Commit 67126f1b1ab2ddc0290f07e32a24406aeee2240a - ros-opencv-apps

+21

-5

.travis.sh less more

27	27	# Install ROS
28	28	sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
29	29	wget http://packages.ros.org/ros.key -O - \| sudo apt-key add -
	30	# Setup EoL repository
	31	if [[ "$ROS_DISTRO" == "hydro" \|\| "$ROS_DISTRO" == "jade" \|\| "$ROS_DISTRO" == "lunar" ]]; then
	32	sudo -E sh -c 'echo "deb http://snapshots.ros.org/$ROS_DISTRO/final/ubuntu `lsb_release -sc` main" >> /etc/apt/sources.list.d/ros-latest.list'
	33	sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key 0xCBF125EA
	34	fi
30	35	sudo apt-get update -qq
	36	### HotFix: Hold python-vcs-tools for hydro (https://github.com/vcstools/vcstools/issues/157)
	37	if [[ "$ROS_DISTRO" == "hydro" ]]; then
	38	sudo apt-get install -y --force-yes -q python-vcstools=0.1.40-1
	39	sudo apt-mark hold python-vcstools
	40	fi
	41	###
31	42	# Install ROS
32		sudo apt-get install -y -q python-catkin-pkg python-catkin-tools python-rosdep python-wstool python-rosinstall-generator ros-$ROS_DISTRO-catkin
	43	if [[ "$ROS_DISTRO" == "noetic" ]]; then
	44	sudo apt-get install -y -q python3-catkin-pkg python3-catkin-tools python3-rosdep python3-wstool python3-rosinstall-generator python3-osrf-pycommon
	45	else
	46	sudo apt-get install -y -q python-catkin-pkg python-catkin-tools python-rosdep python-wstool python-rosinstall-generator
	47	fi
	48	sudo apt-get install -y -q ros-$ROS_DISTRO-catkin
33	49	source /opt/ros/$ROS_DISTRO/setup.bash
34	50	# Setup for rosdep
35	51	sudo rosdep init
36		rosdep update
	52	rosdep update --include-eol-distros
37	53	travis_time_end
38	54
39	55	travis_time_start setup.install

102	118	echo 'debconf debconf/frontend select Noninteractive' \| sudo debconf-set-selections
103	119	travis_time_end
104	120
105		if [ $TEST == "catkin_lint" ]; then
	121	if [ "$TEST" == "catkin_lint" ]; then
106	122
107	123	travis_time_start catkin_lint.script
108	124	apt-get install -y -q python-pip

113	129	ROS_DISTRO=melodic catkin_lint --resolve-env --strict $CI_SOURCE_PATH
114	130
115	131
116		elif [ $TEST == "clang-format" ]; then
	132	elif [ "$TEST" == "clang-format" ]; then
117	133
118	134	travis_time_start clang_format.script
119	135	apt-get install -y -q clang-format-3.9 git

122	138	git -C $CI_SOURCE_PATH --no-pager diff
123	139	git -C $CI_SOURCE_PATH diff-index --quiet HEAD -- .
124	140
125		elif [ $TEST == "clang-tidy" ]; then
	141	elif [ "$TEST" == "clang-tidy" ]; then
126	142
127	143	setup
128	144

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.travis.yml less more

0	0	sudo: required
1		dist: trusty
	1	dist: bionic
2	2	language: generic
3	3	env:
	4	- CHECK_PYTHON3_COMPILE=true
4	5	- TEST=catkin_lint DOCKER_IMAGE=ubuntu:bionic
5	6	- TEST=clang-format DOCKER_IMAGE=ubuntu:bionic
6	7	- TEST=clang-tidy ROS_DISTRO=melodic DOCKER_IMAGE=ubuntu:bionic

9	10	- OPENCV_VERSION=3 ROS_DISTRO=indigo DOCKER_IMAGE=ubuntu:trusty
10	11	- ROS_DISTRO=kinetic DOCKER_IMAGE=ubuntu:xenial
11	12	- ROS_DISTRO=melodic DOCKER_IMAGE=ubuntu:bionic
	13	- ROS_DISTRO=noetic DOCKER_IMAGE=ubuntu:focal
12	14	# Install system dependencies, namely ROS.
13	15	script:
	16	- if [ "${CHECK_PYTHON3_COMPILE}" == "true" ]; then python3 -m compileall .; exit $?; fi
14	17	- export CI_SOURCE_PATH=$(pwd)
15	18	- export REPOSITORY_NAME=${PWD##*/}
16	19	- echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"

