Merge pull request #2 from meitiever/STEVE

[New Feature] add image view package.
meitiever · Apr 19, 2019 · c853f43 · c853f43
2 parents 9cb2173 + 0842fbe
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diff --git a/image_view/CHANGELOG.rst b/image_view/CHANGELOG.rst
@@ -0,0 +1,188 @@
+1.12.23 (2018-05-10)
+--------------------
+
+1.12.22 (2017-12-08)
+--------------------
+
+1.12.21 (2017-11-05)
+--------------------
+* call namedWindow from same thread as imshow, need waitKay, now cvStartWindowThreads is null funciton on window_QT.h (`#279 <https://github.com/ros-perception/image_pipeline/issues/279>`_)
+* Contributors: Kei Okada
+
+1.12.20 (2017-04-30)
+--------------------
+* DisparityViewNodelet: fixed freeze (`#244 <https://github.com/ros-perception/image_pipeline/issues/244>`_)
+* launch image view with a predefined window size (`#257 <https://github.com/ros-perception/image_pipeline/issues/257>`_)
+* Remove python-opencv run_depend for image_view (`#270 <https://github.com/ros-perception/image_pipeline/issues/270>`_)
+  The `python-opencv` dependency pulls in the system OpenCV v2.4 which is
+  not required since the `image_view` package depends on `cv_bridge` which
+  pulls in `opencv3` and `opencv3` provides the python library that
+  `image_view` can use.
+* Fix encoding error message (`#253 <https://github.com/ros-perception/image_pipeline/issues/253>`_)
+  * Fix encoding error message
+  * Update image_saver.cpp
+  Allow compilation on older compilers
+* Including stereo_msgs dep fixes `#248 <https://github.com/ros-perception/image_pipeline/issues/248>`_ (`#249 <https://github.com/ros-perception/image_pipeline/issues/249>`_)
+* Add no gui mode to just visualize & publish with image_view (`#241 <https://github.com/ros-perception/image_pipeline/issues/241>`_)
+* stere_view: fixed empty left, right, disparity windows with opencv3
+* Apply value scaling to depth/float image with min/max image value
+  If min/max image value is specified we just use it, and if not,
+  - 32FC1: we assume depth image with meter metric, and 10[m] as the max range.
+  - 16UC1: we assume depth image with milimeter metric, and 10 * 1000[mm] as the max range.
+* Depends on cv_bridge 1.11.13 for CvtColorForDisplayOptions
+  Close `#238 <https://github.com/ros-perception/image_pipeline/issues/238>`_
+* fix doc jobs
+  This is a proper fix for `#233 <https://github.com/ros-perception/image_pipeline/issues/233>`_
+* address gcc6 build error
+  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 this package in the same way
+  it was addressed in various other ROS packages. A list of related
+  commits and pull requests is at:
+  https://github.com/ros/rosdistro/issues/12783
+  Signed-off-by: Lukas Bulwahn <[email protected]>
+* Contributors: Christopher Wecht, Kartik Mohta, Kei Okada, Kentaro Wada, Lukas Bulwahn, Leonard Gerard, Vincent Rabaud, cwecht, mryellow
+
+1.12.19 (2016-07-24)
+--------------------
+* Add colormap option in video_recorder
+* Merge pull request `#203 <https://github.com/ros-perception/image_pipeline/issues/203>`_ from wkentaro/video-recorder-timestamp
+  [image_view] Stamped video output filename for video recorder
+* bump version requirement for cv_bridge dep
+  Closes `#215 <https://github.com/ros-perception/image_pipeline/issues/215>`_
+* Request for saving image with start/end two triggers
+* Stamped video output filename
+  - _filename:=output.avi _stamped_filename:=false -> output.avi
+  - _filename:=_out.avi _stamped_filename:=true -> 1466299931.584632829_out.avi
+  - _filename:=$HOME/.ros/.avi _stamped_filename:=true -> /home/ubuntu/.ros/1466299931.584632829.avi
+* Revert max_depth_range to default value for cvtColorForDisplay
+* Contributors: Kentaro Wada, Vincent Rabaud
+
+1.12.18 (2016-07-12)
+--------------------
+* Use image_transport::Subscriber aside from ros::Subscriber
+* Refactor: Remove subscription of camera_info in video_recorder
+* Add colormap options for displaying image topic
+* Use CvtColorForDisplayOptions for cvtColorForDisplay
+* Contributors: Kentaro Wada, Vincent Rabaud
+
+1.12.17 (2016-07-11)
+--------------------
+* Fix timestamp to get correct fps in video_recorder
+* Get correct fps in video_recorder.cpp
+* Do dynamic scaling for float images
+* Contributors: Kentaro Wada
+
+1.12.16 (2016-03-19)
+--------------------
+* Remove code for roslib on .cfg files
+  Closes `#185 <https://github.com/ros-perception/image_pipeline/issues/185>`_
+* add cv::waitKey for opencv3 installed from source to fix freezing issue
+* when no image is saved, do not save camera info
+  When the images are not recorded because "save_all_image" is false and "save_image_service" is false, the frame count should not be incremented and the camera info should not be written to disk.
