CHANGELOG
Changelog for package camera_calibration
5.0.5 (2024-10-31)
5.0.4 (2024-08-20)
5.0.3 (2024-07-16)
Added stereo calibration using charuco board (backport #976) (#1002) From #972 Doing this first for rolling. This was a TODO in the repository, opening this PR to add this feature. - The main issue why this wasn’t possible imo is the way mk_obj_points works. I’m using the inbuilt opencv function to get the points there. - The other is a condition when aruco markers are detected they are added as good points, This is fine in case of mono but in stereo these have to be the same number as the object points to find matches although this should be possible with aruco.<hr>This is an automatic backport of pull request #976 done by [Mergify](https://mergify.com). Co-authored-by: Myron Rodrigues <41271144+MRo47@users.noreply.github.com>
Change camera info message to lower case (backport #1005) (#1007) Change camera info message to lower case since message type had been change in rolling and humble. [](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/CameraInfo.msg)<hr>This is an automatic backport of pull request #1005 done by [Mergify](https://mergify.com). ——— Co-authored-by: SFhmichael <146928033+SFhmichael@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Contributors: mergify[bot]
5.0.2 (2024-05-27)
fix: cv2.aruco.interpolateCornersCharuco is deprecated (backport #979) (#980) There has been API Changes in the newer releases of opencv2 (from 4.8.0). The PR addresses this by supporting both the old and new APIs. updated Syntax
` charucodetector = cv2.aruco.CharucoDetector(board) charuco_corners, charuco_ids, marker_corners, marker_ids = charucodetector.detectBoard(image) `before 4.8.0` marker_corners, marker_ids, rejectedImgPoints = cv2.aruco.detectMarkers( image, dictionary) retval, charuco_corners, charuco_ids = cv2.aruco.interpolateCornersCharuco( marker_corners, marker_ids, image, board) `See the changed examples in the main opencv2 repo: https://github.com/opencv/opencv/blob/f9a59f2592993d3dcc080e495f4f5e02dd8ec7ef/samples/python/calibrate.py#L110<hr>This is an automatic backport of pull request #979 done by [Mergify](https://mergify.com). Co-authored-by: Földi Tamás <tfoldi@xsi.hu>Update for compatibility with image_pipeline 4.1.0 (#968) This is a PR to fix: - #966 As noted in #966, as of writing image_pipeline [4.1.0 has been released](https://github.com/ros-perception/vision_opencv/releases/tag/4.1.0), is updated on [index.ros.org](https://index.ros.org/p/image_geometry/github-ros-perception-vision_opencv/#rolling), but it has not yet been migrated to [packages.ros.org](http://packages.ros.org/ros2/ubuntu/dists/noble/main/binary-amd64/Packages). As such camera_calibration will also require the source of [image_pipeline 4.1.0](https://github.com/ros-perception/vision_opencv/releases/tag/4.1.0) or higher to successfully build. I tested to ensure successful build with colcon build & colcon test. Note that colcon test has the following warning that is out of scope of this PR:
` =============================== warnings summary =============================== src/camera_calibration/calibrator.py:47 Warning: The distutils package is deprecated and slated for removal in Python 3.12. Use setuptools or check PEP 632 for potential alternatives `Please let me know if there are any questions, concerns, or requested changes.replace disutils with python3-semver (#970) Fix for - #969 I added a dependency for python3-semver to replace version parsing with disutils. Please let me know if you have any questions, concerns, or additional requested changes.
