [X Y Z 1]^T
|
||||||
|
// u = U/W
|
||||||
|
// v = V/W
|
||||||
|
cv::Point2d uv_rect;
|
||||||
|
uv_rect.x = (fx()*xyz.x + Tx()) / xyz.z + cx();
|
||||||
|
uv_rect.y = (fy()*xyz.y + Ty()) / xyz.z + cy();
|
||||||
|
return uv_rect;
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Point3d PinholeCameraModel::projectPixelTo3dRay(const cv::Point2d& uv_rect) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
|
||||||
|
cv::Point3d ray;
|
||||||
|
ray.x = (uv_rect.x - cx() - Tx()) / fx();
|
||||||
|
ray.y = (uv_rect.y - cy() - Ty()) / fy();
|
||||||
|
ray.z = 1.0;
|
||||||
|
return ray;
|
||||||
|
}
|
||||||
|
|
||||||
|
void PinholeCameraModel::rectifyImage(const cv::Mat& raw, cv::Mat& rectified, int interpolation) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
|
||||||
|
switch (cache_->distortion_state) {
|
||||||
|
case NONE:
|
||||||
|
raw.copyTo(rectified);
|
||||||
|
break;
|
||||||
|
case CALIBRATED:
|
||||||
|
initRectificationMaps();
|
||||||
|
if (raw.depth() == CV_32F || raw.depth() == CV_64F)
|
||||||
|
{
|
||||||
|
cv::remap(raw, rectified, cache_->reduced_map1, cache_->reduced_map2, interpolation, cv::BORDER_CONSTANT, std::numeric_limits<float>::quiet_NaN());
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
cv::remap(raw, rectified, cache_->reduced_map1, cache_->reduced_map2, interpolation);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
assert(cache_->distortion_state == UNKNOWN);
|
||||||
|
throw Exception("Cannot call rectifyImage when distortion is unknown.");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void PinholeCameraModel::unrectifyImage(const cv::Mat& rectified, cv::Mat& raw, int interpolation) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
|
||||||
|
throw Exception("PinholeCameraModel::unrectifyImage is unimplemented.");
|
||||||
|
/// @todo Implement unrectifyImage()
|
||||||
|
// Similar to rectifyImage, but need to build separate set of inverse maps (raw->rectified)...
|
||||||
|
// - Build src_pt Mat with all the raw pixel coordinates (or do it one row at a time)
|
||||||
|
// - Do cv::undistortPoints(src_pt, dst_pt, K_, D_, R_, P_)
|
||||||
|
// - Use convertMaps() to convert dst_pt to fast fixed-point maps
|
||||||
|
// - cv::remap(rectified, raw, ...)
|
||||||
|
// Need interpolation argument. Same caching behavior?
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Point2d PinholeCameraModel::rectifyPoint(const cv::Point2d& uv_raw) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
|
||||||
|
if (cache_->distortion_state == NONE)
|
||||||
|
return uv_raw;
|
||||||
|
if (cache_->distortion_state == UNKNOWN)
|
||||||
|
throw Exception("Cannot call rectifyPoint when distortion is unknown.");
|
||||||
|
assert(cache_->distortion_state == CALIBRATED);
|
||||||
|
|
||||||
|
/// @todo cv::undistortPoints requires the point data to be float, should allow double
|
||||||
|
cv::Point2f raw32 = uv_raw, rect32;
|
||||||
|
const cv::Mat src_pt(1, 1, CV_32FC2, &raw32.x);
|
||||||
|
cv::Mat dst_pt(1, 1, CV_32FC2, &rect32.x);
|
||||||
|
cv::undistortPoints(src_pt, dst_pt, K_, D_, R_, P_);
|
||||||
|
return rect32;
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Point2d PinholeCameraModel::unrectifyPoint(const cv::Point2d& uv_rect) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
|
||||||
|
if (cache_->distortion_state == NONE)
|
||||||
|
return uv_rect;
|
||||||
|
if (cache_->distortion_state == UNKNOWN)
|
||||||
|
throw Exception("Cannot call unrectifyPoint when distortion is unknown.");
|
||||||
|
assert(cache_->distortion_state == CALIBRATED);
|
||||||
|
|
||||||
|
// Convert to a ray
|
||||||
|
cv::Point3d ray = projectPixelTo3dRay(uv_rect);
|
||||||
|
|
||||||
|
// Project the ray on the image
|
||||||
|
cv::Mat r_vec, t_vec = cv::Mat_<double>::zeros(3, 1);
|
||||||
|
cv::Rodrigues(R_.t(), r_vec);
|
||||||
|
std::vector<cv::Point2d> image_point;
|
||||||
|
cv::projectPoints(std::vector<cv::Point3d>(1, ray), r_vec, t_vec, K_, D_, image_point);
|
||||||
|
|
||||||
|
return image_point[0];
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Rect PinholeCameraModel::rectifyRoi(const cv::Rect& roi_raw) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
|
||||||
|
/// @todo Actually implement "best fit" as described by REP 104.
|
||||||
|
|
||||||
|
// For now, just unrectify the four corners and take the bounding box.
|
||||||
|
cv::Point2d rect_tl = rectifyPoint(cv::Point2d(roi_raw.x, roi_raw.y));
|
||||||
|
cv::Point2d rect_tr = rectifyPoint(cv::Point2d(roi_raw.x + roi_raw.width, roi_raw.y));
|
||||||
|
cv::Point2d rect_br = rectifyPoint(cv::Point2d(roi_raw.x + roi_raw.width,
|
||||||
|
roi_raw.y + roi_raw.height));
|
||||||
|
cv::Point2d rect_bl = rectifyPoint(cv::Point2d(roi_raw.x, roi_raw.y + roi_raw.height));
|
||||||
|
|
||||||
|
cv::Point roi_tl(std::ceil (std::min(rect_tl.x, rect_bl.x)),
|
||||||
|
std::ceil (std::min(rect_tl.y, rect_tr.y)));
|
||||||
|
cv::Point roi_br(std::floor(std::max(rect_tr.x, rect_br.x)),
|
||||||
|
std::floor(std::max(rect_bl.y, rect_br.y)));
|
||||||
|
|
||||||
|
return cv::Rect(roi_tl.x, roi_tl.y, roi_br.x - roi_tl.x, roi_br.y - roi_tl.y);
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Rect PinholeCameraModel::unrectifyRoi(const cv::Rect& roi_rect) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
|
||||||
|
/// @todo Actually implement "best fit" as described by REP 104.
|
||||||
|
|
||||||
|
// For now, just unrectify the four corners and take the bounding box.
|
||||||
|
cv::Point2d raw_tl = unrectifyPoint(cv::Point2d(roi_rect.x, roi_rect.y));
|
||||||
|
cv::Point2d raw_tr = unrectifyPoint(cv::Point2d(roi_rect.x + roi_rect.width, roi_rect.y));
|
||||||
|
cv::Point2d raw_br = unrectifyPoint(cv::Point2d(roi_rect.x + roi_rect.width,
|
||||||
|
roi_rect.y + roi_rect.height));
|
||||||
|
cv::Point2d raw_bl = unrectifyPoint(cv::Point2d(roi_rect.x, roi_rect.y + roi_rect.height));
|
||||||
|
|
||||||
|
cv::Point roi_tl(std::floor(std::min(raw_tl.x, raw_bl.x)),
|
||||||
|
std::floor(std::min(raw_tl.y, raw_tr.y)));
|
||||||
|
cv::Point roi_br(std::ceil (std::max(raw_tr.x, raw_br.x)),
|
||||||
|
std::ceil (std::max(raw_bl.y, raw_br.y)));
|
||||||
|
|
||||||
|
return cv::Rect(roi_tl.x, roi_tl.y, roi_br.x - roi_tl.x, roi_br.y - roi_tl.y);
|
||||||
|
}
|
||||||
|
|
||||||
|
void PinholeCameraModel::initRectificationMaps() const
|
||||||
|
{
|
||||||
|
/// @todo For large binning settings, can drop extra rows/cols at bottom/right boundary.
|
||||||
|
/// Make sure we're handling that 100% correctly.
|
||||||
|
|
||||||
|
if (cache_->full_maps_dirty) {
|
||||||
|
// Create the full-size map at the binned resolution
|
||||||
|
/// @todo Should binned resolution, K, P be part of public API?
|
||||||
|
cv::Size binned_resolution = fullResolution();
|
||||||
|
binned_resolution.width /= binningX();
|
||||||
|
binned_resolution.height /= binningY();
|
||||||
|
|
||||||
|
cv::Matx33d K_binned;
|
||||||
|
cv::Matx34d P_binned;
|
||||||
|
if (binningX() == 1 && binningY() == 1) {
|
||||||
|
K_binned = K_full_;
|
||||||
|
P_binned = P_full_;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
K_binned = K_full_;
|
||||||
|
P_binned = P_full_;
|
||||||
|
if (binningX() > 1) {
|
||||||
|
double scale_x = 1.0 / binningX();
|
||||||
|
K_binned(0,0) *= scale_x;
|
||||||
|
K_binned(0,2) *= scale_x;
|
||||||
|
P_binned(0,0) *= scale_x;
|
||||||
|
P_binned(0,2) *= scale_x;
|
||||||
|
P_binned(0,3) *= scale_x;
|
||||||
|
}
|
||||||
|
if (binningY() > 1) {
|
||||||
|
double scale_y = 1.0 / binningY();
|
||||||
|
K_binned(1,1) *= scale_y;
|
||||||
|
K_binned(1,2) *= scale_y;
|
||||||
|
P_binned(1,1) *= scale_y;
|
||||||
|
P_binned(1,2) *= scale_y;
|
||||||
|
P_binned(1,3) *= scale_y;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Note: m1type=CV_16SC2 to use fast fixed-point maps (see cv::remap)
|
||||||
|
cv::initUndistortRectifyMap(K_binned, D_, R_, P_binned, binned_resolution,
|
||||||
|
CV_16SC2, cache_->full_map1, cache_->full_map2);
|
||||||
|
cache_->full_maps_dirty = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (cache_->reduced_maps_dirty) {
|
||||||
|
/// @todo Use rectified ROI
|
||||||
|
cv::Rect roi(cam_info_.roi.x_offset, cam_info_.roi.y_offset,
|
||||||
|
cam_info_.roi.width, cam_info_.roi.height);
|
||||||
|
if (roi.x != 0 || roi.y != 0 ||
|
||||||
|
roi.height != (int)cam_info_.height ||
|
||||||
|
roi.width != (int)cam_info_.width) {
|
||||||
|
|
||||||
|
// map1 contains integer (x,y) offsets, which we adjust by the ROI offset
|
||||||
|
// map2 contains LUT index for subpixel interpolation, which we can leave as-is
|
||||||
|
roi.x /= binningX();
|
||||||
|
roi.y /= binningY();
|
||||||
|
roi.width /= binningX();
|
||||||
|
roi.height /= binningY();
|
||||||
|
cache_->reduced_map1 = cache_->full_map1(roi) - cv::Scalar(roi.x, roi.y);
|
||||||
|
cache_->reduced_map2 = cache_->full_map2(roi);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
// Otherwise we're rectifying the full image
|
||||||
|
cache_->reduced_map1 = cache_->full_map1;
|
||||||
|
cache_->reduced_map2 = cache_->full_map2;
|
||||||
|
}
|
||||||
|
cache_->reduced_maps_dirty = false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
} //namespace image_geometry
|
||||||
140
src/vision_opencv/image_geometry/src/stereo_camera_model.cpp
Normal file
140
src/vision_opencv/image_geometry/src/stereo_camera_model.cpp
Normal file
@@ -0,0 +1,140 @@
|
|||||||
|
#include "image_geometry/stereo_camera_model.h"
|
||||||
|
|
||||||
|
namespace image_geometry {
|
||||||
|
|
||||||
|
StereoCameraModel::StereoCameraModel()
|
||||||
|
: Q_(0.0)
|
||||||
|
{
|
||||||
|
Q_(0,0) = Q_(1,1) = 1.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
StereoCameraModel::StereoCameraModel(const StereoCameraModel& other)
|
||||||
|
: left_(other.left_), right_(other.right_),
|
||||||
|
Q_(0.0)
|
||||||
|
{
|
||||||
|
Q_(0,0) = Q_(1,1) = 1.0;
|
||||||
|
if (other.initialized())
|
||||||
|
updateQ();
|
||||||
|
}
|
||||||
|
|
||||||
|
StereoCameraModel& StereoCameraModel::operator=(const StereoCameraModel& other)
|
||||||
|
{
|
||||||
|
if (other.initialized())
|
||||||
|
this->fromCameraInfo(other.left_.cameraInfo(), other.right_.cameraInfo());
|
||||||
|
return *this;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool StereoCameraModel::fromCameraInfo(const sensor_msgs::CameraInfo& left,
|
||||||
|
const sensor_msgs::CameraInfo& right)
|
||||||
|
{
|
||||||
|
bool changed_left = left_.fromCameraInfo(left);
|
||||||
|
bool changed_right = right_.fromCameraInfo(right);
|
||||||
|
bool changed = changed_left || changed_right;
|
||||||
|
|
||||||
|
// Note: don't require identical time stamps to allow imperfectly synced stereo.
|
||||||
|
assert( left_.tfFrame() == right_.tfFrame() );
|
||||||
|
assert( left_.fx() == right_.fx() );
|
||||||
|
assert( left_.fy() == right_.fy() );
|
||||||
|
assert( left_.cy() == right_.cy() );
|
||||||
|
// cx may differ for verged cameras
|
||||||
|
|
||||||
|
if (changed)
|
||||||
|
updateQ();
|
||||||
|
|
||||||
|
return changed;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool StereoCameraModel::fromCameraInfo(const sensor_msgs::CameraInfoConstPtr& left,
|
||||||
|
const sensor_msgs::CameraInfoConstPtr& right)
|
||||||
|
{
|
||||||
|
return fromCameraInfo(*left, *right);
|
||||||
|
}
|
||||||
|
|
||||||
|
void StereoCameraModel::updateQ()
|
||||||
|
{
|
||||||
|
// Update variable fields of reprojection matrix
|
||||||
|
/*
|
||||||
|
From Springer Handbook of Robotics, p. 524:
|
||||||
|
|
||||||
|
[ Fx 0 Cx 0 ]
|
||||||
|
P = [ 0 Fy Cy 0 ]
|
||||||
|
[ 0 0 1 0 ]
|
||||||
|
|
||||||
|
[ Fx 0 Cx' FxTx ]
|
||||||
|
P' = [ 0 Fy Cy 0 ]
|
||||||
|
[ 0 0 1 0 ]
|
||||||
|
where primed parameters are from the left projection matrix, unprimed from the right.
|
||||||
|
|
||||||
|
[u v 1]^T = P * [x y z 1]^T
|
||||||
|
[u-d v 1]^T = P' * [x y z 1]^T
|
||||||
|
|
||||||
|
Combining the two equations above results in the following equation
|
||||||
|
|
||||||
|
[u v u-d 1]^T = [ Fx 0 Cx 0 ] * [ x y z 1]^T
|
||||||
|
[ 0 Fy Cy 0 ]
|
||||||
|
[ Fx 0 Cx' FxTx ]
|
||||||
|
[ 0 0 1 0 ]
|
||||||
|
|
||||||
|
Subtracting the 3rd from from the first and inverting the expression
|
||||||
|
results in the following equation.
|
||||||
|
|
||||||
|
[x y z 1]^T = Q * [u v d 1]^T
|
||||||
|
|
||||||
|
Where Q is defined as
|
||||||
|
|
||||||
|
Q = [ FyTx 0 0 -FyCxTx ]
|
||||||
|
[ 0 FxTx 0 -FxCyTx ]
|
||||||
|
[ 0 0 0 FxFyTx ]
|
||||||
|
[ 0 0 -Fy Fy(Cx-Cx') ]
|
||||||
|
|
||||||
|
Using the assumption Fx = Fy Q can be simplified to the following. But for
|
||||||
|
compatibility with stereo cameras with different focal lengths we will use
|
||||||
|
the full Q matrix.
