[image_geometry] Migrated to ROS2

image_geometry/image_geometry/cameramodels.py

@@ -39,15 +39,15 @@ def fromCameraInfo(self, msg):
 
         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)
+        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.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)

image_geometry/package.xml

@@ -27,6 +27,9 @@
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
 
   <doc_depend>dvipng</doc_depend>
   <doc_depend>texlive-latex-extra</doc_depend>

image_geometry/ros2_image_geometry_migration_readme.md

@@ -0,0 +1,55 @@
+
+**This file describes work done and steps to perform test on the image_geometry package for ROS2 (Bouncy & Crystal).**
+
+**Overview:**
+
+	image_geometry is a package for interpreting images geometrically.
+
+**List of changes from ROS1 to ROS2:**
+
+	The changes has been done by following the Migration guide for ROS2( https://index.ros.org/doc/ros2/Migration-Guide/ ).
+
+	1. Migrated directed.py python tests to ROS2
+	2. Enabled pytests in image_geometry package.
+	3. Migrated cameramodels.py, directed.py, CMakelists.txt & package.xml files for ROS2.
+	4. Merged Approved changes from PR #257.
+	5. Followed cosmetics rules and updated the files with copyright, pep257 and flake8 rules.
+
+**Pre-requisites:**
+
+	1. System should have installed Crystal/Bouncy distro. Check out installation instructions and tutorials https://index.ros.org/doc/ros2/.
+	2. System should have checkout ros2 vision_opencv pkg & build (Refer Steps below).
+
+		Steps to checkout vision_opencv package:
+			1. Open the new terminal and run below commands.
+			2. mkdir -p vision_opencv_ws/src
+			3. cd ~/vision_opencv_ws/src
+			4. git clone [email protected]:akhileshmoghe/vision_opencv.git
+			#git branch -ra //This command will show different branches of main git on #kinetic
+			5. cd vision_opencv/
+			6. git checkout -b ros2-devel remotes/origin/ros2-devel
+
+		Steps to Build vision_opencv package:
+			1. cd ~/vision_opencv_ws/
+			2.  for Crystal:
+						source /opt/ros/crystal/setup.bash
+					for Bouncy:
+						source /opt/ros/bouncy/setup.bash
+			3. cd ~/vision_opencv_ws/src/vision_opencv
+			4. colcon build
+
+	4. System should have both ROS1 & ROS2. Note: We have verified on ROS1(i.e. melodic) & ROS2 (i.e. Bouncy & Crystal).
+
+
+**Future Work:-**
+
+	1. Make Cpp code for image_geometry package to be completely cosmetic rules compliant.
+
+
+**TESTING:-**
+
+	Run the test cases as follows:-
+	cd ~/vision_opencv_ws_crystal/src/vision_opencv/
+	colcon test
+
+

image_geometry/test/CMakeLists.txt

@@ -1,8 +1,14 @@
 find_package(ament_cmake_gtest REQUIRED)
 # TODO(mikaelarguedas) Reenable this when tests are ported to ROS 2
-# find_package(ament_cmake_pytest REQUIRED)
+find_package(ament_cmake_pytest REQUIRED)
+find_package(ament_cmake_flake8 REQUIRED)
+find_package(ament_cmake_pep257 REQUIRED)
+find_package(ament_cmake_copyright REQUIRED)
 
-# ament_add_pytest_test(directed.py "directed.py")
+ament_add_pytest_test(directed.py "directed.py")
+ament_copyright()
+ament_pep257()
+ament_flake8()
 
 ament_add_gtest(${PROJECT_NAME}-utest utest.cpp APPEND_LIBRARY_DIRS "${image_geometry_lib_dir}")
 target_link_libraries(${PROJECT_NAME}-utest ${PROJECT_NAME} ${OpenCV_LIBS})

image_geometry/test/directed.py

@@ -1,10 +1,26 @@
+# Copyright 2018 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.
+
 from __future__ import print_function
 
 import unittest
-import sensor_msgs.msg
 
 from image_geometry import PinholeCameraModel, StereoCameraModel
 
+import sensor_msgs.msg
+
+
 class TestDirected(unittest.TestCase):
 
     def setUp(self):
@@ -19,7 +35,7 @@ def test_monocular(self):
         cam.fromCameraInfo(ci)
         print(cam.rectifyPoint((0, 0)))
 
-        print(cam.project3dToPixel((0,0,0)))
+        print(cam.project3dToPixel((0, 0, 0)))
 
     def test_stereo(self):
         lmsg = sensor_msgs.msg.CameraInfo()
@@ -29,15 +45,25 @@ def test_stereo(self):
             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]
+        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]
+        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)
@@ -51,7 +77,7 @@ def test_stereo(self):
                     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
@@ -66,6 +92,7 @@ def test_stereo(self):
         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__':
     suite = unittest.TestSuite()
     suite.addTest(TestDirected('test_stereo'))

image_geometry/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2018 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

image_geometry/test/test_flake8.py

@@ -0,0 +1,23 @@
+# Copyright 2018 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.
+
+from ament_flake8.main import main
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc = main(argv=[])
+    assert rc == 0, 'Found errors'

image_geometry/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2018 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=[])
+    assert rc == 0, 'Found code style errors / warnings'

image_geometry/test/utest.cpp

@@ -1,3 +1,17 @@
+// Copyright 2018 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.
+
 #include "image_geometry/pinhole_camera_model.h"
 #include <sensor_msgs/distortion_models.hpp>
 #include <gtest/gtest.h>