Contributors: Scott Monaghan, mergify[bot]
5.0.1 (2024-03-26)
Fix spelling error for cv2.aruco.DICT from 6x6_50 to 7x7_1000 (#961) There was mismatch of capitalisation of “X” for OpenCV cv2.aruco.DICT_n**X**n_ in camera_calibration package for dicts 6x6_50 to 7x7_1000 Co-authored-by: Vishal Balaji <vishal.balaji@schanzer-racing.de>
unified changelog, add missing image, deduplicate tutorials (#938) Last bit of documentation updates - putting together a single changelog summary for the whole release (rather than scattering among packages). Unified the camera_info tutorial so it isn’t duplicated. Added a missing image from image_rotate (was on local disk, but hadn’t committed it)
migrate camera_calibration documentation (#937)
install tarfile_calibration (#923) otherwise, it can’t be run easily
calibration: better warnings around board configuration #713 (#724)
Contributors: Michael Ferguson, Vishal Balaji, jonathanTIE
5.0.0 (2024-01-24)
ROS 2: Added more aruco dicts, fixed aruco linerror bug (#873) Related with this PR in ROS 1 https://github.com/ros-perception/image_pipeline/pull/795
ROS 2: Fixing thrown Exception in camerachecker.py (#871) Related with this PR in ROS 1 https://github.com/ros-perception/image_pipeline/pull/812
add myself as a maintainer (#846)
fix threading shutdown
use correct synchronous service call
use remap rules instead of parameters for services
remove duplicated definition of on_model_change
fix service check
remove commented code
Fix QoS incompatibility camera_calibration ROS2
perform calibration in another thread
Contributors: Alejandro Hernández Cordero, Christian Rauch, Kenji Brameld, Michael Ferguson, Michal Wojcik
3.0.1 (2022-12-04)
add python3-opencv to camera calibration dependency
port changes from #755 to rolling branch
Contributors: Kenji Brameld
3.0.0 (2022-04-29)
Some small fixes noticed while reviewing.
fix premature camera model change in camera_calibration
Fix shebang lines for noetic python3
Update fisheye distortion model definition
updated linear_error function to handle partial board views (#561)
Fix missing detected checkerboard points (#558)
ChArUco board, Noetic (#549)
Minimal Noetic (#530)
Add Fisheye calibration tool (#440)
camera_calibration: Improve YAML formatting, make config dumping methods static (#438)
camera_calibration: Fix all-zero distortion coeffs returned for a rational_polynomial model (#433)
Make sure ‘calibrate’ button works even if not receiving images anymore
Add a comment
Replace deque with a modified Queue, add –queue-size param
Remove print statement
Cosmetic changes
Add max-chessboard-speed option to allow more accurate calibration of rolling shutter cameras.
revert back
added missing imports
update pytest.ini
fixes to pass tests
rebase change
implemented fisheye mono and stereo calibration based on the melodic branch
trimmed whitespace at line endings
Update camera_calibration setup.cfg to use underscores (#688)
Add maintainer (#667)
Fixed crash when rosargs are given (#597)
Contributors: Chris Lalancette, David Torres Ocaña, DavidTorresOcana, Gabor Soros, Jacob Perron, John Stechschulte, Joshua Whitley, Martin Valgur, Matthijs den Toom, Michael Carroll, Patrick Musau, Photon, Spiros Evangelatos, Victor Dubois, jaiveersinghNV, soeroesg
2.2.1 (2020-08-27)
remove email blasts from steve macenski (#596)
Add pytest.ini to fix warning (#584) Fixes the following warning: Warning: The ‘junit_family’ default value will change to ‘xunit2’ in pytest 6.0. Add ‘junit_family=xunit1’ to your pytest.ini file to keep the current format in future versions of pytest and silence this warning.
[Foxy] Use ament_auto Macros (#573)
Contributors: Jacob Perron, Joshua Whitley, Steve Macenski
2.2.0 (2020-07-27)
1.12.23 (2018-05-10)
camera_checker: Ensure cols + rows are in correct order (#319) Without this commit, specifying a smaller column than row size lead to huge reported errors:
` $ rosrun camera_calibration cameracheck.py --size 6x7 --square 0.0495 Linearity RMS Error: 13.545 Pixels Reprojection RMS Error: 22.766 Pixels $ rosrun camera_calibration cameracheck.py --size 7x6 --square 0.0495 Linearity RMS Error: 0.092 Pixels Reprojection RMS Error: 0.083 Pixels `This commit switches columns and rows around if necessary.Contributors: Martin Günther
1.12.22 (2017-12-08)
Changed flags CV_LOAD_IMAGE_COLOR by IMREAD_COLOR to adapt to Opencv3. (#252)
Fixed stereo calibration problem with chessboard with the same number of rows and cols by rotating the corners to same direction.