|
||||||
|
|
||||||
|
[ 1 0 0 -Cx ]
|
||||||
|
Q = [ 0 1 0 -Cy ]
|
||||||
|
[ 0 0 0 Fx ]
|
||||||
|
[ 0 0 -1/Tx (Cx-Cx')/Tx ]
|
||||||
|
|
||||||
|
Disparity = x_left - x_right
|
||||||
|
|
||||||
|
For compatibility with stereo cameras with different focal lengths we will use
|
||||||
|
the full Q matrix.
|
||||||
|
|
||||||
|
*/
|
||||||
|
double Tx = -baseline(); // The baseline member negates our Tx. Undo this negation
|
||||||
|
Q_(0,0) = left_.fy() * Tx;
|
||||||
|
Q_(0,3) = -left_.fy() * left_.cx() * Tx;
|
||||||
|
Q_(1,1) = left_.fx() * Tx;
|
||||||
|
Q_(1,3) = -left_.fx() * left_.cy() * Tx;
|
||||||
|
Q_(2,3) = left_.fx() * left_.fy() * Tx;
|
||||||
|
Q_(3,2) = -left_.fy();
|
||||||
|
Q_(3,3) = left_.fy() * (left_.cx() - right_.cx()); // zero when disparities are pre-adjusted
|
||||||
|
}
|
||||||
|
|
||||||
|
void StereoCameraModel::projectDisparityTo3d(const cv::Point2d& left_uv_rect, float disparity,
|
||||||
|
cv::Point3d& xyz) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
|
||||||
|
// Do the math inline:
|
||||||
|
// [X Y Z W]^T = Q * [u v d 1]^T
|
||||||
|
// Point = (X/W, Y/W, Z/W)
|
||||||
|
// cv::perspectiveTransform could be used but with more overhead.
|
||||||
|
double u = left_uv_rect.x, v = left_uv_rect.y;
|
||||||
|
cv::Point3d XYZ( (Q_(0,0) * u) + Q_(0,3), (Q_(1,1) * v) + Q_(1,3), Q_(2,3));
|
||||||
|
double W = Q_(3,2)*disparity + Q_(3,3);
|
||||||
|
xyz = XYZ * (1.0/W);
|
||||||
|
}
|
||||||
|
|
||||||
|
const double StereoCameraModel::MISSING_Z = 10000.;
|
||||||
|
|
||||||
|
void StereoCameraModel::projectDisparityImageTo3d(const cv::Mat& disparity, cv::Mat& point_cloud,
|
||||||
|
bool handleMissingValues) const
|
||||||
|
{
|
||||||
|
assert( initialized() );
|
||||||
|
|
||||||
|
cv::reprojectImageTo3D(disparity, point_cloud, Q_, handleMissingValues);
|
||||||
|
}
|
||||||
|
|
||||||
|
} //namespace image_geometry
|
||||||
4
src/vision_opencv/image_geometry/test/CMakeLists.txt
Normal file
4
src/vision_opencv/image_geometry/test/CMakeLists.txt
Normal file
@@ -0,0 +1,4 @@
|
|||||||
|
catkin_add_nosetests(directed.py)
|
||||||
|
|
||||||
|
catkin_add_gtest(${PROJECT_NAME}-utest utest.cpp)
|
||||||
|
target_link_libraries(${PROJECT_NAME}-utest ${PROJECT_NAME} ${OpenCV_LIBS})
|
||||||
77
src/vision_opencv/image_geometry/test/directed.py
Normal file
77
src/vision_opencv/image_geometry/test/directed.py
Normal file
@@ -0,0 +1,77 @@
|
|||||||
|
from __future__ import print_function
|
||||||
|
|
||||||
|
import rostest
|
||||||
|
import rospy
|
||||||
|
import unittest
|
||||||
|
import sensor_msgs.msg
|
||||||
|
|
||||||
|
from image_geometry import PinholeCameraModel, StereoCameraModel
|
||||||
|
|
||||||
|
class TestDirected(unittest.TestCase):
|
||||||
|
|
||||||
|
def setUp(self):
|
||||||
|
pass
|
||||||
|
|
||||||
|
def test_monocular(self):
|
||||||
|
ci = sensor_msgs.msg.CameraInfo()
|
||||||
|
ci.width = 640
|
||||||
|
ci.height = 480
|
||||||
|
print(ci)
|
||||||
|
cam = PinholeCameraModel()
|
||||||
|
cam.fromCameraInfo(ci)
|
||||||
|
print(cam.rectifyPoint((0, 0)))
|
||||||
|
|
||||||
|
print(cam.project3dToPixel((0,0,0)))
|
||||||
|
|
||||||
|
def test_stereo(self):
|
||||||
|
lmsg = sensor_msgs.msg.CameraInfo()
|
||||||
|
rmsg = sensor_msgs.msg.CameraInfo()
|
||||||
|
for m in (lmsg, rmsg):
|
||||||
|
m.width = 640
|
||||||
|
m.height = 480
|
||||||
|
|
||||||
|
# These parameters taken from a real camera calibration
|
||||||
|
lmsg.D = [-0.363528858080088, 0.16117037733986861, -8.1109585007538829e-05, -0.00044776712298447841, 0.0]
|
||||||
|
lmsg.K = [430.15433020105519, 0.0, 311.71339830549732, 0.0, 430.60920415473657, 221.06824942698509, 0.0, 0.0, 1.0]
|
||||||
|
lmsg.R = [0.99806560714807102, 0.0068562422224214027, 0.061790256276695904, -0.0067522959054715113, 0.99997541519165112, -0.0018909025066874664, -0.061801701660692349, 0.0014700186639396652, 0.99808736527268516]
|
||||||
|
lmsg.P = [295.53402059708782, 0.0, 285.55760765075684, 0.0, 0.0, 295.53402059708782, 223.29617881774902, 0.0, 0.0, 0.0, 1.0, 0.0]
|
||||||
|
|
||||||
|
rmsg.D = [-0.3560641041112021, 0.15647260261553159, -0.00016442960757099968, -0.00093175810713916221]
|
||||||
|
rmsg.K = [428.38163131344191, 0.0, 327.95553847249192, 0.0, 428.85728580588329, 217.54828640915309, 0.0, 0.0, 1.0]
|
||||||
|
rmsg.R = [0.9982082576219119, 0.0067433328293516528, 0.059454199832973849, -0.0068433268864187356, 0.99997549128605434, 0.0014784127772287513, -0.059442773257581252, -0.0018826283666309878, 0.99822993965212292]
|
||||||
|
rmsg.P = [295.53402059708782, 0.0, 285.55760765075684, -26.507895206214123, 0.0, 295.53402059708782, 223.29617881774902, 0.0, 0.0, 0.0, 1.0, 0.0]
|
||||||
|
|
||||||
|
cam = StereoCameraModel()
|
||||||
|
cam.fromCameraInfo(lmsg, rmsg)
|
||||||
|
|
||||||
|
for x in (16, 320, m.width - 16):
|
||||||
|
for y in (16, 240, m.height - 16):
|
||||||
|
for d in range(1, 10):
|
||||||
|
pt3d = cam.projectPixelTo3d((x, y), d)
|
||||||
|
((lx, ly), (rx, ry)) = cam.project3dToPixel(pt3d)
|
||||||
|
self.assertAlmostEqual(y, ly, 3)
|
||||||
|
self.assertAlmostEqual(y, ry, 3)
|
||||||
|
self.assertAlmostEqual(x, lx, 3)
|
||||||
|
self.assertAlmostEqual(x, rx + d, 3)
|
||||||
|
|
||||||
|
u = 100.0
|
||||||
|
v = 200.0
|
||||||
|
du = 17.0
|
||||||
|
dv = 23.0
|
||||||
|
Z = 2.0
|
||||||
|
xyz0 = cam.left.projectPixelTo3dRay((u, v))
|
||||||
|
xyz0 = (xyz0[0] * (Z / xyz0[2]), xyz0[1] * (Z / xyz0[2]), Z)
|
||||||
|
xyz1 = cam.left.projectPixelTo3dRay((u + du, v + dv))
|
||||||
|
xyz1 = (xyz1[0] * (Z / xyz1[2]), xyz1[1] * (Z / xyz1[2]), Z)
|
||||||
|
self.assertAlmostEqual(cam.left.getDeltaU(xyz1[0] - xyz0[0], Z), du, 3)
|
||||||
|
self.assertAlmostEqual(cam.left.getDeltaV(xyz1[1] - xyz0[1], Z), dv, 3)
|
||||||
|
self.assertAlmostEqual(cam.left.getDeltaX(du, Z), xyz1[0] - xyz0[0], 3)
|
||||||
|
self.assertAlmostEqual(cam.left.getDeltaY(dv, Z), xyz1[1] - xyz0[1], 3)
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
if 1:
|
||||||
|
rostest.unitrun('image_geometry', 'directed', TestDirected)
|
||||||
|
else:
|
||||||
|
suite = unittest.TestSuite()
|
||||||
|
suite.addTest(TestDirected('test_stereo'))
|
||||||
|
unittest.TextTestRunner(verbosity=2).run(suite)
|
||||||
259
src/vision_opencv/image_geometry/test/utest.cpp
Normal file
259
src/vision_opencv/image_geometry/test/utest.cpp
Normal file
@@ -0,0 +1,259 @@
|
|||||||
|
#include "image_geometry/pinhole_camera_model.h"
|
||||||
|
#include <sensor_msgs/distortion_models.h>
|
||||||
|
#include <gtest/gtest.h>
|
||||||
|
|
||||||
|
/// @todo Tests with simple values (R = identity, D = 0, P = K or simple scaling)
|
||||||
|
/// @todo Test projection functions for right stereo values, P(:,3) != 0
|
||||||
|
/// @todo Tests for [un]rectifyImage
|
||||||
|
/// @todo Tests using ROI, needs support from PinholeCameraModel
|
||||||
|
/// @todo Tests for StereoCameraModel
|
||||||
|
|
||||||
|
class PinholeTest : public testing::Test
|
||||||
|
{
|
||||||
|
protected:
|
||||||
|
virtual void SetUp()
|
||||||
|
{
|
||||||
|
/// @todo Just load these from file
|
||||||
|
// These parameters taken from a real camera calibration
|
||||||
|
double D[] = {-0.363528858080088, 0.16117037733986861, -8.1109585007538829e-05, -0.00044776712298447841, 0.0};
|
||||||
|
double K[] = {430.15433020105519, 0.0, 311.71339830549732,
|
||||||
|
0.0, 430.60920415473657, 221.06824942698509,
|
||||||
|
0.0, 0.0, 1.0};
|
||||||
|
double R[] = {0.99806560714807102, 0.0068562422224214027, 0.061790256276695904,
|
||||||
|
-0.0067522959054715113, 0.99997541519165112, -0.0018909025066874664,
|
||||||
|
-0.061801701660692349, 0.0014700186639396652, 0.99808736527268516};
|
||||||
|
double P[] = {295.53402059708782, 0.0, 285.55760765075684, 0.0,
|
||||||
|
0.0, 295.53402059708782, 223.29617881774902, 0.0,
|
||||||
|
0.0, 0.0, 1.0, 0.0};
|
||||||
|
|
||||||
|
cam_info_.header.frame_id = "tf_frame";
|
||||||
|
cam_info_.height = 480;
|
||||||
|
cam_info_.width = 640;
|
||||||
|
// No ROI
|
||||||
|
cam_info_.D.resize(5);
|
||||||
|
std::copy(D, D+5, cam_info_.D.begin());
|
||||||
|
std::copy(K, K+9, cam_info_.K.begin());
|
||||||
|
std::copy(R, R+9, cam_info_.R.begin());
|
||||||
|
std::copy(P, P+12, cam_info_.P.begin());
|
||||||
|
cam_info_.distortion_model = sensor_msgs::distortion_models::PLUMB_BOB;
|
||||||
|
|
||||||
|
model_.fromCameraInfo(cam_info_);
|
||||||
|
}
|
||||||
|
|
||||||
|
sensor_msgs::CameraInfo cam_info_;
|
||||||
|
image_geometry::PinholeCameraModel model_;
|
||||||
|
};
|
||||||
|
|
||||||
|
TEST_F(PinholeTest, accessorsCorrect)
|
||||||
|
{
|
||||||
|
EXPECT_STREQ("tf_frame", model_.tfFrame().c_str());
|
||||||
|
EXPECT_EQ(cam_info_.P[0], model_.fx());
|
||||||
|
EXPECT_EQ(cam_info_.P[5], model_.fy());
|
||||||
|
EXPECT_EQ(cam_info_.P[2], model_.cx());
|
||||||
|
EXPECT_EQ(cam_info_.P[6], model_.cy());
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST_F(PinholeTest, projectPoint)
|
||||||
|
{
|
||||||
|
// Spot test an arbitrary point.
|
||||||
|
{
|
||||||
|
cv::Point2d uv(100, 100);
|
||||||
|
cv::Point3d xyz = model_.projectPixelTo3dRay(uv);
|
||||||
|
EXPECT_NEAR(-0.62787224048135637, xyz.x, 1e-8);
|
||||||
|
EXPECT_NEAR(-0.41719792045817677, xyz.y, 1e-8);
|
||||||
|
EXPECT_DOUBLE_EQ(1.0, xyz.z);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Principal point should project straight out.
|
||||||
|
{
|
||||||
|
cv::Point2d uv(model_.cx(), model_.cy());
|
||||||
|
cv::Point3d xyz = model_.projectPixelTo3dRay(uv);
|
||||||
|
EXPECT_DOUBLE_EQ(0.0, xyz.x);
|
||||||
|
EXPECT_DOUBLE_EQ(0.0, xyz.y);
|
||||||
|
EXPECT_DOUBLE_EQ(1.0, xyz.z);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Check projecting to 3d and back over entire image is accurate.
|
||||||
|
const size_t step = 10;
|
||||||
|
for (size_t row = 0; row <= cam_info_.height; row += step) {
|
||||||
|
for (size_t col = 0; col <= cam_info_.width; col += step) {
|
||||||
|
cv::Point2d uv(row, col), uv_back;
|
||||||
|
cv::Point3d xyz = model_.projectPixelTo3dRay(uv);
|
||||||
|
uv_back = model_.project3dToPixel(xyz);
|
||||||
|
// Measured max error at 1.13687e-13
|
||||||
|
EXPECT_NEAR(uv.x, uv_back.x, 1.14e-13) << "at (" << row << ", " << col << ")";
|
||||||
|
EXPECT_NEAR(uv.y, uv_back.y, 1.14e-13) << "at (" << row << ", " << col << ")";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST_F(PinholeTest, rectifyPoint)
|
||||||
|
{
|
||||||
|
// Spot test an arbitrary point.
|
||||||
|
{
|
||||||
|
cv::Point2d uv_raw(100, 100), uv_rect;
|
||||||
|
uv_rect = model_.rectifyPoint(uv_raw);
|
||||||
|
EXPECT_DOUBLE_EQ(142.30311584472656, uv_rect.x);
|
||||||
|
EXPECT_DOUBLE_EQ(132.061065673828, uv_rect.y);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// @todo Need R = identity for the principal point tests.
|
||||||
|
#if 0
|
||||||
|
// Test rectifyPoint takes (c'x, c'y) [from K] -> (cx, cy) [from P].