+* Add std_srvs to catkin find_package()
+* Contributors: Jeremy Kerfs, Jochen Sprickerhof, Kentaro Wada, Krishneel
+
+1.12.15 (2016-01-17)
+--------------------
+* simplify the OpenCV dependency
+* [image_view] Configure do_dynamic_scaling param with dynamic_reconfigure
+* [image_view] Scale 16UC1 depth image
+* fix compilation
+* Extract images which are synchronized with message_filters
+* [image_view] Show full path when failed to save image
+* [image_view] Enable to specify transport with arg
+* [image_view] feedback: no need threading for callback
+* [image_view/image_view] Make as a node
+* Added sensor_msgs::Image conversion to cv::Mat from rqt_image_view in
+  order to be able to create videos from kinect depth images (cv_bridge
+  currently doesn't support 16UC1 image encoding).
+  Code adapted from:
+  https://github.com/ros-visualization/rqt_common_plugins/blob/groovy-devel/rqt_image_view/src/rqt_image_view/image_view.cpp
+* simplify OpenCV3 conversion
+* use the color conversion for display from cv_bridge
+* Contributors: Carlos Costa, Kentaro Wada, Vincent Rabaud
+
+1.12.14 (2015-07-22)
+--------------------
+* reduce the differences between OpenCV2 and 3
+* do not build GUIs on Android
+  This fixes `#137 <https://github.com/ros-perception/image_pipeline/issues/137>`_
+* Contributors: Vincent Rabaud
+
+1.12.13 (2015-04-06)
+--------------------
+
+1.12.12 (2014-12-31)
+--------------------
+* Convert function to inline to avoid duplicates with image_transport
+* Revert "remove GTK dependency"
+  This reverts commit a6e15e796a40385fbbf8da05966aa47d179dcb46.
+  Conflicts:
+  image_view/CMakeLists.txt
+  image_view/src/nodelets/disparity_nodelet.cpp
+  image_view/src/nodes/stereo_view.cpp
+* Revert "make sure waitKey is called after imshow"
+  This reverts commit d13e3ed6af819459bca221ece779964a74beefac.
+* Revert "brings back window_thread"
+  This reverts commit 41a655e8e99910c13a3e7f1ebfdd083207cef76f.
+* Contributors: Gary Servin, Vincent Rabaud
+
+1.12.11 (2014-10-26)
+--------------------
+* brings back window_thread
+  This fixes `#102 <https://github.com/ros-perception/image_pipeline/issues/102>`_ fully
+* small optimizations
+* add the image_transport parameter
+* Contributors: Vincent Rabaud
+
+1.12.10 (2014-09-28)
+--------------------
+
+1.12.9 (2014-09-21)
+-------------------
+* get code to compile with OpenCV3
+  fixes `#96 <https://github.com/ros-perception/image_pipeline/issues/96>`_
+* Contributors: Vincent Rabaud
+
+1.12.8 (2014-08-19)
+-------------------
+
+1.12.6 (2014-07-27)
+-------------------
+* make sure waitKey is called after imshow
+* remove GTK dependency
+* small speedups
+* Contributors: Vincent Rabaud
+
+1.12.5 (2014-05-11)
+-------------------
+* image_view: Add depend on gtk2
+* Contributors: Scott K Logan
+
+1.12.4 (2014-04-28)
+-------------------
+* fixes `#65 <https://github.com/ros-perception/image_pipeline/issues/65>`_
+* Contributors: Vincent Rabaud
+
+1.12.3 (2014-04-12)
+-------------------
+
+1.12.2 (2014-04-08)
+-------------------
+
+1.12.1 (2014-04-06)
+-------------------
+* get proper opencv dependency
+* Contributors: Vincent Rabaud
+
+1.11.7 (2014-03-28)
+-------------------
+* Added requirement for core.