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CHANGELOG.rst less more

0	0	^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1	1	Changelog for package opencv_apps
2	2	^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
	3
	4	2.0.2 (2020-08-19)
	5	------------------
	6	* .travis.yml: add noetic test (`#108 <https://github.com/ros-perception/opencv_apps/issues/108>`_)
	7
	8	* support oepncv4 for face detection launch/test files
	9	* convert img_gray every loop, this fixes
	10	[ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23
	11	errors
	12	* check CV_VERSION_VERSION > 4
	13	* add g++ static to package.xml
	14	* use python3 for noetic
	15	* .travis.yml : add CHECK_PYTHON3_COMPILE
	16	* .travis.yml: add noetic test
	17
	18	* fix travis (`#106 <https://github.com/ros-perception/opencv_apps/issues/106>`_)
	19
	20	* add more package to CATKIN_DEPENDS
	21	* add image_view to run_depends
	22
	23	* add hot fix for hydro test (`#98 <https://github.com/ros-perception/opencv_apps/issues/98>`_)
	24
	25	* add doublequote arount $TEST
	26	* add hot fix for hydro test
	27
	28	* Improved variable names and comments (`#95 <https://github.com/ros-perception/opencv_apps/issues/95>`_)
	29
	30	* Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
	31
	32	* setup EoL repository (`#96 <https://github.com/ros-perception/opencv_apps/issues/96>`_)
	33
	34	* Contributors: Gus Crowards, Kei Okada
3	35
4	36	2.0.1 (2019-04-22)
5	37	------------------

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CMakeLists.txt less more

114	114	std_msgs
115	115	)
116	116
117		catkin_package(CATKIN_DEPENDS message_runtime sensor_msgs std_msgs
	117	catkin_package(CATKIN_DEPENDS dynamic_reconfigure message_runtime nodelet roscpp sensor_msgs std_msgs std_srvs
118	118	# DEPENDS OpenCV
119	119	INCLUDE_DIRS include
120	120	LIBRARIES ${PROJECT_NAME}

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launch/face_detection.launch less more

3	3	<arg name="use_opencv3_1" default="false" />
4	4	<arg name="use_opencv3_2" default="false" />
5	5	<arg name="use_opencv3_3" default="$(arg use_opencv3)" />
	6	<arg name="use_opencv4" default="false" />
6	7
7	8	<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
8	9

22	23	name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
23	24	<arg if="$(arg use_opencv3_3)"
24	25	name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
	26	<arg if="$(arg use_opencv4)"
	27	name="face_cascade_name" default="/usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
	28	<arg if="$(arg use_opencv4)"
	29	name="eyes_cascade_name" default="/usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
	30
25	31	<arg unless="$(arg use_opencv3)"
26	32	name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
27	33	<arg unless="$(arg use_opencv3)"

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launch/face_recognition.launch less more

5	5	<arg name="use_opencv3_1" default="false" />
6	6	<arg name="use_opencv3_2" default="false" />
7	7	<arg name="use_opencv3_3" default="false" />
	8	<arg name="use_opencv4" default="false" />
8	9	<arg name="debug_view" default="true" />
9	10	<arg name="queue_size" default="100" doc="Specigy queue_size of input image subscribers" />
10	11

20	21	<arg name="use_opencv3_1" value="$(arg use_opencv3_1)" />
21	22	<arg name="use_opencv3_2" value="$(arg use_opencv3_2)" />
22	23	<arg name="use_opencv3_3" value="$(arg use_opencv3_3)" />
	24	<arg name="use_opencv4" value="$(arg use_opencv4)" />
23	25	</include>
24	26
25	27	<node name="face_recognition" pkg="opencv_apps" type="face_recognition"

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package.xml less more

0	0	<?xml version="1.0"?>
1	1	<package>
2	2	<name>opencv_apps</name>
3		<version>2.0.1</version>
	3	<version>2.0.2</version>
4	4	<description>
5	5	<p>opencv_apps provides various nodes that run internally OpenCV's functionalities and publish the result as ROS topics. With opencv_apps, you can skip writing OpenCV application codes for a lot of its functionalities by simply running a launch file that corresponds to OpenCV's functionality you want.</p>
6	6	<ul>

19	19
20	20	<build_depend>cv_bridge</build_depend>
21	21	<build_depend>dynamic_reconfigure</build_depend>
	22	<build_depend>g++-static</build_depend>
22	23	<build_depend>image_transport</build_depend>
23	24	<build_depend>message_generation</build_depend>
24	25	<build_depend>nodelet</build_depend>

30	31	<run_depend>cv_bridge</run_depend>
31	32	<run_depend>dynamic_reconfigure</run_depend>
32	33	<run_depend>image_transport</run_depend>
	34	<run_depend>image_view</run_depend>
33	35	<run_depend>message_runtime</run_depend>
34	36	<run_depend>nodelet</run_depend>
35	37	<run_depend>roscpp</run_depend>