Contributors: jbosch
1.12.21 (2017-11-05)
re-add the calibration nodes but now using the Python modules. Fixes #298
Move nodes to Python module.
Contributors: Vincent Rabaud
1.12.20 (2017-04-30)
properly save bytes buffer as such This is useful for Python 3 and fixes #256.
Get tests slightly looser. OpenCV 3.2 gives slightly different results apparently.
Use floor division where necessary. (#247)
Fix and Improve Camera Calibration Checker Node (#254) * Fix according to calibrator.py API * Add approximate to cameracheck
Force first corner off chessboard to be uppler left. Fixes #140
fix doc jobs This is a proper fix for #233
During stereo calibration check that the number of corners detected in the left and right images are the same. This fixes ros-perception/image_pipeline#225
Contributors: Leonard Gerard, Martin Peris, Vincent Rabaud, hgaiser
1.12.19 (2016-07-24)
Fix array check in camerachecky.py This closes #205
Contributors: Vincent Rabaud
1.12.18 (2016-07-12)
1.12.17 (2016-07-11)
fix typo np -> numpy
fix failing tests
Contributors: Shingo Kitagawa, Vincent Rabaud
1.12.16 (2016-03-19)
clean OpenCV dependency in package.xml
Contributors: Vincent Rabaud
1.12.15 (2016-01-17)
1.12.14 (2015-07-22)
remove camera_hammer and install Python nodes properly camera_hammer was just a test for camera info, nothing to do with calibration. Plus the test was basic.
Correct three errors that prevented the node to work properly.
Contributors: Filippo Basso, Vincent Rabaud
1.12.13 (2015-04-06)
replace Queue by deque of fixed size for simplicity That is a potential fix for #112
Contributors: Vincent Rabaud
1.12.12 (2014-12-31)
try to improve #112
Contributors: Vincent Rabaud
1.12.11 (2014-10-26)
1.12.10 (2014-09-28)
Update calibrator.py bugfix: stereo calibrator crashed after the signature of the method for the computation of the epipolar error changed but the function call was not updated
Contributors: Volker Grabe
1.12.9 (2014-09-21)
fix bad Python
only analyze the latest image fixes #97
flips width and height during resize to give correct aspect ratio
Contributors: Russell Toris, Vincent Rabaud
1.12.8 (2014-08-19)
install scripts in the local bin (they are now rosrun-able again) fixes #93
fix default Constructor for OpenCV flags this does not change anything in practice as the flag is set by the node. It just fixes the test.
Contributors: Vincent Rabaud
1.12.6 (2014-07-27)
make sure the GUI is started in its processing thread and fix a typo This fully fixes #85
fix bad call to save an image
have display be in its own thread that could be a fix for #85
fix bad usage of Numpy fixes #89
fix asymmetric circle calibration fixes #35
add more tests
improve unittests to include all patterns
install Python scripts properly and fixes #86
fix typo that leads to segfault fixes #84
also print self.report() on calibrate … allows to use the params without having to commit them (e.g. for extrensic calibration between to cameras not used as stereo pair)
fixes #76 Move Python approximate time synchronizer to ros_comm
remove all trace of cv in Python (use cv2)
remove deprecated file (as mentioned in its help)
fixes #25 This is just removing deprecated options that were around since diamondback
fixes #74 calibrator.py is now using the cv2 only API when using cv_bridge. The API got changed too but it seems to only be used internally.
Contributors: Vincent Rabaud, ahb
1.12.5 (2014-05-11)
Fix #68: StringIO issues in calibrator.py
fix architecture independent
Contributors: Miquel Massot, Vincent Rabaud
1.12.4 (2014-04-28)
1.12.3 (2014-04-12)
camera_calibration: Fix Python import order
Contributors: Scott K Logan
1.12.2 (2014-04-08)
Fixes a typo on stereo camera info service calls Script works after correcting the call names.
Contributors: JoonasMelin
1.11.4 (2013-11-23 13:10:55 +0100)
add visualization during calibration and several calibration flags (#48)