+* Contributors: Jonathan J Hunt
+
+1.11.3 (2013-10-06 20:21:55 +0100)
+----------------------------------
+- #41: allow image_saver to save image topics
+- #40: use proper download URL
diff --git a/image_view/CMakeLists.txt b/image_view/CMakeLists.txt
@@ -0,0 +1,90 @@
+cmake_minimum_required(VERSION 2.8)
+project(image_view)
+
+find_package(catkin REQUIRED COMPONENTS camera_calibration_parsers cv_bridge dynamic_reconfigure image_transport message_filters message_generation nodelet rosconsole roscpp std_srvs stereo_msgs)
+generate_dynamic_reconfigure_options(cfg/ImageView.cfg)
+
+catkin_package(CATKIN_DEPENDS dynamic_reconfigure)
+find_package(Boost REQUIRED COMPONENTS thread)
+find_package(OpenCV REQUIRED)
+
+include_directories(${Boost_INCLUDE_DIRS}
+                    ${catkin_INCLUDE_DIRS}
+                    ${OpenCV_INCLUDE_DIRS}
+)
+
+# Extra tools
+add_executable(extract_images src/nodes/extract_images.cpp)
+target_link_libraries(extract_images ${catkin_LIBRARIES}
+                                     ${OpenCV_LIBRARIES}
+)
+
+add_executable(image_saver src/nodes/image_saver.cpp)
+target_link_libraries(image_saver ${catkin_LIBRARIES}
+                                  ${OpenCV_LIBRARIES}
+)
+
+add_executable(video_recorder src/nodes/video_recorder.cpp)
+target_link_libraries(video_recorder ${catkin_LIBRARIES}
+                                     ${OpenCV_LIBRARIES}
+)
+
+install(TARGETS extract_images image_saver video_recorder
+        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Deal with the GUI's
+if(ANDROID)
+  return()
+endif()
+
+find_package(GTK2)
+add_definitions(-DHAVE_GTK)
+include_directories(${GTK2_INCLUDE_DIRS})
+
+# Nodelet library
+add_library(image_view src/nodelets/image_nodelet.cpp src/nodelets/disparity_nodelet.cpp src/nodelets/window_thread.cpp)
+target_link_libraries(image_view ${catkin_LIBRARIES}
+                                 ${GTK_LIBRARIES}
+                                 ${GTK2_LIBRARIES}
+                                 ${OpenCV_LIBRARIES}
+                                 ${Boost_LIBRARIES}
+)
+install(TARGETS image_view
+        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+# Image viewers
+add_executable(image_view_exe src/nodes/image_view.cpp)
+add_dependencies(image_view_exe ${PROJECT_NAME}_gencfg)
+SET_TARGET_PROPERTIES(image_view_exe PROPERTIES OUTPUT_NAME image_view)
+target_link_libraries(image_view_exe ${catkin_LIBRARIES}
+                                     ${OpenCV_LIBRARIES}
+                                     ${Boost_LIBRARIES}
+)
+
+add_executable(disparity_view src/nodes/disparity_view.cpp)
+target_link_libraries(disparity_view ${catkin_LIBRARIES}
+                                     ${OpenCV_LIBRARIES}
+)
+
+add_executable(stereo_view src/nodes/stereo_view.cpp)
+target_link_libraries(stereo_view ${Boost_LIBRARIES}
+                                  ${catkin_LIBRARIES}
+                                  ${GTK_LIBRARIES}
+                                  ${GTK2_LIBRARIES}
+                                  ${OpenCV_LIBRARIES}
+)
+
+install(TARGETS disparity_view image_view_exe stereo_view
+        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(FILES nodelet_plugins.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+# Python programs
+catkin_install_python(
+  PROGRAMS scripts/extract_images_sync
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/image_view/cfg/ImageView.cfg b/image_view/cfg/ImageView.cfg
@@ -0,0 +1,29 @@
+#! /usr/bin/env python
+
+PACKAGE='image_view'
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+edit_method_colormap = gen.enum([
+    gen.const("NO_COLORMAP", int_t, -1, "NO_COLORMAP"),
+    gen.const("AUTUMN", int_t, 0, "COLORMAP_AUTUMN"),