43	45	<test_depend>rosservice</test_depend>
44	46	<test_depend>rostopic</test_depend>
45	47	<test_depend>image_proc</test_depend>
46		<test_depend>image_view</test_depend>
47	48	<test_depend>topic_tools</test_depend>
48	49	<test_depend>compressed_image_transport</test_depend>
49	50

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-3

src/nodelet/face_recognition_nodelet.cpp less more

73	73	namespace face = cv;
74	74	#endif
75	75
	76	#if CV_MAJOR_VERSION >= 4
	77	#include <opencv2/imgcodecs/legacy/constants_c.h> // include CV_LOAD_IMAGE_COLOR
	78	#include <opencv2/imgproc/imgproc_c.h> // include CV_AA
	79	#endif
	80
76	81	// utility for resolving path
77	82	namespace boost
78	83	{

547	552	if (config.model_method == "eigen")
548	553	{
549	554	// https://docs.opencv.org/3.3.1/da/d60/tutorial_face_main.html
550		#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3
	555	#if (CV_MAJOR_VERSION >= 4) \|\| (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3)
551	556	model_ = face::EigenFaceRecognizer::create(config.model_num_components, config.model_threshold);
552	557	#else
553	558	model_ = face::createEigenFaceRecognizer(config.model_num_components, config.model_threshold);

555	560	}
556	561	else if (config.model_method == "fisher")
557	562	{
558		#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3
	563	#if (CV_MAJOR_VERSION >= 4) \|\| (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3)
559	564	model_ = face::FisherFaceRecognizer::create(config.model_num_components, config.model_threshold);
560	565	#else
561	566	model_ = face::createFisherFaceRecognizer(config.model_num_components, config.model_threshold);

563	568	}
564	569	else if (config.model_method == "LBPH")
565	570	{
566		#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3
	571	#if (CV_MAJOR_VERSION >= 4) \|\| (CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3)
567	572	model_ = face::LBPHFaceRecognizer::create(config.lbph_radius, config.lbph_neighbors, config.lbph_grid_x,
568	573	config.lbph_grid_y);
569	574	#else

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src/nodelet/segment_objects_nodelet.cpp less more

45	45	#include <opencv2/highgui/highgui.hpp>
46	46	#include <opencv2/imgproc/imgproc.hpp>
47	47	#include <opencv2/video/background_segm.hpp>
	48	#if CV_MAJOR_VERSION >= 4
	49	#include <opencv2/imgproc/imgproc_c.h> // incldue CV_FILLED
	50	#endif
48	51
49	52	#include <dynamic_reconfigure/server.h>
50	53	#include "opencv_apps/SegmentObjectsConfig.h"

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-16

src/nodelet/simple_flow_nodelet.cpp less more

45	45	#include <opencv2/highgui/highgui.hpp>
46	46	#include <opencv2/imgproc/imgproc.hpp>
47	47	#include <opencv2/video/tracking.hpp>
48		#if CV_MAJOR_VERSION == 3
	48	#if CV_MAJOR_VERSION >= 3
49	49	#include <opencv2/optflow.hpp>
50	50	#endif
51	51

78	78	static bool need_config_update_;
79	79	int scale_;
80	80
81		cv::Mat gray, prevGray;
	81	cv::Mat color, prevColor;
82	82
83	83	void reconfigureCallback(Config& new_config, uint32_t level)
84	84	{

116	116	// Convert the image into something opencv can handle.
117	117	cv::Mat frame_src = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::BGR8)->image;
118	118
119		/// Convert it to gray
	119	/// Convert it to 3 channel
120	120	cv::Mat frame;
121	121	if (frame_src.channels() > 1)
122	122	{

127	127	cv::cvtColor(frame_src, frame, cv::COLOR_GRAY2BGR);
128	128	}
129	129
130		cv::resize(frame, gray, cv::Size(frame.cols / (double)MAX(1, scale_), frame.rows / (double)MAX(1, scale_)), 0, 0,
	130	cv::resize(frame, color, cv::Size(frame.cols / (double)MAX(1, scale_), frame.rows / (double)MAX(1, scale_)), 0, 0,
131	131	CV_INTER_AREA);
132		if (prevGray.empty())
133		gray.copyTo(prevGray);
134
135		if (gray.rows != prevGray.rows && gray.cols != prevGray.cols)
	132	if (prevColor.empty())
	133	color.copyTo(prevColor);
	134
	135	if (color.rows != prevColor.rows && color.cols != prevColor.cols)
136	136	{
137	137	NODELET_WARN("Images should be of equal sizes");
138		gray.copyTo(prevGray);
139		}
140
141		if (frame.type() != 16)
	138	color.copyTo(prevColor);
	139	}
	140
	141	if (frame.type() != CV_8UC3)
142	142	{
143	143	NODELET_ERROR("Images should be of equal type CV_8UC3");
144	144	}

162	162	}
163	163
164	164	float start = (float)cv::getTickCount();
165		#if CV_MAJOR_VERSION == 3
166		cv::optflow::calcOpticalFlowSF(gray, prevGray,
	165	#if CV_MAJOR_VERSION >= 3
	166	cv::optflow::calcOpticalFlowSF(color, prevColor,
167	167	#else
168		cv::calcOpticalFlowSF(gray, prevGray,
	168	cv::calcOpticalFlowSF(color, prevColor,
169	169	#endif
170	170	flow, 3, 2, 4, 4.1, 25.5, 18, 55.0, 25.5, 0.35, 18, 55.0, 25.5, 10);
171	171	NODELET_INFO("calcOpticalFlowSF : %lf sec", (cv::getTickCount() - start) / cv::getTickFrequency());

209	209	int c = cv::waitKey(1);
210	210	}
211	211
212		cv::swap(prevGray, gray);
	212	cv::swap(prevColor, color);
213	213	// Publish the image.
214	214	sensor_msgs::Image::Ptr out_img = cv_bridge::CvImage(msg->header, "bgr8", frame).toImageMsg();
215	215	img_pub_.publish(out_img);

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src/nodelet/watershed_segmentation_nodelet.cpp less more

81	81	static int on_mouse_y_;
82	82	static int on_mouse_flags_;
83	83
84		cv::Mat markerMask;
	84	cv::Mat markerMask, img_gray;
85	85	cv::Point prevPt;
86	86
87	87	static void onMouse(int event, int x, int y, int flags, void* /unused/)

134	134
135	135	// Do the work
136	136	// std::vector<cv::Rect> faces;
137		cv::Mat img_gray;
138	137
139	138	/// Initialize
140	139	if (markerMask.empty())
141	140	{
142	141	cv::cvtColor(frame, markerMask, cv::COLOR_BGR2GRAY);
143		cv::cvtColor(markerMask, img_gray, cv::COLOR_GRAY2BGR);
144	142	markerMask = cv::Scalar::all(0);
145	143	}
	144	cv::Mat tmp;
	145	cv::cvtColor(frame, tmp, cv::COLOR_BGR2GRAY);
	146	cv::cvtColor(tmp, img_gray, cv::COLOR_GRAY2BGR);
146	147
147	148	if (debug_view_)
148	149	{

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test/CMakeLists.txt less more

40	40	add_rostest(test-general_contours.test ARGS gui:=false)
41	41	add_rostest(test-contour_moments.test ARGS gui:=false)
42	42	if(cv_bridge_VERSION VERSION_LESS "1.11.9") # hydro skip face_detection.test
	43	elseif("$ENV{ROS_DISTRO}" STREQUAL "noetic") # noetic uses opencv4 (need to use_opencv3 for some reason...)
	44	add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv4:=true)
	45	add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv4:=true)
43	46	elseif("$ENV{ROS_DISTRO}" STREQUAL "melodic") # melodic uses opencv3
44	47	add_rostest(test-face_detection.test ARGS gui:=false)
45	48	add_rostest(test-face_recognition.test ARGS gui:=false)

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test/test-face_detection.test less more

3	3	<arg name="use_opencv3_1" default="false" />
4	4	<arg name="use_opencv3_2" default="false" />
5	5	<arg name="use_opencv3_3" default="false" />
	6	<arg name="use_opencv4" default="false" />
6	7	<node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />
7	8
8	9	<group ns="wide_stereo/left" >

17	18	<arg name="use_opencv3_1" value="$(arg use_opencv3_1)" />
18	19	<arg name="use_opencv3_2" value="$(arg use_opencv3_2)" />
19	20	<arg name="use_opencv3_3" value="$(arg use_opencv3_3)" />
	21	<arg name="use_opencv4" value="$(arg use_opencv4)" />
20	22	</include>
21	23
22	24	<node name="face_image_viewer" pkg="image_view" type="image_view">

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test/test-face_recognition.test less more

3	3	<arg name="use_opencv3_1" default="false" />
4	4	<arg name="use_opencv3_2" default="false" />
5	5	<arg name="use_opencv3_3" default="false" />
	6	<arg name="use_opencv4" default="false" />
6	7	<node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />
7	8
8	9	<group ns="wide_stereo/left" >

19	20	<arg name="use_opencv3_1" value="$(arg use_opencv3_1)" />
20	21	<arg name="use_opencv3_2" value="$(arg use_opencv3_2)" />
21	22	<arg name="use_opencv3_3" value="$(arg use_opencv3_3)" />
	23	<arg name="use_opencv4" value="$(arg use_opencv4)" />
22	24	<arg name="data_dir" value="$(find opencv_apps)/test/face_data" />
23	25	</include>
24	26