|
||||||
|
double cxp = model_.intrinsicMatrix()(0,2), cyp = model_.intrinsicMatrix()(1,2);
|
||||||
|
{
|
||||||
|
cv::Point2d uv_raw(cxp, cyp), uv_rect;
|
||||||
|
model_.rectifyPoint(uv_raw, uv_rect);
|
||||||
|
EXPECT_NEAR(uv_rect.x, model_.cx(), 1e-4);
|
||||||
|
EXPECT_NEAR(uv_rect.y, model_.cy(), 1e-4);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Test unrectifyPoint takes (cx, cy) [from P] -> (c'x, c'y) [from K].
|
||||||
|
{
|
||||||
|
cv::Point2d uv_rect(model_.cx(), model_.cy()), uv_raw;
|
||||||
|
model_.unrectifyPoint(uv_rect, uv_raw);
|
||||||
|
EXPECT_NEAR(uv_raw.x, cxp, 1e-4);
|
||||||
|
EXPECT_NEAR(uv_raw.y, cyp, 1e-4);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Check rectifying then unrectifying over most of the image is accurate.
|
||||||
|
const size_t step = 5;
|
||||||
|
const size_t border = 65; // Expect bad accuracy far from the center of the image.
|
||||||
|
for (size_t row = border; row <= cam_info_.height - border; row += step) {
|
||||||
|
for (size_t col = border; col <= cam_info_.width - border; col += step) {
|
||||||
|
cv::Point2d uv_raw(row, col), uv_rect, uv_unrect;
|
||||||
|
uv_rect = model_.rectifyPoint(uv_raw);
|
||||||
|
uv_unrect = model_.unrectifyPoint(uv_rect);
|
||||||
|
// Check that we're at least within a pixel...
|
||||||
|
EXPECT_NEAR(uv_raw.x, uv_unrect.x, 1.0);
|
||||||
|
EXPECT_NEAR(uv_raw.y, uv_unrect.y, 1.0);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST_F(PinholeTest, getDeltas)
|
||||||
|
{
|
||||||
|
double u = 100.0, v = 200.0, du = 17.0, dv = 23.0, Z = 2.0;
|
||||||
|
cv::Point2d uv0(u, v), uv1(u + du, v + dv);
|
||||||
|
cv::Point3d xyz0, xyz1;
|
||||||
|
xyz0 = model_.projectPixelTo3dRay(uv0);
|
||||||
|
xyz0 *= (Z / xyz0.z);
|
||||||
|
xyz1 = model_.projectPixelTo3dRay(uv1);
|
||||||
|
xyz1 *= (Z / xyz1.z);
|
||||||
|
|
||||||
|
EXPECT_NEAR(model_.getDeltaU(xyz1.x - xyz0.x, Z), du, 1e-4);
|
||||||
|
EXPECT_NEAR(model_.getDeltaV(xyz1.y - xyz0.y, Z), dv, 1e-4);
|
||||||
|
EXPECT_NEAR(model_.getDeltaX(du, Z), xyz1.x - xyz0.x, 1e-4);
|
||||||
|
EXPECT_NEAR(model_.getDeltaY(dv, Z), xyz1.y - xyz0.y, 1e-4);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST_F(PinholeTest, initialization)
|
||||||
|
{
|
||||||
|
|
||||||
|
sensor_msgs::CameraInfo info;
|
||||||
|
image_geometry::PinholeCameraModel camera;
|
||||||
|
|
||||||
|
camera.fromCameraInfo(info);
|
||||||
|
|
||||||
|
EXPECT_EQ(camera.initialized(), 1);
|
||||||
|
EXPECT_EQ(camera.projectionMatrix().rows, 3);
|
||||||
|
EXPECT_EQ(camera.projectionMatrix().cols, 4);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST_F(PinholeTest, rectifyIfCalibrated)
|
||||||
|
{
|
||||||
|
/// @todo use forward distortion for a better test
|
||||||
|
// Ideally this test would have two images stored on disk
|
||||||
|
// one which is distorted and the other which is rectified,
|
||||||
|
// and then rectification would take place here and the output
|
||||||
|
// image compared to the one on disk (which would mean if
|
||||||
|
// the distortion coefficients above can't change once paired with
|
||||||
|
// an image).
|
||||||
|
|
||||||
|
// Later could incorporate distort code
|
||||||
|
// (https://github.com/lucasw/vimjay/blob/master/src/standalone/distort_image.cpp)
|
||||||
|
// to take any image distort it, then undistort with rectifyImage,
|
||||||
|
// and given the distortion coefficients are consistent the input image
|
||||||
|
// and final output image should be mostly the same (though some
|
||||||
|
// interpolation error
|
||||||
|
// creeps in), except for outside a masked region where information was lost.
|
||||||
|
// The masked region can be generated with a pure white image that
|
||||||
|
// goes through the same process (if it comes out completely black
|
||||||
|
// then the distortion parameters are problematic).
|
||||||
|
|
||||||
|
// For now generate an image and pass the test simply if
|
||||||
|
// the rectified image does not match the distorted image.
|
||||||
|
// Then zero out the first distortion coefficient and run
|
||||||
|
// the test again.
|
||||||
|
// Then zero out all the distortion coefficients and test
|
||||||
|
// that the output image is the same as the input.
|
||||||
|
cv::Mat distorted_image(cv::Size(cam_info_.width, cam_info_.height), CV_8UC3, cv::Scalar(0, 0, 0));
|
||||||
|
|
||||||
|
// draw a grid
|
||||||
|
const cv::Scalar color = cv::Scalar(255, 255, 255);
|
||||||
|
// draw the lines thick so the proportion of error due to
|
||||||
|
// interpolation is reduced
|
||||||
|
const int thickness = 7;
|
||||||
|
const int type = 8;
|
||||||
|
for (size_t y = 0; y <= cam_info_.height; y += cam_info_.height/10)
|
||||||
|
{
|
||||||
|
cv::line(distorted_image,
|
||||||
|
cv::Point(0, y), cv::Point(cam_info_.width, y),
|
||||||
|
color, type, thickness);
|
||||||
|
}
|
||||||
|
for (size_t x = 0; x <= cam_info_.width; x += cam_info_.width/10)
|
||||||
|
{
|
||||||
|
// draw the lines thick so the prorportion of interpolation error is reduced
|
||||||
|
cv::line(distorted_image,
|
||||||
|
cv::Point(x, 0), cv::Point(x, cam_info_.height),
|
||||||
|
color, type, thickness);
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Mat rectified_image;
|
||||||
|
// Just making this number up, maybe ought to be larger
|
||||||
|
// since a completely different image would be on the order of
|
||||||
|
// width * height * 255 = 78e6
|
||||||
|
const double diff_threshold = 10000.0;
|
||||||
|
double error;
|
||||||
|
|
||||||
|
// Test that rectified image is sufficiently different
|
||||||
|
// using default distortion
|
||||||
|
model_.rectifyImage(distorted_image, rectified_image);
|
||||||
|
error = cv::norm(distorted_image, rectified_image, cv::NORM_L1);
|
||||||
|
// Just making this number up, maybe ought to be larger
|
||||||
|
EXPECT_GT(error, diff_threshold);
|
||||||
|
|
||||||
|
// Test that rectified image is sufficiently different
|
||||||
|
// using default distortion but with first element zeroed
|
||||||
|
// out.
|
||||||
|
sensor_msgs::CameraInfo cam_info_2 = cam_info_;
|
||||||
|
cam_info_2.D[0] = 0.0;
|
||||||
|
model_.fromCameraInfo(cam_info_2);
|
||||||
|
model_.rectifyImage(distorted_image, rectified_image);
|
||||||
|
error = cv::norm(distorted_image, rectified_image, cv::NORM_L1);
|
||||||
|
EXPECT_GT(error, diff_threshold);
|
||||||
|
|
||||||
|
// Test that rectified image is the same using zero distortion
|
||||||
|
cam_info_2.D.assign(cam_info_2.D.size(), 0);
|
||||||
|
model_.fromCameraInfo(cam_info_2);
|
||||||
|
model_.rectifyImage(distorted_image, rectified_image);
|
||||||
|
error = cv::norm(distorted_image, rectified_image, cv::NORM_L1);
|
||||||
|
EXPECT_EQ(error, 0);
|
||||||
|
|
||||||
|
// Test that rectified image is the same using empty distortion
|
||||||
|
cam_info_2.D.clear();
|
||||||
|
model_.fromCameraInfo(cam_info_2);
|
||||||
|
model_.rectifyImage(distorted_image, rectified_image);
|
||||||
|
error = cv::norm(distorted_image, rectified_image, cv::NORM_L1);
|
||||||
|
EXPECT_EQ(error, 0);
|
||||||
|
|
||||||
|
// restore original distortion
|
||||||
|
model_.fromCameraInfo(cam_info_);
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(int argc, char** argv)
|
||||||
|
{
|
||||||
|
testing::InitGoogleTest(&argc, argv);
|
||||||
|
return RUN_ALL_TESTS();
|
||||||
|
}
|
||||||
281
src/vision_opencv/opencv_tests/CHANGELOG.rst
Normal file
281
src/vision_opencv/opencv_tests/CHANGELOG.rst
Normal file
@@ -0,0 +1,281 @@
|
|||||||
|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||||
|
Changelog for package opencv_tests
|
||||||
|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||||
|
|
||||||
|
1.13.1 (2022-10-03)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.13.0 (2018-04-30)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.8 (2018-04-17)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.7 (2017-11-12)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.6 (2017-11-11)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.5 (2017-11-05)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.4 (2017-01-29)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.3 (2016-12-04)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.2 (2016-09-24)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.1 (2016-07-11)
|
||||||
|
-------------------
|
||||||
|
* Support compressed Images messages in python for indigo
|
||||||
|
- Add cv2_to_comprssed_imgmsg: Convert from cv2 image to compressed image ros msg.
|
||||||
|
- Add comprssed_imgmsg_to_cv2: Convert the compress message to a new image.
|
||||||
|
- Add compressed image tests.
|
||||||
|
- Add time to msgs (compressed and regular).
|
||||||
|
add enumerants test for compressed image.
|
||||||
|
merge the compressed tests with the regular ones.
|
||||||
|
better comment explanation. I will squash this commit.
|
||||||
|
Fix indentation
|
||||||
|
fix typo mistage: from .imgmsg_to_compressed_cv2 to .compressed_imgmsg_to_cv2.
|
||||||
|
remove cv2.CV_8UC1
|
||||||
|
remove rospy and time depndency.
|
||||||
|
change from IMREAD_COLOR to IMREAD_ANYCOLOR.
|
||||||
|
- make indentaion of 4.
|
||||||
|
- remove space trailer.
|
||||||
|
- remove space from empty lines.
|
||||||
|
- another set of for loops, it will make things easier to track. In that new set, just have the number of channels in ([],1,3,4) (ignore two for jpg). from: https://github.com/ros-perception/vision_opencv/pull/132#discussion_r66721943
|
||||||
|
- keep the OpenCV error message. from: https://github.com/ros-perception/vision_opencv/pull/132#discussion_r66721013
|
||||||
|
add debug print for test.
|
||||||
|
add case for 4 channels in test.
|
||||||
|
remove 4 channels case from compressed test.
|
||||||
|
add debug print for test.
|
||||||
|
change typo of format.
|
||||||
|
fix typo in format. change from dip to dib.
|
||||||
|
change to IMREAD_ANYCOLOR as python code. (as it should).
|
||||||
|
rename TIFF to tiff
|
||||||
|
Sperate the tests one for regular images and one for compressed.
|
||||||
|
update comment
|
||||||
|
* Contributors: talregev
|
||||||
|
|
||||||
|
1.12.0 (2016-03-18)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.12 (2016-03-10)
|
||||||
|
--------------------
|
||||||
|
|
||||||
|
1.11.11 (2016-01-31)
|
||||||
|
--------------------
|
||||||
|
* fix a few warnings in doc jobs
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.10 (2016-01-16)
|
||||||
|
--------------------
|
||||||
|
|
||||||
|
1.11.9 (2015-11-29)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.8 (2015-07-15)
|
||||||
|
-------------------
|
||||||
|
* simplify dependencies
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.7 (2014-12-14)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.6 (2014-11-16)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.5 (2014-09-21)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.4 (2014-07-27)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.3 (2014-06-08)
|
||||||
|
-------------------
|
||||||
|
* remove file whose functinality is now in cv_bridge
|
||||||
|
* remove references to cv (use cv2)
|
||||||
|
* Correct dependency from non-existent package to cv_bridge
|
||||||
|
* Contributors: Isaac Isao Saito, Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.2 (2014-04-28)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.1 (2014-04-16)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.0 (2014-02-15)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.15 (2014-02-07)
|
||||||
|
--------------------
|
||||||
|
|
||||||
|
1.10.14 (2013-11-23 16:17)
|
||||||
|
--------------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.13 (2013-11-23 09:19)
|
||||||
|
--------------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.12 (2013-11-22)
|
||||||
|
--------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.11 (2013-10-23)
|
||||||
|
--------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.10 (2013-10-19)
|
||||||
|
--------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.9 (2013-10-07)
|
||||||
|
-------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.8 (2013-09-09)
|
||||||
|
-------------------
|
||||||
|
* update email address
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.7 (2013-07-17)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.6 (2013-03-01)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.5 (2013-02-11)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.4 (2013-02-02)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.3 (2013-01-17)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.2 (2013-01-13)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.1 (2013-01-10)
|
||||||
|
-------------------
|
||||||
|
* fixes `#5 <https://github.com/ros-perception/vision_opencv/issues/5>`_ by removing the logic from Python and using wrapped C++ and adding a test for it
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.0 (2013-01-03)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.15 (2013-01-02)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.14 (2012-12-30)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.13 (2012-12-15)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.12 (2012-12-14)
|
||||||
|
-------------------
|
||||||
|
* Removed brief tag
|
||||||
|
Conflicts:
|
||||||
|
opencv_tests/package.xml
|
||||||
|
* buildtool_depend catkin fix
|
||||||
|
* Contributors: William Woodall
|
||||||
|
|
||||||
|
1.9.11 (2012-12-10)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.10 (2012-10-04)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.9 (2012-10-01)
|
||||||
|
------------------
|
||||||
|
|
||||||
|
1.9.8 (2012-09-30)
|
||||||
|
------------------
|
||||||
|
|
||||||
|
1.9.7 (2012-09-28 21:07)
|
||||||
|
------------------------
|
||||||
|
* add missing stuff
|
||||||
|
* make sure we find catkin
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.6 (2012-09-28 15:17)
|
||||||
|
------------------------
|
||||||
|
* move the test to where it belongs
|
||||||
|
* fix the tests and the API to not handle conversion from CV_TYPE to Color type (does not make sense)
|
||||||
|
* make all the tests pass
|
||||||
|
* comply to the new Catkin API
|
||||||
|
* backport the C++ test from Fuerte
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.5 (2012-09-15)
|
||||||
|
------------------
|
||||||
|
* remove dependencies to the opencv2 ROS package
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.4 (2012-09-13)
|
||||||
|
------------------
|
||||||
|
|
||||||
|
1.9.3 (2012-09-12)
|
||||||
|
------------------
|
||||||
|
* update to nosetests
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.2 (2012-09-07)
|
||||||
|
------------------
|
||||||
|
* be more compliant to the latest catkin
|
||||||
|
* added catkin_project() to cv_bridge, image_geometry, and opencv_tests
|
||||||
|
* Contributors: Jonathan Binney, Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.1 (2012-08-28 22:06)
|
||||||
|
------------------------
|
||||||
|
* remove a deprecated header
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.0 (2012-08-28 14:29)
|
||||||
|
------------------------
|
||||||
|
* cleanup by Jon Binney
|
||||||
|
* catkinized opencv_tests by Jon Binney
|
||||||
|
* remove the version check, let's trust OpenCV :)
|
||||||
|
* revert the removal of opencv2
|
||||||
|
* finally get rid of opencv2 as it is a system dependency now
|
||||||
|
* bump REQUIRED version of OpenCV to 2.3.2, which is what's in ros-fuerte-opencv
|
||||||
|
* switch rosdep name to opencv2, to refer to ros-fuerte-opencv2
|
||||||
|
* Fixing link lines for gtest against opencv.
|
||||||
|
* Adding opencv2 to all manifests, so that client packages may
|
||||||
|
not break when using them.
|
||||||
|
* baking in opencv debs and attempting a pre-release
|
||||||
|
* Another hack for prerelease to quiet test failures.
|
||||||
|
* Dissable a dubious opencv test. Temporary HACK.
|
||||||
|
* Changing to expect for more verbose failure.
|
||||||
|
* Minor change to test.
|
||||||
|
* Making this depend on libopencv-2.3-dev debian available in ros-shadow.
|
||||||
|
* mono16 -> bgr conversion tested and fixed in C
|
||||||
|
* Added Ubuntu platform tags to manifest
|
||||||
|
* Tuned for parc loop
|
||||||
|
* Demo of ROS node face detecton
|
||||||
|
* mono16 support, ticket `#2890 <https://github.com/ros-perception/vision_opencv/issues/2890>`_
|
||||||
|
* Remove use of deprecated rosbuild macros
|
||||||
|
* cv_bridge split from opencv2
|
||||||
|
* Name changes for opencv -> vision_opencv
|
||||||
|
* Validation for image message encoding
|
||||||
|
* utest changed to reflect rosimgtocv change to imgmsgtocv
|
||||||
|
* Add opencvpython as empty package
|
||||||
|
* New methods for cv image conversion
|
||||||
|
* Disabling tests on OSX, `#2769 <https://github.com/ros-perception/vision_opencv/issues/2769>`_
|
||||||
|
* New Python CvBridge, rewrote C CvBridge, regression test for C and Python CvBridge
|
||||||
|
* Fix underscore problem, test 8UC3->BGR8, fix 8UC3->BGR8
|
||||||
|
* New image format
|
||||||
|
* Image message and CvBridge change
|
||||||
|
* Rename rows,cols to height,width in Image message
|
||||||
|
* New node bbc for image testing
|
||||||
|
* Make executable
|
||||||
|
* Pong demo
|
||||||
|
* Missing utest.cpp
|
||||||
|
* New sensor_msgs::Image message
|
||||||
|
* Contributors: Vincent Rabaud, ethanrublee, gerkey, jamesb, jamesbowman, pantofaru, vrabaud, wheeler
|
||||||
5
src/vision_opencv/opencv_tests/CMakeLists.txt
Normal file
5
src/vision_opencv/opencv_tests/CMakeLists.txt
Normal file
@@ -0,0 +1,5 @@
|
|||||||
|
cmake_minimum_required(VERSION 2.8)
|
||||||
|
project(opencv_tests)
|
||||||
|
|
||||||
|
find_package(catkin REQUIRED)
|
||||||
|
catkin_package()
|
||||||
5
src/vision_opencv/opencv_tests/launch/pong.launch
Normal file
5
src/vision_opencv/opencv_tests/launch/pong.launch
Normal file
@@ -0,0 +1,5 @@
|
|||||||
|
<launch>
|
||||||
|
<master auto="start"/>
|
||||||
|
<node pkg="image_view" type="image_view" args="image:=/opencv_tests/images" respawn="false" output="screen"/>
|
||||||
|
<node pkg="opencv_tests" type="source.py" respawn="false" />
|
||||||
|
</launch>
|
||||||
119
src/vision_opencv/opencv_tests/mainpage.dox
Normal file
119
src/vision_opencv/opencv_tests/mainpage.dox
Normal file
@@ -0,0 +1,119 @@
|
|||||||
|
/**
|
||||||
|
\mainpage
|
||||||
|
\htmlinclude manifest.html
|
||||||
|
|
||||||
|
\b opencv_tests is ...
|
||||||
|
|
||||||
|
<!--
|
||||||
|
In addition to providing an overview of your package,
|
||||||
|
this is the section where the specification and design/architecture
|
||||||
|
should be detailed. While the original specification may be done on the
|
||||||
|
wiki, it should be transferred here once your package starts to take shape.
|
||||||
|
You can then link to this documentation page from the Wiki.
|
||||||
|
-->
|
||||||
|
|
||||||
|
|
||||||
|
\section codeapi Code API
|
||||||
|
|
||||||
|
<!--
|
||||||
|
Provide links to specific auto-generated API documentation within your
|
||||||
|
package that is of particular interest to a reader. Doxygen will
|
||||||
|
document pretty much every part of your code, so do your best here to
|
||||||
|
point the reader to the actual API.
|
||||||
|
|
||||||
|
If your codebase is fairly large or has different sets of APIs, you
|
||||||
|
should use the doxygen 'group' tag to keep these APIs together. For
|
||||||
|
example, the roscpp documentation has 'libros' group.
|
||||||
|
-->
|
||||||
|
|
||||||
|
\section rosapi ROS API
|
||||||
|
|
||||||
|
<!--
|
||||||
|
Names are very important in ROS because they can be remapped on the
|
||||||
|
command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY
|
||||||
|
APPEAR IN THE CODE. You should list names of every topic, service and
|
||||||
|
parameter used in your code. There is a template below that you can
|
||||||
|
use to document each node separately.
|
||||||
|
|
||||||
|
List of nodes:
|
||||||
|
- \b node_name1
|
||||||
|
- \b node_name2
|
||||||
|
-->
|
||||||
|
|
||||||
|
<!-- START: copy from here to 'END' for each node
|
||||||
|
|
||||||
|
<hr>
|
||||||
|
|
||||||
|
\subsection node_name node_name
|
||||||
|
|
||||||
|
node_name does (provide a basic description of your node)
|
||||||
|
|
||||||
|
\subsubsection Usage
|
||||||
|
\verbatim
|
||||||
|
$ node_type1 [standard ROS args]
|
||||||
|
\endverbatim
|
||||||
|
|
||||||
|
\par Example
|
||||||
|
|
||||||
|
\verbatim
|
||||||
|
$ node_type1
|
||||||
|
\endverbatim
|
||||||
|
|
||||||
|
|
||||||
|
\subsubsection topics ROS topics
|
||||||
|
|
||||||
|
Subscribes to:
|
||||||
|
- \b "in": [std_msgs/FooType] description of in
|
||||||
|
|
||||||
|
Publishes to:
|
||||||
|
- \b "out": [std_msgs/FooType] description of out
|
||||||
|
|
||||||
|
|
||||||
|
\subsubsection parameters ROS parameters
|
||||||
|
|
||||||
|
Reads the following parameters from the parameter server
|
||||||
|
|
||||||
|
- \b "~param_name" : \b [type] description of param_name
|
||||||
|
- \b "~my_param" : \b [string] description of my_param
|
||||||
|
|
||||||
|
Sets the following parameters on the parameter server
|
||||||
|
|
||||||
|
- \b "~param_name" : \b [type] description of param_name
|
||||||
|
|
||||||
|
|
||||||
|
\subsubsection services ROS services
|
||||||
|
- \b "foo_service": [std_srvs/FooType] description of foo_service
|
||||||
|
|
||||||
|
|
||||||
|
END: copy for each node -->
|
||||||
|
|
||||||
|
|
||||||
|
<!-- START: Uncomment if you have any command-line tools
|
||||||
|
|
||||||
|
\section commandline Command-line tools
|
||||||
|
|
||||||
|
This section is a catch-all for any additional tools that your package
|
||||||
|
provides or uses that may be of use to the reader. For example:
|
||||||
|
|
||||||
|
- tools/scripts (e.g. rospack, roscd)
|
||||||
|
- roslaunch .launch files
|
||||||
|
- xmlparam files
|
||||||
|
|
||||||
|
\subsection script_name script_name
|
||||||
|
|
||||||
|
Description of what this script/file does.
|
||||||
|
|
||||||
|
\subsubsection Usage
|
||||||
|
\verbatim
|
||||||
|
$ ./script_name [args]
|
||||||
|
\endverbatim
|
||||||
|
|
||||||
|
\par Example
|
||||||
|
|
||||||
|
\verbatim
|
||||||
|
$ ./script_name foo bar
|
||||||
|
\endverbatim
|
||||||
|
|
||||||
|
END: Command-Line Tools Section -->
|
||||||
|
|
||||||
|
*/
|
||||||
78
src/vision_opencv/opencv_tests/nodes/broadcast.py
Executable file
78
src/vision_opencv/opencv_tests/nodes/broadcast.py
Executable file
@@ -0,0 +1,78 @@
|
|||||||
|
#!/usr/bin/env python
|
||||||
|
# Software License Agreement (BSD License)
|
||||||
|
#
|
||||||
|
# Copyright (c) 2008, Willow Garage, Inc.
|
||||||
|
# Copyright (c) 2016, Tal Regev.
|
||||||
|
# All rights reserved.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# * Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# * Redistributions in binary form must reproduce the above
|
||||||
|
# copyright notice, this list of conditions and the following
|
||||||
|
# disclaimer in the documentation and/or other materials provided
|
||||||
|
# with the distribution.
|
||||||
|
# * Neither the name of the Willow Garage nor the names of its
|
||||||
|
# contributors may be used to endorse or promote products derived
|
||||||
|
# from this software without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||||
|
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
|
||||||
|
import sys
|
||||||
|
import time
|
||||||
|
import math
|
||||||
|
import rospy
|
||||||
|
import cv2
|
||||||
|
|
||||||
|
import sensor_msgs.msg
|
||||||
|
from cv_bridge import CvBridge
|
||||||
|
|
||||||
|
|
||||||
|
# Send each image by iterate it from given array of files names to a given topic,
|
||||||
|
# as a regular and compressed ROS Images msgs.
|
||||||
|
class Source:
|
||||||
|
|
||||||
|
def __init__(self, topic, filenames):
|
||||||
|
self.pub = rospy.Publisher(topic, sensor_msgs.msg.Image)
|
||||||
|
self.pub_compressed = rospy.Publisher(topic + "/compressed", sensor_msgs.msg.CompressedImage)
|
||||||
|
self.filenames = filenames
|
||||||
|
|
||||||
|
def spin(self):
|
||||||
|
time.sleep(1.0)
|
||||||
|
cvb = CvBridge()
|
||||||
|
while not rospy.core.is_shutdown():
|
||||||
|
cvim = cv2.imload(self.filenames[0])
|
||||||
|
self.pub.publish(cvb.cv2_to_imgmsg(cvim))
|
||||||
|
self.pub_compressed.publish(cvb.cv2_to_compressed_imgmsg(cvim))
|
||||||
|
self.filenames = self.filenames[1:] + [self.filenames[0]]
|
||||||
|
time.sleep(1)
|
||||||
|
|
||||||
|
|
||||||
|
def main(args):
|
||||||
|
s = Source(args[1], args[2:])
|
||||||
|
rospy.init_node('Source')
|
||||||
|
try:
|
||||||
|
s.spin()
|
||||||
|
rospy.spin()
|
||||||
|
outcome = 'test completed'
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
print "shutting down"
|
||||||
|
outcome = 'keyboard interrupt'
|
||||||
|
rospy.core.signal_shutdown(outcome)
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
main(sys.argv)
|
||||||
105
src/vision_opencv/opencv_tests/nodes/rosfacedetect.py
Executable file
105
src/vision_opencv/opencv_tests/nodes/rosfacedetect.py
Executable file
@@ -0,0 +1,105 @@
|
|||||||
|
#!/usr/bin/python
|
||||||
|
"""
|
||||||
|
This program is demonstration for face and object detection using haar-like features.
|
||||||
|
The program finds faces in a camera image or video stream and displays a red box around them.
|
||||||
|
|
||||||
|
Original C implementation by: ?
|
||||||
|
Python implementation by: Roman Stanchak, James Bowman
|
||||||
|
Updated: Copyright (c) 2016, Tal Regev.
|
||||||
|
"""
|
||||||
|
|
||||||
|
import sys
|
||||||
|
import os
|
||||||
|
from optparse import OptionParser
|
||||||
|
|
||||||
|
import rospy
|
||||||
|
import sensor_msgs.msg
|
||||||
|
from cv_bridge import CvBridge
|
||||||
|
import cv2
|
||||||
|
import numpy
|
||||||
|
|
||||||
|
# Parameters for haar detection
|
||||||
|
# From the API:
|
||||||
|
# The default parameters (scale_factor=2, min_neighbors=3, flags=0) are tuned
|
||||||
|
# for accurate yet slow object detection. For a faster operation on real video
|
||||||
|
# images the settings are:
|
||||||
|
# scale_factor=1.2, min_neighbors=2, flags=CV_HAAR_DO_CANNY_PRUNING,
|
||||||
|
# min_size=<minimum possible face size
|
||||||
|
|
||||||
|
min_size = (10, 10)
|
||||||
|
image_scale = 2
|
||||||
|
haar_scale = 1.2
|
||||||
|
min_neighbors = 2
|
||||||
|
haar_flags = 0
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
|
||||||
|
# TODO add this file in the repository and make it relative to this python script. (not all people will run this from linux)
|
||||||
|
haarfile = '/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml'
|
||||||
|
|
||||||
|
parser = OptionParser(usage = "usage: %prog [options]")
|
||||||
|
parser.add_option("-c", "--cascade", action="store", dest="cascade", type="str", help="Haar cascade file, default %default", default = haarfile)
|
||||||
|
parser.add_option("-t", "--topic", action="store", dest="topic", type="str", help="Topic to find a face on, default %default", default = '/camera/rgb/image_raw')
|
||||||
|
parser.add_option("-ct", "--ctopic", action="store", dest="ctopic", type="str", help="Compressed topic to find a face on, default %default", default = '/camera/rgb/image/compressed')
|
||||||
|
(options, args) = parser.parse_args()
|
||||||
|
|
||||||
|
cascade = cv2.CascadeClassifier()
|
||||||
|
cascade.load(options.cascade)
|
||||||
|
br = CvBridge()
|
||||||
|
|
||||||
|
def detect_and_draw(imgmsg):
|
||||||
|
img = br.imgmsg_to_cv2(imgmsg, "bgr8")
|
||||||
|
# allocate temporary images
|
||||||
|
new_size = (int(img.shape[1] / image_scale), int(img.shape[0] / image_scale))
|
||||||
|
|
||||||
|
# convert color input image to grayscale
|
||||||
|
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
|
||||||
|
|
||||||
|
# scale input image for faster processing
|
||||||
|
small_img = cv2.resize(gray, new_size, interpolation = cv2.INTER_LINEAR)
|
||||||
|
|
||||||
|
small_img = cv2.equalizeHist(small_img)
|
||||||
|
|
||||||
|
if(cascade):
|
||||||
|
faces = cascade.detectMultiScale(small_img, haar_scale, min_neighbors, haar_flags, min_size)
|
||||||
|
if faces is not None:
|
||||||
|
for (x, y, w, h) in faces:
|
||||||
|
# the input to detectMultiScale was resized, so scale the
|
||||||
|
# bounding box of each face and convert it to two CvPoints
|
||||||
|
pt1 = (int(x * image_scale), int(y * image_scale))
|
||||||
|
pt2 = (int((x + w) * image_scale), int((y + h) * image_scale))
|
||||||
|
cv2.rectangle(img, pt1, pt2, (255, 0, 0), 3, 8, 0)
|
||||||
|
|
||||||
|
cv2.imshow("result", img)
|
||||||
|
cv2.waitKey(6)
|
||||||
|
|
||||||
|
def compressed_detect_and_draw(compressed_imgmsg):
|
||||||
|
img = br.compressed_imgmsg_to_cv2(compressed_imgmsg, "bgr8")
|
||||||
|
# allocate temporary images
|
||||||
|
new_size = (int(img.shape[1] / image_scale), int(img.shape[0] / image_scale))
|
||||||
|
|
||||||
|
# convert color input image to grayscale
|
||||||
|
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
|
||||||
|
|
||||||
|
# scale input image for faster processing
|
||||||
|
small_img = cv2.resize(gray, new_size, interpolation = cv2.INTER_LINEAR)
|
||||||
|
|
||||||
|
small_img = cv2.equalizeHist(small_img)
|
||||||
|
|
||||||
|
if(cascade):
|
||||||
|
faces = cascade.detectMultiScale(small_img, haar_scale, min_neighbors, haar_flags, min_size)
|
||||||
|
if faces is not None:
|
||||||
|
for (x, y, w, h) in faces:
|
||||||
|
# the input to detectMultiScale was resized, so scale the
|
||||||
|
# bounding box of each face and convert it to two CvPoints
|
||||||
|
pt1 = (int(x * image_scale), int(y * image_scale))
|
||||||
|
pt2 = (int((x + w) * image_scale), int((y + h) * image_scale))
|
||||||
|
cv2.rectangle(img, pt1, pt2, (255, 0, 0), 3, 8, 0)
|
||||||
|
|
||||||
|
cv2.imshow("compressed_result", img)
|
||||||
|
cv2.waitKey(6)
|
||||||
|
|
||||||
|
rospy.init_node('rosfacedetect')
|
||||||
|
rospy.Subscriber(options.topic, sensor_msgs.msg.Image, detect_and_draw)
|
||||||
|
rospy.Subscriber(options.ctopic, sensor_msgs.msg.CompressedImage, compressed_detect_and_draw)
|
||||||
|
rospy.spin()
|
||||||
95
src/vision_opencv/opencv_tests/nodes/source.py
Executable file
95
src/vision_opencv/opencv_tests/nodes/source.py
Executable file
@@ -0,0 +1,95 @@
|
|||||||
|
#!/usr/bin/env python
|
||||||
|
# Software License Agreement (BSD License)
|
||||||
|
#
|
||||||
|
# Copyright (c) 2008, Willow Garage, Inc.
|
||||||
|
# Copyright (c) 2016, Tal Regev.
|
||||||
|
# All rights reserved.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# * Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# * Redistributions in binary form must reproduce the above
|
||||||
|
# copyright notice, this list of conditions and the following
|
||||||
|
# disclaimer in the documentation and/or other materials provided
|
||||||
|
# with the distribution.
|
||||||
|
# * Neither the name of the Willow Garage nor the names of its
|
||||||
|
# contributors may be used to endorse or promote products derived
|
||||||
|
# from this software without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||||
|
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
|
||||||
|
import sys
|
||||||
|
import time
|
||||||
|
import math
|
||||||
|
import rospy
|
||||||
|
import numpy
|
||||||
|
import cv2
|
||||||
|
|
||||||
|
import sensor_msgs.msg
|
||||||
|
from cv_bridge import CvBridge
|
||||||
|
|
||||||
|
|
||||||
|
# Send black pic with a circle as regular and compressed ros msgs.
|
||||||
|
class Source:
|
||||||
|
|
||||||
|
def __init__(self):
|
||||||
|
self.pub = rospy.Publisher("/opencv_tests/images", sensor_msgs.msg.Image)
|
||||||
|
self.pub_compressed = rospy.Publisher("/opencv_tests/images/compressed", sensor_msgs.msg.CompressedImage)
|
||||||
|
|
||||||
|
def spin(self):
|
||||||
|
time.sleep(1.0)
|
||||||
|
started = time.time()
|
||||||
|
counter = 0
|
||||||
|
cvim = numpy.zeros((480, 640, 1), numpy.uint8)
|
||||||
|
ball_xv = 10
|
||||||
|
ball_yv = 10
|
||||||
|
ball_x = 100
|
||||||
|
ball_y = 100
|
||||||
|
|
||||||
|
cvb = CvBridge()
|
||||||
|
|
||||||
|
while not rospy.core.is_shutdown():
|
||||||
|
|
||||||
|
cvim.fill(0)
|
||||||
|
cv2.circle(cvim, (ball_x, ball_y), 10, 255, -1)
|
||||||
|
|
||||||
|
ball_x += ball_xv
|
||||||
|
ball_y += ball_yv
|
||||||
|
if ball_x in [10, 630]:
|
||||||
|
ball_xv = -ball_xv
|
||||||
|
if ball_y in [10, 470]:
|
||||||
|
ball_yv = -ball_yv
|
||||||
|
|
||||||
|
self.pub.publish(cvb.cv2_to_imgmsg(cvim))
|
||||||
|
self.pub_compressed.publish(cvb.cv2_to_compressed_imgmsg(cvim))
|
||||||
|
time.sleep(0.03)
|
||||||
|
|
||||||
|
|
||||||
|
def main(args):
|
||||||
|
s = Source()
|
||||||
|
rospy.init_node('Source')
|
||||||
|
try:
|
||||||
|
s.spin()
|
||||||
|
rospy.spin()
|
||||||
|
outcome = 'test completed'
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
print "shutting down"
|
||||||
|
outcome = 'keyboard interrupt'
|
||||||
|
rospy.core.signal_shutdown(outcome)
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
main(sys.argv)
|
||||||
15
src/vision_opencv/opencv_tests/package.xml
Normal file
15
src/vision_opencv/opencv_tests/package.xml
Normal file
@@ -0,0 +1,15 @@
|
|||||||
|
<package>
|
||||||
|
<name>opencv_tests</name>
|
||||||
|
<version>1.13.1</version>
|
||||||
|
<description>
|
||||||
|
Tests the enumerants of the ROS Image message, and functionally tests the Python and C++ implementations of CvBridge.
|
||||||
|
</description>
|
||||||
|
<author>James Bowman</author>
|
||||||
|
<maintainer email="vincent.rabaud@gmail.com">Vincent Rabaud</maintainer>
|
||||||
|
<license>BSD</license>
|
||||||
|
<url>http://wiki.ros.org/opencv_tests</url>
|
||||||
|
|
||||||
|
<buildtool_depend>catkin</buildtool_depend>
|
||||||
|
|
||||||
|
<run_depend>cv_bridge</run_depend>
|
||||||
|
</package>
|
||||||
189
src/vision_opencv/vision_opencv/CHANGELOG.rst
Normal file
189
src/vision_opencv/vision_opencv/CHANGELOG.rst
Normal file
@@ -0,0 +1,189 @@
|
|||||||
|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||||
|
Changelog for package vision_opencv
|
||||||
|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||||
|
|
||||||
|
1.13.1 (2022-10-03)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.13.0 (2018-04-30)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.8 (2018-04-17)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.7 (2017-11-12)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.6 (2017-11-11)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.5 (2017-11-05)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.4 (2017-01-29)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.3 (2016-12-04)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.2 (2016-09-24)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.1 (2016-07-11)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.12.0 (2016-03-18)
|
||||||
|
-------------------
|
||||||
|
* remove opencv_apps from vision_opencv
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.11.12 (2016-03-10)
|
||||||
|
--------------------
|
||||||
|
|
||||||
|
1.11.11 (2016-01-31)
|
||||||
|
--------------------
|
||||||
|
|
||||||
|
1.11.10 (2016-01-16)
|
||||||
|
--------------------
|
||||||
|
|
||||||
|
1.11.9 (2015-11-29)
|
||||||
|
-------------------
|
||||||
|
* Add opencv_apps to vision_opencv dependency
|
||||||
|
* Contributors: Ryohei Ueda
|
||||||
|
|
||||||
|
1.11.8 (2015-07-15)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.7 (2014-12-14)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.6 (2014-11-16)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.5 (2014-09-21)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.4 (2014-07-27)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.3 (2014-06-08)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.2 (2014-04-28)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.1 (2014-04-16)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.11.0 (2014-02-15)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.15 (2014-02-07)
|
||||||
|
--------------------
|
||||||
|
|
||||||
|
1.10.14 (2013-11-23 16:17)
|
||||||
|
--------------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.13 (2013-11-23 09:19)
|
||||||
|
--------------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.12 (2013-11-22)
|
||||||
|
--------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.11 (2013-10-23)
|
||||||
|
--------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.10 (2013-10-19)
|
||||||
|
--------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.9 (2013-10-07)
|
||||||
|
-------------------
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.8 (2013-09-09)
|
||||||
|
-------------------
|
||||||
|
* update email address
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.7 (2013-07-17)
|
||||||
|
-------------------
|
||||||
|
* update to REP 0127
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.10.6 (2013-03-01)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.5 (2013-02-11)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.4 (2013-02-02)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.3 (2013-01-17)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.2 (2013-01-13)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.1 (2013-01-10)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.10.0 (2013-01-03)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.15 (2013-01-02)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.14 (2012-12-30)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.13 (2012-12-15)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.12 (2012-12-14)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.11 (2012-12-10)
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
1.9.10 (2012-10-04)
|
||||||
|
-------------------
|
||||||
|
* the CMake file is useless
|
||||||
|
* add the missing CMake file
|
||||||
|
* re-add the meta-package
|
||||||
|
* Contributors: Vincent Rabaud
|
||||||
|
|
||||||
|
1.9.9 (2012-10-01)
|
||||||
|
------------------
|
||||||
|
|
||||||
|
1.9.8 (2012-09-30)
|
||||||
|
------------------
|
||||||
|
|
||||||
|
1.9.7 (2012-09-28 21:07)
|
||||||
|
------------------------
|
||||||
|
|
||||||
|
1.9.6 (2012-09-28 15:17)
|
||||||
|
------------------------
|
||||||
|
|
||||||
|
1.9.5 (2012-09-15)
|
||||||
|
------------------
|
||||||
|
|
||||||
|
1.9.4 (2012-09-13)
|
||||||
|
------------------
|
||||||
|
|
||||||
|
1.9.3 (2012-09-12)
|
||||||
|
------------------
|
||||||
|
|
||||||
|
1.9.2 (2012-09-07)
|
||||||
|
------------------
|
||||||
|
|
||||||
|
1.9.1 (2012-08-28 22:06)
|
||||||
|
------------------------
|
||||||
|
|
||||||
|
1.9.0 (2012-08-28 14:29)
|
||||||
|
------------------------
|
||||||
4
src/vision_opencv/vision_opencv/CMakeLists.txt
Normal file
4
src/vision_opencv/vision_opencv/CMakeLists.txt
Normal file
@@ -0,0 +1,4 @@
|
|||||||
|
cmake_minimum_required(VERSION 2.8.3)
|
||||||
|
project(vision_opencv)
|
||||||
|
find_package(catkin REQUIRED)
|
||||||
|
catkin_metapackage()
|
||||||
22
src/vision_opencv/vision_opencv/package.xml
Normal file
22
src/vision_opencv/vision_opencv/package.xml
Normal file
@@ -0,0 +1,22 @@
|
|||||||
|
<package>
|
||||||
|
<name>vision_opencv</name>
|
||||||
|
<version>1.13.1</version>
|
||||||
|
<description>Packages for interfacing ROS with OpenCV, a library of programming functions for real time computer vision.</description>
|
||||||
|
<author>Patrick Mihelich</author>
|
||||||
|
<author>James Bowman</author>
|
||||||
|
<maintainer email="vincent.rabaud@gmail.com">Vincent Rabaud</maintainer>
|
||||||
|
<license>BSD</license>
|
||||||
|
|
||||||
|
<url type="website">http://www.ros.org/wiki/vision_opencv</url>
|
||||||
|
<url type="bugtracker">https://github.com/ros-perception/vision_opencv/issues</url>
|
||||||
|
<url type="repository">https://github.com/ros-perception/vision_opencv</url>
|
||||||
|
|
||||||
|
<buildtool_depend>catkin</buildtool_depend>
|
||||||
|
|
||||||
|
<run_depend>cv_bridge</run_depend>
|
||||||
|
<run_depend>image_geometry</run_depend>
|
||||||
|
<export>
|
||||||
|
<metapackage/>
|
||||||
|
</export>
|
||||||
|
|
||||||
|
</package>
|
||||||
207
src/yolov5_ros/CMakeLists.txt
Normal file
207
src/yolov5_ros/CMakeLists.txt
Normal file
@@ -0,0 +1,207 @@
|
|||||||
|
cmake_minimum_required(VERSION 3.0.2)
|
||||||
|
project(yolov5_ros)
|
||||||
|
|
||||||
|
## Compile as C++11, supported in ROS Kinetic and newer
|
||||||
|
# add_compile_options(-std=c++11)
|
||||||
|
|
||||||
|
## Find catkin macros and libraries
|
||||||
|
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||||||
|
## is used, also find other catkin packages
|
||||||
|
find_package(catkin REQUIRED COMPONENTS
|
||||||
|
rospy
|
||||||
|
sensor_msgs
|
||||||
|
std_msgs
|
||||||
|
detection_msgs
|
||||||
|
)
|
||||||
|
|
||||||
|
## System dependencies are found with CMake's conventions
|
||||||
|
# find_package(Boost REQUIRED COMPONENTS system)
|
||||||
|
|
||||||
|
|
||||||
|
## Uncomment this if the package has a setup.py. This macro ensures
|
||||||
|
## modules and global scripts declared therein get installed
|
||||||
|
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
||||||
|
# catkin_python_setup()
|
||||||
|
|
||||||
|
################################################
|
||||||
|
## Declare ROS messages, services and actions ##
|
||||||
|
################################################
|
||||||
|
|
||||||
|
## To declare and build messages, services or actions from within this
|
||||||
|
## package, follow these steps:
|
||||||
|
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||||||
|
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
||||||
|
## * In the file package.xml:
|
||||||
|
## * add a build_depend tag for "message_generation"
|
||||||
|
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
||||||
|
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
||||||
|
## but can be declared for certainty nonetheless:
|
||||||
|
## * add a exec_depend tag for "message_runtime"
|
||||||
|
## * In this file (CMakeLists.txt):
|
||||||
|
## * add "message_generation" and every package in MSG_DEP_SET to
|
||||||
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||||
|
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||||||
|
## catkin_package(CATKIN_DEPENDS ...)
|
||||||
|
## * uncomment the add_*_files sections below as needed
|
||||||
|
## and list every .msg/.srv/.action file to be processed
|
||||||
|
## * uncomment the generate_messages entry below
|
||||||
|
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
||||||
|
|
||||||
|
## Generate messages in the 'msg' folder
|
||||||
|
# add_message_files(
|
||||||
|
# FILES
|
||||||
|
# Message1.msg
|
||||||
|
# Message2.msg
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Generate services in the 'srv' folder
|
||||||
|
# add_service_files(
|
||||||
|
# FILES
|
||||||
|
# Service1.srv
|
||||||
|
# Service2.srv
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Generate actions in the 'action' folder
|
||||||
|
# add_action_files(
|
||||||
|
# FILES
|
||||||
|
# Action1.action
|
||||||
|
# Action2.action
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Generate added messages and services with any dependencies listed here
|
||||||
|
# generate_messages(
|
||||||
|
# DEPENDENCIES
|
||||||
|
# sensor_msgs# std_msgs
|
||||||
|
# )
|
||||||
|
|
||||||
|
################################################
|
||||||
|
## Declare ROS dynamic reconfigure parameters ##
|
||||||
|
################################################
|
||||||
|
|
||||||
|
## To declare and build dynamic reconfigure parameters within this
|
||||||
|
## package, follow these steps:
|
||||||
|
## * In the file package.xml:
|
||||||
|
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
||||||
|
## * In this file (CMakeLists.txt):
|
||||||
|
## * add "dynamic_reconfigure" to
|
||||||
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||||
|
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
||||||
|
## and list every .cfg file to be processed
|
||||||
|
|
||||||
|
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||||
|
# generate_dynamic_reconfigure_options(
|
||||||
|
# cfg/DynReconf1.cfg
|
||||||
|
# cfg/DynReconf2.cfg
|
||||||
|
# )
|
||||||
|
|
||||||
|
###################################
|
||||||
|
## catkin specific configuration ##
|
||||||
|
###################################
|
||||||
|
## The catkin_package macro generates cmake config files for your package
|
||||||
|
## Declare things to be passed to dependent projects
|
||||||
|
## INCLUDE_DIRS: uncomment this if your package contains header files
|
||||||
|
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||||
|
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||||
|
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||||
|
catkin_package(
|
||||||
|
# INCLUDE_DIRS include
|
||||||
|
# LIBRARIES yolov5_ros
|
||||||
|
# CATKIN_DEPENDS rospy sensor_msgs std_msgs
|
||||||
|
# DEPENDS system_lib
|
||||||
|
)
|
||||||
|
|
||||||
|
###########
|
||||||
|
## Build ##
|
||||||
|
###########
|
||||||
|
|
||||||
|
## Specify additional locations of header files
|
||||||
|
## Your package locations should be listed before other locations
|
||||||
|
include_directories(
|
||||||
|
# include
|
||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
|
)
|
||||||
|
|
||||||
|
## Declare a C++ library
|
||||||
|
# add_library(${PROJECT_NAME}
|
||||||
|
# src/${PROJECT_NAME}/yolov5_ros.cpp
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Add cmake target dependencies of the library
|
||||||
|
## as an example, code may need to be generated before libraries
|
||||||
|
## either from message generation or dynamic reconfigure
|
||||||
|
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
## Declare a C++ executable
|
||||||
|
## With catkin_make all packages are built within a single CMake context
|
||||||
|
## The recommended prefix ensures that target names across packages don't collide
|
||||||
|
# add_executable(${PROJECT_NAME}_node src/yolov5_ros_node.cpp)
|
||||||
|
|
||||||
|
## Rename C++ executable without prefix
|
||||||
|
## The above recommended prefix causes long target names, the following renames the
|
||||||
|
## target back to the shorter version for ease of user use
|
||||||
|
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
|
||||||
|
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
|
||||||
|
|
||||||
|
## Add cmake target dependencies of the executable
|
||||||
|
## same as for the library above
|
||||||
|
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
## Specify libraries to link a library or executable target against
|
||||||
|
# target_link_libraries(${PROJECT_NAME}_node
|
||||||
|
# ${catkin_LIBRARIES}
|
||||||
|
# )
|
||||||
|
|
||||||
|
#############
|
||||||
|
## Install ##
|
||||||
|
#############
|
||||||
|
|
||||||
|
# all install targets should use catkin DESTINATION variables
|
||||||
|
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
||||||
|
|
||||||
|
## Mark executable scripts (Python etc.) for installation
|
||||||
|
## in contrast to setup.py, you can choose the destination
|
||||||
|
catkin_install_python(PROGRAMS
|
||||||
|
src/detect.py
|
||||||
|
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
|
)
|
||||||
|
|
||||||
|
## Mark executables for installation
|
||||||
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
||||||
|
# install(TARGETS ${PROJECT_NAME}_node
|
||||||
|
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark libraries for installation
|
||||||
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||||
|
# install(TARGETS ${PROJECT_NAME}
|
||||||
|
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark cpp header files for installation
|
||||||
|
# install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||||
|
# FILES_MATCHING PATTERN "*.h"
|
||||||
|
# PATTERN ".svn" EXCLUDE
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||||
|
# install(FILES
|
||||||
|
# # myfile1
|
||||||
|
# # myfile2
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
#############
|
||||||
|
## Testing ##
|
||||||
|
#############
|
||||||
|
|
||||||
|
## Add gtest based cpp test target and link libraries
|
||||||
|
# catkin_add_gtest(${PROJECT_NAME}-test test/test_yolov5_ros.cpp)
|
||||||
|
# if(TARGET ${PROJECT_NAME}-test)
|
||||||
|
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||||
|
# endif()
|
||||||
|
|
||||||
|
## Add folders to be run by python nosetests
|
||||||
|
# catkin_add_nosetests(test)
|
||||||
674
src/yolov5_ros/LICENSE
Normal file
674
src/yolov5_ros/LICENSE
Normal file
@@ -0,0 +1,674 @@
|
|||||||
|
GNU GENERAL PUBLIC LICENSE
|
||||||
|
Version 3, 29 June 2007
|
||||||
|
|
||||||
|
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
|
||||||
|
Everyone is permitted to copy and distribute verbatim copies
|
||||||
|
of this license document, but changing it is not allowed.
|
||||||
|
|
||||||
|
Preamble
|
||||||
|
|
||||||
|
The GNU General Public License is a free, copyleft license for
|
||||||
|
software and other kinds of works.
|
||||||
|
|
||||||
|
The licenses for most software and other practical works are designed
|
||||||
|
to take away your freedom to share and change the works. By contrast,
|
||||||
|
the GNU General Public License is intended to guarantee your freedom to
|
||||||
|
share and change all versions of a program--to make sure it remains free
|
||||||
|
software for all its users. We, the Free Software Foundation, use the
|
||||||
|
GNU General Public License for most of our software; it applies also to
|
||||||
|
any other work released this way by its authors. You can apply it to
|
||||||
|
your programs, too.
|
||||||
|
|
||||||
|
When we speak of free software, we are referring to freedom, not
|
||||||
|
price. Our General Public Licenses are designed to make sure that you
|
||||||
|
have the freedom to distribute copies of free software (and charge for
|
||||||
|
them if you wish), that you receive source code or can get it if you
|
||||||
|
want it, that you can change the software or use pieces of it in new
|
||||||
|
free programs, and that you know you can do these things.
|
||||||
|
|
||||||
|
To protect your rights, we need to prevent others from denying you
|
||||||
|
these rights or asking you to surrender the rights. Therefore, you have
|
||||||
|
certain responsibilities if you distribute copies of the software, or if
|
||||||
|
you modify it: responsibilities to respect the freedom of others.
|
||||||
|
|
||||||
|
For example, if you distribute copies of such a program, whether
|
||||||
|
gratis or for a fee, you must pass on to the recipients the same
|
||||||
|
freedoms that you received. You must make sure that they, too, receive
|
||||||
|
or can get the source code. And you must show them these terms so they
|
||||||
|
know their rights.
|
||||||
|
|
||||||
|
Developers that use the GNU GPL protect your rights with two steps:
|
||||||
|
(1) assert copyright on the software, and (2) offer you this License
|
||||||
|
giving you legal permission to copy, distribute and/or modify it.
|
||||||
|
|
||||||
|
For the developers' and authors' protection, the GPL clearly explains
|
||||||
|
that there is no warranty for this free software. For both users' and
|
||||||
|
authors' sake, the GPL requires that modified versions be marked as
|
||||||
|
changed, so that their problems will not be attributed erroneously to
|
||||||
|
authors of previous versions.
|
||||||
|
|
||||||
|
Some devices are designed to deny users access to install or run
|
||||||
|
modified versions of the software inside them, although the manufacturer
|
||||||
|
can do so. This is fundamentally incompatible with the aim of
|
||||||
|
protecting users' freedom to change the software. The systematic
|
||||||
|
pattern of such abuse occurs in the area of products for individuals to
|
||||||
|
use, which is precisely where it is most unacceptable. Therefore, we
|
||||||
|
have designed this version of the GPL to prohibit the practice for those
|
||||||
|
products. If such problems arise substantially in other domains, we
|
||||||
|
stand ready to extend this provision to those domains in future versions
|
||||||
|
of the GPL, as needed to protect the freedom of users.
|
||||||
|
|
||||||
|
Finally, every program is threatened constantly by software patents.
|
||||||
|
States should not allow patents to restrict development and use of
|
||||||
|
software on general-purpose computers, but in those that do, we wish to
|
||||||
|
avoid the special danger that patents applied to a free program could
|
||||||
|
make it effectively proprietary. To prevent this, the GPL assures that
|
||||||
|
patents cannot be used to render the program non-free.
|
||||||
|
|
||||||
|
The precise terms and conditions for copying, distribution and
|
||||||
|
modification follow.
|
||||||
|
|
||||||
|
TERMS AND CONDITIONS
|
||||||
|
|
||||||
|
0. Definitions.
|
||||||
|
|
||||||
|
"This License" refers to version 3 of the GNU General Public License.
|
||||||
|
|
||||||
|
"Copyright" also means copyright-like laws that apply to other kinds of
|
||||||
|
works, such as semiconductor masks.
|
||||||
|
|
||||||
|
"The Program" refers to any copyrightable work licensed under this
|
||||||
|
License. Each licensee is addressed as "you". "Licensees" and
|
||||||
|
"recipients" may be individuals or organizations.
|
||||||
|
|
||||||
|
To "modify" a work means to copy from or adapt all or part of the work
|
||||||
|
in a fashion requiring copyright permission, other than the making of an
|
||||||
|
exact copy. The resulting work is called a "modified version" of the
|
||||||
|
earlier work or a work "based on" the earlier work.
|
||||||
|
|
||||||
|
A "covered work" means either the unmodified Program or a work based
|
||||||
|
on the Program.
|
||||||
|
|
||||||
|
To "propagate" a work means to do anything with it that, without
|
||||||
|
permission, would make you directly or secondarily liable for
|
||||||
|
infringement under applicable copyright law, except executing it on a
|
||||||
|
computer or modifying a private copy. Propagation includes copying,
|
||||||
|
distribution (with or without modification), making available to the
|
||||||
|
public, and in some countries other activities as well.
|
||||||
|
|
||||||
|
To "convey" a work means any kind of propagation that enables other
|
||||||
|
parties to make or receive copies. Mere interaction with a user through
|
||||||
|
a computer network, with no transfer of a copy, is not conveying.
|
||||||
|
|
||||||
|
An interactive user interface displays "Appropriate Legal Notices"
|
||||||
|
to the extent that it includes a convenient and prominently visible
|
||||||
|
feature that (1) displays an appropriate copyright notice, and (2)
|
||||||
|
tells the user that there is no warranty for the work (except to the
|
||||||
|
extent that warranties are provided), that licensees may convey the
|
||||||
|
work under this License, and how to view a copy of this License. If
|
||||||
|
the interface presents a list of user commands or options, such as a
|
||||||
|
menu, a prominent item in the list meets this criterion.
|
||||||
|
|
||||||
|
1. Source Code.
|
||||||
|
|
||||||
|
The "source code" for a work means the preferred form of the work
|
||||||
|
for making modifications to it. "Object code" means any non-source
|
||||||
|
form of a work.
|
||||||
|
|
||||||
|
A "Standard Interface" means an interface that either is an official
|
||||||
|
standard defined by a recognized standards body, or, in the case of
|
||||||
|
interfaces specified for a particular programming language, one that
|
||||||
|
is widely used among developers working in that language.
|
||||||
|
|
||||||
|
The "System Libraries" of an executable work include anything, other
|
||||||
|
than the work as a whole, that (a) is included in the normal form of
|
||||||
|
packaging a Major Component, but which is not part of that Major
|
||||||
|
Component, and (b) serves only to enable use of the work with that
|
||||||
|
Major Component, or to implement a Standard Interface for which an
|
||||||
|
implementation is available to the public in source code form. A
|
||||||
|
"Major Component", in this context, means a major essential component
|
||||||
|
(kernel, window system, and so on) of the specific operating system
|
||||||
|
(if any) on which the executable work runs, or a compiler used to
|
||||||
|
produce the work, or an object code interpreter used to run it.
|
||||||
|
|
||||||
|
The "Corresponding Source" for a work in object code form means all
|
||||||
|
the source code needed to generate, install, and (for an executable
|
||||||
|
work) run the object code and to modify the work, including scripts to
|
||||||
|
control those activities. However, it does not include the work's
|
||||||
|
System Libraries, or general-purpose tools or generally available free
|
||||||
|
programs which are used unmodified in performing those activities but
|
||||||
|
which are not part of the work. For example, Corresponding Source
|
||||||
|
includes interface definition files associated with source files for
|
||||||
|
the work, and the source code for shared libraries and dynamically
|
||||||
|
linked subprograms that the work is specifically designed to require,
|
||||||
|
such as by intimate data communication or control flow between those
|
||||||
|
subprograms and other parts of the work.
|
||||||
|
|
||||||
|
The Corresponding Source need not include anything that users
|
||||||
|
can regenerate automatically from other parts of the Corresponding
|
||||||
|
Source.
|
||||||
|
|
||||||
|
The Corresponding Source for a work in source code form is that
|
||||||
|
same work.
|
||||||
|
|
||||||
|
2. Basic Permissions.
|
||||||
|
|
||||||
|
All rights granted under this License are granted for the term of
|
||||||
|
copyright on the Program, and are irrevocable provided the stated
|
||||||
|
conditions are met. This License explicitly affirms your unlimited
|
||||||
|
permission to run the unmodified Program. The output from running a
|
||||||
|
covered work is covered by this License only if the output, given its
|
||||||
|
content, constitutes a covered work. This License acknowledges your
|
||||||
|
rights of fair use or other equivalent, as provided by copyright law.
|
||||||
|
|
||||||
|
You may make, run and propagate covered works that you do not
|
||||||
|
convey, without conditions so long as your license otherwise remains
|
||||||
|
in force. You may convey covered works to others for the sole purpose
|
||||||
|
of having them make modifications exclusively for you, or provide you
|
||||||
|
with facilities for running those works, provided that you comply with
|
||||||
|
the terms of this License in conveying all material for which you do
|
||||||
|
not control copyright. Those thus making or running the covered works
|
||||||
|
for you must do so exclusively on your behalf, under your direction
|
||||||
|
and control, on terms that prohibit them from making any copies of
|
||||||
|
your copyrighted material outside their relationship with you.
|
||||||
|
|
||||||
|
Conveying under any other circumstances is permitted solely under
|
||||||
|
the conditions stated below. Sublicensing is not allowed; section 10
|
||||||
|
makes it unnecessary.
|
||||||
|
|
||||||
|
3. Protecting Users' Legal Rights From Anti-Circumvention Law.
|
||||||
|
|
||||||
|
No covered work shall be deemed part of an effective technological
|
||||||
|
measure under any applicable law fulfilling obligations under article
|
||||||
|
11 of the WIPO copyright treaty adopted on 20 December 1996, or
|
||||||
|
similar laws prohibiting or restricting circumvention of such
|
||||||
|
measures.
|
||||||
|
|
||||||
|
When you convey a covered work, you waive any legal power to forbid
|
||||||
|
circumvention of technological measures to the extent such circumvention
|
||||||
|
is effected by exercising rights under this License with respect to
|
||||||
|
the covered work, and you disclaim any intention to limit operation or
|
||||||
|
modification of the work as a means of enforcing, against the work's
|
||||||
|
users, your or third parties' legal rights to forbid circumvention of
|
||||||
|
technological measures.
|
||||||
|
|
||||||
|
4. Conveying Verbatim Copies.
|
||||||
|
|
||||||
|
You may convey verbatim copies of the Program's source code as you
|
||||||
|
receive it, in any medium, provided that you conspicuously and
|
||||||
|
appropriately publish on each copy an appropriate copyright notice;
|
||||||
|
keep intact all notices stating that this License and any
|
||||||
|
non-permissive terms added in accord with section 7 apply to the code;
|
||||||
|
keep intact all notices of the absence of any warranty; and give all
|
||||||
|
recipients a copy of this License along with the Program.
|
||||||
|
|
||||||
|
You may charge any price or no price for each copy that you convey,
|
||||||
|
and you may offer support or warranty protection for a fee.
|
||||||
|
|
||||||
|
5. Conveying Modified Source Versions.
|
||||||
|
|
||||||
|
You may convey a work based on the Program, or the modifications to
|
||||||
|
produce it from the Program, in the form of source code under the
|
||||||
|
terms of section 4, provided that you also meet all of these conditions:
|
||||||
|
|
||||||
|
a) The work must carry prominent notices stating that you modified
|
||||||
|
it, and giving a relevant date.
|
||||||
|
|
||||||
|
b) The work must carry prominent notices stating that it is
|
||||||
|
released under this License and any conditions added under section
|
||||||
|
7. This requirement modifies the requirement in section 4 to
|
||||||
|
"keep intact all notices".
|
||||||
|
|
||||||
|
c) You must license the entire work, as a whole, under this
|
||||||
|
License to anyone who comes into possession of a copy. This
|
||||||
|
License will therefore apply, along with any applicable section 7
|
||||||
|
additional terms, to the whole of the work, and all its parts,
|
||||||
|
regardless of how they are packaged. This License gives no
|
||||||
|
permission to license the work in any other way, but it does not
|
||||||
|
invalidate such permission if you have separately received it.
|
||||||
|
|
||||||
|
d) If the work has interactive user interfaces, each must display
|
||||||
|
Appropriate Legal Notices; however, if the Program has interactive
|
||||||
|
interfaces that do not display Appropriate Legal Notices, your
|
||||||
|
work need not make them do so.
|
||||||
|
|
||||||
|
A compilation of a covered work with other separate and independent
|
||||||
|
works, which are not by their nature extensions of the covered work,
|
||||||
|
and which are not combined with it such as to form a larger program,
|
||||||
|
in or on a volume of a storage or distribution medium, is called an
|
||||||
|
"aggregate" if the compilation and its resulting copyright are not
|
||||||
|
used to limit the access or legal rights of the compilation's users
|
||||||
|
beyond what the individual works permit. Inclusion of a covered work
|
||||||
|
in an aggregate does not cause this License to apply to the other
|
||||||
|
parts of the aggregate.
|
||||||
|
|
||||||
|
6. Conveying Non-Source Forms.
|
||||||
|
|
||||||
|
You may convey a covered work in object code form under the terms
|
||||||
|
of sections 4 and 5, provided that you also convey the
|
||||||
|
machine-readable Corresponding Source under the terms of this License,
|
||||||
|
in one of these ways:
|
||||||
|
|
||||||
|
a) Convey the object code in, or embodied in, a physical product
|
||||||
|
(including a physical distribution medium), accompanied by the
|
||||||
|
Corresponding Source fixed on a durable physical medium
|
||||||
|
customarily used for software interchange.
|
||||||
|
|
||||||
|
b) Convey the object code in, or embodied in, a physical product
|
||||||
|
(including a physical distribution medium), accompanied by a
|
||||||
|
written offer, valid for at least three years and valid for as
|
||||||
|
long as you offer spare parts or customer support for that product
|
||||||
|
model, to give anyone who possesses the object code either (1) a
|
||||||
|
copy of the Corresponding Source for all the software in the
|
||||||
|
product that is covered by this License, on a durable physical
|
||||||
|
medium customarily used for software interchange, for a price no
|
||||||
|
more than your reasonable cost of physically performing this
|
||||||
|
conveying of source, or (2) access to copy the
|
||||||
|
Corresponding Source from a network server at no charge.
|
||||||
|
|
||||||
|
c) Convey individual copies of the object code with a copy of the
|
||||||
|
written offer to provide the Corresponding Source. This
|
||||||
|
alternative is allowed only occasionally and noncommercially, and
|
||||||
|
only if you received the object code with such an offer, in accord
|
||||||
|
with subsection 6b.
|
||||||
|
|
||||||
|
d) Convey the object code by offering access from a designated
|
||||||
|
place (gratis or for a charge), and offer equivalent access to the
|
||||||
|
Corresponding Source in the same way through the same place at no
|
||||||
|
further charge. You need not require recipients to copy the
|
||||||
|
Corresponding Source along with the object code. If the place to
|
||||||
|
copy the object code is a network server, the Corresponding Source
|
||||||
|
may be on a different server (operated by you or a third party)
|
||||||
|
that supports equivalent copying facilities, provided you maintain
|
||||||
|
clear directions next to the object code saying where to find the
|
||||||
|
Corresponding Source. Regardless of what server hosts the
|
||||||
|
Corresponding Source, you remain obligated to ensure that it is
|
||||||
|
available for as long as needed to satisfy these requirements.
|
||||||
|
|
||||||
|
e) Convey the object code using peer-to-peer transmission, provided
|
||||||
|
you inform other peers where the object code and Corresponding
|
||||||
|
Source of the work are being offered to the general public at no
|
||||||
|
charge under subsection 6d.
|
||||||
|
|
||||||
|
A separable portion of the object code, whose source code is excluded
|
||||||
|
from the Corresponding Source as a System Library, need not be
|
||||||
|
included in conveying the object code work.
|
||||||
|
|
||||||
|
A "User Product" is either (1) a "consumer product", which means any
|
||||||
|
tangible personal property which is normally used for personal, family,
|
||||||
|
or household purposes, or (2) anything designed or sold for incorporation
|
||||||
|
into a dwelling. In determining whether a product is a consumer product,
|
||||||
|
doubtful cases shall be resolved in favor of coverage. For a particular
|
||||||
|
product received by a particular user, "normally used" refers to a
|
||||||
|
typical or common use of that class of product, regardless of the status
|
||||||
|
of the particular user or of the way in which the particular user
|
||||||
|
actually uses, or expects or is expected to use, the product. A product
|
||||||
|
is a consumer product regardless of whether the product has substantial
|
||||||
|
commercial, industrial or non-consumer uses, unless such uses represent
|
||||||
|
the only significant mode of use of the product.
|
||||||
|
|
||||||
|
"Installation Information" for a User Product means any methods,
|
||||||
|
procedures, authorization keys, or other information required to install
|
||||||
|
and execute modified versions of a covered work in that User Product from
|
||||||
|
a modified version of its Corresponding Source. The information must
|
||||||
|
suffice to ensure that the continued functioning of the modified object
|
||||||
|
code is in no case prevented or interfered with solely because
|
||||||
|
modification has been made.
|
||||||
|
|
||||||
|
If you convey an object code work under this section in, or with, or
|
||||||
|
specifically for use in, a User Product, and the conveying occurs as
|
||||||
|
part of a transaction in which the right of possession and use of the
|
||||||
|
User Product is transferred to the recipient in perpetuity or for a
|
||||||
|
fixed term (regardless of how the transaction is characterized), the
|
||||||
|
Corresponding Source conveyed under this section must be accompanied
|
||||||
|
by the Installation Information. But this requirement does not apply
|
||||||
|
if neither you nor any third party retains the ability to install
|
||||||
|
modified object code on the User Product (for example, the work has
|
||||||
|
been installed in ROM).
|
||||||
|
|
||||||
|
The requirement to provide Installation Information does not include a
|
||||||
|
requirement to continue to provide support service, warranty, or updates
|
||||||
|
for a work that has been modified or installed by the recipient, or for
|
||||||
|
the User Product in which it has been modified or installed. Access to a
|
||||||
|
network may be denied when the modification itself materially and
|
||||||
|
adversely affects the operation of the network or violates the rules and
|
||||||
|
protocols for communication across the network.
|
||||||
|
|
||||||
|
Corresponding Source conveyed, and Installation Information provided,
|
||||||
|
in accord with this section must be in a format that is publicly
|
||||||
|
documented (and with an implementation available to the public in
|
||||||
|
source code form), and must require no special password or key for
|
||||||
|
unpacking, reading or copying.
|
||||||
|
|
||||||
|
7. Additional Terms.
|
||||||
|
|
||||||
|
"Additional permissions" are terms that supplement the terms of this
|
||||||
|
License by making exceptions from one or more of its conditions.
|
||||||
|
Additional permissions that are applicable to the entire Program shall
|
||||||
|
be treated as though they were included in this License, to the extent
|
||||||
|
that they are valid under applicable law. If additional permissions
|
||||||
|
apply only to part of the Program, that part may be used separately
|
||||||
|
under those permissions, but the entire Program remains governed by
|
||||||
|
this License without regard to the additional permissions.
|
||||||
|
|
||||||
|
When you convey a copy of a covered work, you may at your option
|
||||||
|
remove any additional permissions from that copy, or from any part of
|
||||||
|
it. (Additional permissions may be written to require their own
|
||||||
|
removal in certain cases when you modify the work.) You may place
|
||||||
|
additional permissions on material, added by you to a covered work,
|
||||||
|
for which you have or can give appropriate copyright permission.
|
||||||
|
|
||||||
|
Notwithstanding any other provision of this License, for material you
|
||||||
|
add to a covered work, you may (if authorized by the copyright holders of
|
||||||
|
that material) supplement the terms of this License with terms:
|
||||||
|
|
||||||
|
a) Disclaiming warranty or limiting liability differently from the
|
||||||
|
terms of sections 15 and 16 of this License; or
|
||||||
|
|
||||||
|
b) Requiring preservation of specified reasonable legal notices or
|
||||||
|
author attributions in that material or in the Appropriate Legal
|
||||||
|
Notices displayed by works containing it; or
|
||||||
|
|
||||||
|
c) Prohibiting misrepresentation of the origin of that material, or
|
||||||
|
requiring that modified versions of such material be marked in
|
||||||
|
reasonable ways as different from the original version; or
|
||||||
|
|
||||||
|
d) Limiting the use for publicity purposes of names of licensors or
|
||||||
|
authors of the material; or
|
||||||
|
|
||||||
|
e) Declining to grant rights under trademark law for use of some
|
||||||
|
trade names, trademarks, or service marks; or
|
||||||
|
|
||||||
|
f) Requiring indemnification of licensors and authors of that
|
||||||
|
material by anyone who conveys the material (or modified versions of
|
||||||
|
it) with contractual assumptions of liability to the recipient, for
|
||||||
|
any liability that these contractual assumptions directly impose on
|
||||||
|
those licensors and authors.
|
||||||
|
|
||||||
|
All other non-permissive additional terms are considered "further
|
||||||
|
restrictions" within the meaning of section 10. If the Program as you
|
||||||
|
received it, or any part of it, contains a notice stating that it is
|
||||||
|
governed by this License along with a term that is a further
|
||||||
|
restriction, you may remove that term. If a license document contains
|
||||||
|
a further restriction but permits relicensing or conveying under this
|
||||||
|
License, you may add to a covered work material governed by the terms
|
||||||
|
of that license document, provided that the further restriction does
|
||||||
|
not survive such relicensing or conveying.
|
||||||
|
|
||||||
|
If you add terms to a covered work in accord with this section, you
|
||||||
|
must place, in the relevant source files, a statement of the
|
||||||
|
additional terms that apply to those files, or a notice indicating
|
||||||
|
where to find the applicable terms.
|
||||||
|
|
||||||
|
Additional terms, permissive or non-permissive, may be stated in the
|
||||||
|
form of a separately written license, or stated as exceptions;
|
||||||
|
the above requirements apply either way.
|
||||||
|
|
||||||
|
8. Termination.
|
||||||
|
|
||||||
|
You may not propagate or modify a covered work except as expressly
|
||||||
|
provided under this License. Any attempt otherwise to propagate or
|
||||||
|
modify it is void, and will automatically terminate your rights under
|
||||||
|
this License (including any patent licenses granted under the third
|
||||||
|
paragraph of section 11).
|
||||||
|
|
||||||
|
However, if you cease all violation of this License, then your
|
||||||
|
license from a particular copyright holder is reinstated (a)
|
||||||
|
provisionally, unless and until the copyright holder explicitly and
|
||||||
|
finally terminates your license, and (b) permanently, if the copyright
|
||||||
|
holder fails to notify you of the violation by some reasonable means
|
||||||
|
prior to 60 days after the cessation.
|
||||||
|
|
||||||
|
Moreover, your license from a particular copyright holder is
|
||||||
|
reinstated permanently if the copyright holder notifies you of the
|
||||||
|
violation by some reasonable means, this is the first time you have
|
||||||
|
received notice of violation of this License (for any work) from that
|
||||||
|
copyright holder, and you cure the violation prior to 30 days after
|
||||||
|
your receipt of the notice.
|
||||||
|
|
||||||
|
Termination of your rights under this section does not terminate the
|
||||||
|
licenses of parties who have received copies or rights from you under
|
||||||
|
this License. If your rights have been terminated and not permanently
|
||||||
|
reinstated, you do not qualify to receive new licenses for the same
|
||||||
|
material under section 10.
|
||||||
|
|
||||||
|
9. Acceptance Not Required for Having Copies.
|
||||||
|
|
||||||
|
You are not required to accept this License in order to receive or
|
||||||
|
run a copy of the Program. Ancillary propagation of a covered work
|
||||||
|
occurring solely as a consequence of using peer-to-peer transmission
|
||||||
|
to receive a copy likewise does not require acceptance. However,
|
||||||
|
nothing other than this License grants you permission to propagate or
|
||||||
|
modify any covered work. These actions infringe copyright if you do
|
||||||
|
not accept this License. Therefore, by modifying or propagating a
|
||||||
|
covered work, you indicate your acceptance of this License to do so.
|
||||||
|
|
||||||
|
10. Automatic Licensing of Downstream Recipients.
|
||||||
|
|
||||||
|
Each time you convey a covered work, the recipient automatically
|
||||||
|
receives a license from the original licensors, to run, modify and
|
||||||
|
propagate that work, subject to this License. You are not responsible
|
||||||
|
for enforcing compliance by third parties with this License.
|
||||||
|
|
||||||
|
An "entity transaction" is a transaction transferring control of an
|
||||||
|
organization, or substantially all assets of one, or subdividing an
|
||||||
|
organization, or merging organizations. If propagation of a covered
|
||||||
|
work results from an entity transaction, each party to that
|
||||||
|
transaction who receives a copy of the work also receives whatever
|
||||||
|
licenses to the work the party's predecessor in interest had or could
|
||||||
|
give under the previous paragraph, plus a right to possession of the
|
||||||
|
Corresponding Source of the work from the predecessor in interest, if
|
||||||
|
the predecessor has it or can get it with reasonable efforts.
|
||||||
|
|
||||||
|
You may not impose any further restrictions on the exercise of the
|
||||||
|
rights granted or affirmed under this License. For example, you may
|
||||||
|
not impose a license fee, royalty, or other charge for exercise of
|
||||||
|
rights granted under this License, and you may not initiate litigation
|
||||||
|
(including a cross-claim or counterclaim in a lawsuit) alleging that
|
||||||
|
any patent claim is infringed by making, using, selling, offering for
|
||||||
|
sale, or importing the Program or any portion of it.
|
||||||
|
|
||||||
|
11. Patents.
|
||||||
|
|
||||||
|
A "contributor" is a copyright holder who authorizes use under this
|
||||||
|
License of the Program or a work on which the Program is based. The
|
||||||
|
work thus licensed is called the contributor's "contributor version".
|
||||||
|
|
||||||
|
A contributor's "essential patent claims" are all patent claims
|
||||||
|
owned or controlled by the contributor, whether already acquired or
|
||||||
|
hereafter acquired, that would be infringed by some manner, permitted
|
||||||
|
by this License, of making, using, or selling its contributor version,
|
||||||
|
but do not include claims that would be infringed only as a
|
||||||
|
consequence of further modification of the contributor version. For
|
||||||
|
purposes of this definition, "control" includes the right to grant
|
||||||
|
patent sublicenses in a manner consistent with the requirements of
|
||||||
|
this License.
|
||||||
|
|
||||||
|
Each contributor grants you a non-exclusive, worldwide, royalty-free
|
||||||
|
patent license under the contributor's essential patent claims, to
|
||||||
|
make, use, sell, offer for sale, import and otherwise run, modify and
|
||||||
|
propagate the contents of its contributor version.
|
||||||
|
|
||||||
|
In the following three paragraphs, a "patent license" is any express
|
||||||
|
agreement or commitment, however denominated, not to enforce a patent
|
||||||
|
(such as an express permission to practice a patent or covenant not to
|
||||||
|
sue for patent infringement). To "grant" such a patent license to a
|
||||||
|
party means to make such an agreement or commitment not to enforce a
|
||||||
|
patent against the party.
|
||||||
|
|
||||||
|
If you convey a covered work, knowingly relying on a patent license,
|
||||||
|
and the Corresponding Source of the work is not available for anyone
|
||||||
|
to copy, free of charge and under the terms of this License, through a
|
||||||
|
publicly available network server or other readily accessible means,
|
||||||
|
then you must either (1) cause the Corresponding Source to be so
|
||||||
|
available, or (2) arrange to deprive yourself of the benefit of the
|
||||||
|
patent license for this particular work, or (3) arrange, in a manner
|
||||||
|
consistent with the requirements of this License, to extend the patent
|
||||||
|
license to downstream recipients. "Knowingly relying" means you have
|
||||||
|
actual knowledge that, but for the patent license, your conveying the
|
||||||
|
covered work in a country, or your recipient's use of the covered work
|
||||||
|
in a country, would infringe one or more identifiable patents in that
|
||||||
|
country that you have reason to believe are valid.
|
||||||
|
|
||||||
|
If, pursuant to or in connection with a single transaction or
|
||||||
|
arrangement, you convey, or propagate by procuring conveyance of, a
|
||||||
|
covered work, and grant a patent license to some of the parties
|
||||||
|
receiving the covered work authorizing them to use, propagate, modify
|
||||||
|
or convey a specific copy of the covered work, then the patent license
|
||||||
|
you grant is automatically extended to all recipients of the covered
|
||||||
|
work and works based on it.
|
||||||
|
|
||||||
|
A patent license is "discriminatory" if it does not include within
|
||||||
|
the scope of its coverage, prohibits the exercise of, or is
|
||||||
|
conditioned on the non-exercise of one or more of the rights that are
|
||||||
|
specifically granted under this License. You may not convey a covered
|
||||||
|
work if you are a party to an arrangement with a third party that is
|
||||||
|
in the business of distributing software, under which you make payment
|
||||||
|
to the third party based on the extent of your activity of conveying
|
||||||
|
the work, and under which the third party grants, to any of the
|
||||||
|
parties who would receive the covered work from you, a discriminatory
|
||||||
|
patent license (a) in connection with copies of the covered work
|
||||||
|
conveyed by you (or copies made from those copies), or (b) primarily
|
||||||
|
for and in connection with specific products or compilations that
|
||||||
|
contain the covered work, unless you entered into that arrangement,
|
||||||
|
or that patent license was granted, prior to 28 March 2007.
|
||||||
|
|
||||||
|
Nothing in this License shall be construed as excluding or limiting
|
||||||
|
any implied license or other defenses to infringement that may
|
||||||
|
otherwise be available to you under applicable patent law.
|
||||||
|
|
||||||
|
12. No Surrender of Others' Freedom.
|
||||||
|
|
||||||
|
If conditions are imposed on you (whether by court order, agreement or
|
||||||
|
otherwise) that contradict the conditions of this License, they do not
|
||||||
|
excuse you from the conditions of this License. If you cannot convey a
|
||||||
|
covered work so as to satisfy simultaneously your obligations under this
|
||||||
|
License and any other pertinent obligations, then as a consequence you may
|
||||||
|
not convey it at all. For example, if you agree to terms that obligate you
|
||||||
|
to collect a royalty for further conveying from those to whom you convey
|
||||||
|
the Program, the only way you could satisfy both those terms and this
|
||||||
|
License would be to refrain entirely from conveying the Program.
|
||||||
|
|
||||||
|
13. Use with the GNU Affero General Public License.
|
||||||
|
|
||||||
|
Notwithstanding any other provision of this License, you have
|
||||||
|
permission to link or combine any covered work with a work licensed
|
||||||
|
under version 3 of the GNU Affero General Public License into a single
|
||||||
|
combined work, and to convey the resulting work. The terms of this
|
||||||
|
License will continue to apply to the part which is the covered work,
|
||||||
|
but the special requirements of the GNU Affero General Public License,
|
||||||
|
section 13, concerning interaction through a network will apply to the
|
||||||
|
combination as such.
|
||||||
|
|
||||||
|
14. Revised Versions of this License.
|
||||||
|
|
||||||
|
The Free Software Foundation may publish revised and/or new versions of
|
||||||
|
the GNU General Public License from time to time. Such new versions will
|
||||||
|
be similar in spirit to the present version, but may differ in detail to
|
||||||
|
address new problems or concerns.
|
||||||
|
|
||||||
|
Each version is given a distinguishing version number. If the
|
||||||
|
Program specifies that a certain numbered version of the GNU General
|
||||||
|
Public License "or any later version" applies to it, you have the
|
||||||
|
option of following the terms and conditions either of that numbered
|
||||||
|
version or of any later version published by the Free Software
|
||||||
|
Foundation. If the Program does not specify a version number of the
|
||||||
|
GNU General Public License, you may choose any version ever published
|
||||||
|
by the Free Software Foundation.
|
||||||
|
|
||||||
|
If the Program specifies that a proxy can decide which future
|
||||||
|
versions of the GNU General Public License can be used, that proxy's
|
||||||
|
public statement of acceptance of a version permanently authorizes you
|
||||||
|
to choose that version for the Program.
|
||||||
|
|
||||||
|
Later license versions may give you additional or different
|
||||||
|
permissions. However, no additional obligations are imposed on any
|
||||||
|
author or copyright holder as a result of your choosing to follow a
|
||||||
|
later version.
|
||||||
|
|
||||||
|
15. Disclaimer of Warranty.
|
||||||
|
|
||||||
|
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
|
||||||
|
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
|
||||||
|
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
|
||||||
|
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
|
||||||
|
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||||
|
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
|
||||||
|
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
|
||||||
|
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||||
|
|
||||||
|
16. Limitation of Liability.
|
||||||
|
|
||||||
|
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||||
|
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
|
||||||
|
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
|
||||||
|
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
|
||||||
|
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
|
||||||
|
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
|
||||||
|
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
|
||||||
|
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||||
|
SUCH DAMAGES.
|
||||||
|
|
||||||
|
17. Interpretation of Sections 15 and 16.
|
||||||
|
|
||||||
|
If the disclaimer of warranty and limitation of liability provided
|
||||||
|
above cannot be given local legal effect according to their terms,
|
||||||
|
reviewing courts shall apply local law that most closely approximates
|
||||||
|
an absolute waiver of all civil liability in connection with the
|
||||||
|
Program, unless a warranty or assumption of liability accompanies a
|
||||||
|
copy of the Program in return for a fee.
|
||||||
|
|
||||||
|
END OF TERMS AND CONDITIONS
|
||||||
|
|
||||||
|
How to Apply These Terms to Your New Programs
|
||||||
|
|
||||||
|
If you develop a new program, and you want it to be of the greatest
|
||||||
|
possible use to the public, the best way to achieve this is to make it
|
||||||
|
free software which everyone can redistribute and change under these terms.
|
||||||
|
|
||||||
|
To do so, attach the following notices to the program. It is safest
|
||||||
|
to attach them to the start of each source file to most effectively
|
||||||
|
state the exclusion of warranty; and each file should have at least
|
||||||
|
the "copyright" line and a pointer to where the full notice is found.
|
||||||
|
|
||||||
|
<one line to give the program's name and a brief idea of what it does.>
|
||||||
|
Copyright (C) <year> <name of author>
|
||||||
|
|
||||||
|
This program is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
|
Also add information on how to contact you by electronic and paper mail.
|
||||||
|
|
||||||
|
If the program does terminal interaction, make it output a short
|
||||||
|
notice like this when it starts in an interactive mode:
|
||||||
|
|
||||||
|
<program> Copyright (C) <year> <name of author>
|
||||||
|
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||||
|
This is free software, and you are welcome to redistribute it
|
||||||
|
under certain conditions; type `show c' for details.
|
||||||
|
|
||||||
|
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||||
|
parts of the General Public License. Of course, your program's commands
|
||||||
|
might be different; for a GUI interface, you would use an "about box".
|
||||||
|
|
||||||
|
You should also get your employer (if you work as a programmer) or school,
|
||||||
|
if any, to sign a "copyright disclaimer" for the program, if necessary.
|
||||||
|
For more information on this, and how to apply and follow the GNU GPL, see
|
||||||
|
<https://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
|
The GNU General Public License does not permit incorporating your program
|
||||||
|
into proprietary programs. If your program is a subroutine library, you
|
||||||
|
may consider it more useful to permit linking proprietary applications with
|
||||||
|
the library. If this is what you want to do, use the GNU Lesser General
|
||||||
|
Public License instead of this License. But first, please read
|
||||||
|
<https://www.gnu.org/licenses/why-not-lgpl.html>.
|
||||||
44
src/yolov5_ros/README.md
Normal file
44
src/yolov5_ros/README.md
Normal file
@@ -0,0 +1,44 @@
|
|||||||
|
# YOLOv5 ROS
|
||||||
|
This is a ROS interface for using YOLOv5 for real time object detection on a ROS image topic. It supports inference on multiple deep learning frameworks used in the [official YOLOv5 repository](https://github.com/ultralytics/yolov5).
|
||||||
|
|
||||||
|
## Installation
|
||||||
|
|
||||||
|
### Dependencies
|
||||||
|
This package is built and tested on Ubuntu 20.04 LTS and ROS Noetic with Python 3.8.
|
||||||
|
|
||||||
|
* Clone the packages to ROS workspace and install requirement for YOLOv5 submodule:
|
||||||
|
```bash
|
||||||
|
cd <ros_workspace>/src
|
||||||
|
git clone https://github.com/mats-robotics/detection_msgs.git
|
||||||
|
git clone --recurse-submodules https://github.com/mats-robotics/yolov5_ros.git
|
||||||
|
cd yolov5_ros/src/yolov5
|
||||||
|
pip install -r requirements.txt # install the requirements for yolov5
|
||||||
|
```
|
||||||
|
* Build the ROS package:
|
||||||
|
```bash
|
||||||
|
cd <ros_workspace>
|
||||||
|
catkin build yolov5_ros # build the ROS package
|
||||||
|
```
|
||||||
|
* Make the Python script executable
|
||||||
|
```bash
|
||||||
|
cd <ros_workspace>/src/yolov5_ros/src
|
||||||
|
chmod +x detect.py
|
||||||
|
```
|
||||||
|
|
||||||
|
## Basic usage
|
||||||
|
Change the parameter for `input_image_topic` in launch/yolov5.launch to any ROS topic with message type of `sensor_msgs/Image` or `sensor_msgs/CompressedImage`. Other parameters can be modified or used as is.
|
||||||
|
|
||||||
|
* Launch the node:
|
||||||
|
```bash
|
||||||
|
roslaunch yolov5_ros yolov5.launch
|
||||||
|
```
|
||||||
|
|
||||||
|
## Using custom weights and dataset (Working)
|
||||||
|
* Put your weights into `yolov5_ros/src/yolov5`
|
||||||
|
* Put the yaml file for your dataset classes into `yolov5_ros/src/yolov5/data`
|
||||||
|
* Change related ROS parameters in yolov5.launch: `weights`, `data`
|
||||||
|
|
||||||
|
## Reference
|
||||||
|
* YOLOv5 official repository: https://github.com/ultralytics/yolov5
|
||||||
|
* YOLOv3 ROS PyTorch: https://github.com/eriklindernoren/PyTorch-YOLOv3
|
||||||
|
* Darknet ROS: https://github.com/leggedrobotics/darknet_ros
|
||||||
56
src/yolov5_ros/launch/yolov5.launch
Normal file
56
src/yolov5_ros/launch/yolov5.launch
Normal file
@@ -0,0 +1,56 @@
|
|||||||
|
<launch>
|
||||||
|
<!-- Detection configuration -->
|
||||||
|
<arg name="weights" default="$(find yolov5_ros)/src/yolov5/best.pt"/>
|
||||||
|
<arg name="data" default="$(find yolov5_ros)/src/yolov5/data/mydata.yaml"/>
|
||||||
|
<arg name="confidence_threshold" default="0.75"/>
|
||||||
|
<arg name="iou_threshold" default="0.45"/>
|
||||||
|
<arg name="maximum_detections" default="1000"/>
|
||||||
|
<arg name="device" default="0"/>
|
||||||
|
<arg name="agnostic_nms" default="true"/>
|
||||||
|
<arg name="line_thickness" default="3"/>
|
||||||
|
<arg name="dnn" default="true"/>
|
||||||
|
<arg name="half" default="false"/>
|
||||||
|
|
||||||
|
<!-- replace imgsz -->
|
||||||
|
<arg name="inference_size_h" default="640"/>
|
||||||
|
<arg name="inference_size_w" default="640"/>
|
||||||
|
|
||||||
|
<!-- Visualize using OpenCV window -->
|
||||||
|
<arg name="view_image" default="true"/>
|
||||||
|
|
||||||
|
<!-- ROS topics -->
|
||||||
|
<arg name="input_image_topic" default="/camera/color/image_raw"/>
|
||||||
|
<arg name="output_topic" default="/yolov5/detections"/>
|
||||||
|
|
||||||
|
<!-- Optional topic (publishing annotated image) -->
|
||||||
|
<arg name="publish_image" default="false"/>
|
||||||
|
<arg name="output_image_topic" default="/yolov5/image_out"/>
|
||||||
|
|
||||||
|
|
||||||
|
<node pkg="yolov5_ros" name="detect" type="detect.py" output="screen">
|
||||||
|
<param name="weights" value="$(arg weights)"/>
|
||||||
|
<param name="data" value="$(arg data)"/>
|
||||||
|
<param name="confidence_threshold" value="$(arg confidence_threshold)"/>
|
||||||
|
<param name="iou_threshold" value="$(arg iou_threshold)" />
|
||||||
|
<param name="maximum_detections" value="$(arg maximum_detections)"/>
|
||||||
|
<param name="device" value="$(arg device)" />
|
||||||
|
<param name="agnostic_nms" value="$(arg agnostic_nms)" />
|
||||||
|
<param name="line_thickness" value="$(arg line_thickness)"/>
|
||||||
|
<param name="dnn" value="$(arg dnn)"/>
|
||||||
|
<param name="half" value="$(arg half)"/>
|
||||||
|
|
||||||
|
<param name="inference_size_h" value="$(arg inference_size_h)"/>
|
||||||
|
<param name="inference_size_w" value="$(arg inference_size_w)"/>
|
||||||
|
|
||||||
|
<param name="input_image_topic" value="$(arg input_image_topic)"/>
|
||||||
|
<param name="output_topic" value="$(arg output_topic)"/>
|
||||||
|
|
||||||
|
<param name="view_image" value="$(arg view_image)"/>
|
||||||
|
|
||||||
|
<param name="publish_image" value="$(arg publish_image)"/>
|
||||||
|
<param name="output_image_topic" value="$(arg output_image_topic)"/>
|
||||||
|
</node>
|
||||||
|
<!-- <include file="$(find camera_launch)/launch/d435.launch"/> -->
|
||||||
|
|
||||||
|
|
||||||
|
</launch>
|
||||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user