+    gen.const("BONE", int_t, 1, "COLORMAP_BONE"),
+    gen.const("JET", int_t, 2, "COLORMAP_JET"),
+    gen.const("WINTER", int_t, 3, "COLORMAP_WINTER"),
+    gen.const("RAINBOW", int_t, 4, "COLORMAP_RAINBOW"),
+    gen.const("OCEAN", int_t, 5, "COLORMAP_OCEAN"),
+    gen.const("SUMMER", int_t, 6, "COLORMAP_SUMMER"),
+    gen.const("SPRING", int_t, 7, "COLORMAP_SPRING"),
+    gen.const("COOL", int_t, 8, "COLORMAP_COOL"),
+    gen.const("HSV", int_t, 9, "COLORMAP_HSV"),
+    gen.const("PINK", int_t, 10, "COLORMAP_PINK"),
+    gen.const("HOT", int_t, 11, "COLORMAP_HOT"),
+], "colormap")
+
+gen.add('do_dynamic_scaling', bool_t, 0, 'Do dynamic scaling about pixel values or not', False)
+gen.add('colormap', int_t, 0, "colormap", -1, -1, 11, edit_method=edit_method_colormap);
+gen.add('min_image_value', double_t, 0, "Minimum image value for scaling depth/float image.", default=0, min=0);
+gen.add('max_image_value', double_t, 0, "Maximum image value for scaling depth/float image.", default=0, min=0);
+
+exit(gen.generate(PACKAGE, 'image_view', 'ImageView'))
diff --git a/image_view/mainpage.dox b/image_view/mainpage.dox
@@ -0,0 +1,11 @@
+/**
+@mainpage image_view
+
+@htmlinclude manifest.html
+
+@b image_view is a simple utility for viewing an image topic. For usage see
+http://www.ros.org/wiki/image_view.
+
+Currently this package has no public code API.
+
+*/
diff --git a/image_view/nodelet_plugins.xml b/image_view/nodelet_plugins.xml
@@ -0,0 +1,11 @@
+<library path="lib/libimage_view">
+
+  <class name="image_view/image" type="image_view::ImageNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet to view a sensor_msgs/Image topic</description>
+  </class>
+
+  <class name="image_view/disparity" type="image_view::DisparityNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet to view a stereo_msgs/DisparityImage topic</description>
+  </class>
+
+</library>
diff --git a/image_view/package.xml b/image_view/package.xml
@@ -0,0 +1,48 @@
+<package>
+  <name>image_view</name>
+  <version>1.12.23</version>
+  <description>
+  A simple viewer for ROS image topics. Includes a specialized viewer
+  for stereo + disparity images.
+  </description>
+  <author>Patrick Mihelich</author>
+  <maintainer email="[email protected]">Vincent Rabaud</maintainer>
+  <maintainer email="[email protected]">Steven Macenski</maintainer>
+  <maintainer email="[email protected]">Autonomoustuff team</maintainer>
+  <license>BSD</license>
+  <url>http://www.ros.org/wiki/image_view</url>
+
+  <export>
+    <rosdoc config="rosdoc.yaml" />
+    <nodelet plugin="${prefix}/nodelet_plugins.xml" />
+  </export>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>rostest</test_depend>
+
+  <build_depend>camera_calibration_parsers</build_depend>
+  <build_depend version_gte="1.11.13">cv_bridge</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>gtk2</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>message_filters</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>nodelet</build_depend>
+  <build_depend>rosconsole</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <build_depend>stereo_msgs</build_depend>
+
+  <run_depend>camera_calibration_parsers</run_depend>
+  <run_depend version_gte="1.11.13">cv_bridge</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
+  <run_depend>gtk2</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>message_filters</run_depend>
+  <run_depend>nodelet</run_depend>
+  <run_depend>rosconsole</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_srvs</run_depend>
+</package>
diff --git a/image_view/rosdoc.yaml b/image_view/rosdoc.yaml
@@ -0,0 +1,4 @@
+ - builder: doxygen
+   name: C++ API
+   output_dir: c++
+   file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox'