pull upstream noetic

.travis.sh

@@ -22,18 +22,18 @@ function travis_time_end {
     set -x
 }
 
-apt-get update -qq && apt-get install -y -q wget sudo lsb-release gnupg # for docker
+apt-get update -qq && apt-get install -y -q wget sudo lsb-release gnupg build-essential # for docker
 DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata # https://stackoverflow.com/questions/44331836/apt-get-install-tzdata-noninteractive
 
 travis_time_start setup.before_install
 #before_install:
 # Define some config vars.
 # Install ROS
-sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+sudo sh -c 'echo "deb http://repositories.ros.org/ubuntu/testing $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 sudo apt-get update -qq || echo Ignore error on apt-get update
 # Install ROS
-sudo apt-get install -qq -y python-catkin-pkg python-catkin-tools python-rosdep python-wstool ros-$ROS_DISTRO-catkin
+sudo apt-get install -qq -y python3-catkin-pkg python3-catkin-tools python3-osrf-pycommon python3-rosdep python3-wstool ros-$ROS_DISTRO-catkin
 source /opt/ros/$ROS_DISTRO/setup.bash
 # Setup for rosdep
 sudo rosdep init

.travis.yml

@@ -2,7 +2,7 @@ sudo: required
 dist: trusty
 language: generic
 env:
-  - ROS_DISTRO=melodic
+  - ROS_DISTRO=noetic
 # Install system dependencies, namely ROS.
 before_install:
   # Define some config vars.
@@ -11,7 +11,7 @@ before_install:
   - export ROS_PARALLEL_JOBS='-j8 -l6'
 script:
   - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-  - docker run --rm -i -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -e "ROS_DISTRO=$ROS_DISTRO" -e "ROS_PARALLEL_JOBS=$ROS_PARALLEL_JOBS" -t ubuntu:bionic sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
+  - docker run --rm -i -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -e "ROS_DISTRO=$ROS_DISTRO" -e "ROS_PARALLEL_JOBS=$ROS_PARALLEL_JOBS" -t ubuntu:focal sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
 after_failure:
   - find ${HOME}/.ros/test_results -type f -exec echo "== {} ==" \; -exec cat {} \;
   - for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat $file; done

LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2008, 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 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 THE 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.

cv_bridge/CHANGELOG.rst

@@ -2,6 +2,39 @@
 Changelog for package cv_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.16.2 (2022-10-03)
+-------------------
+
+1.16.1 (2022-09-06)
+-------------------
+* Fix 16U encoding type (`#445 <https://github.com/ros-perception/vision_opencv/issues/445>`_)
+* Add header arg to cv2_to_imgmsg (`#326 <https://github.com/ros-perception/vision_opencv/issues/326>`_)
+* Contributors: Ibrahim Essam, Kenji Brameld, Naoya Yamaguchi
+
+1.16.0 (2021-11-23)
+-------------------
+* prevent conversion of single channel 16bit integer images to/from colour (`#412 <https://github.com/ros-perception/vision_opencv/issues/412>`_)
+* decode images in mode IMREAD_UNCHANGED (`#228 <https://github.com/ros-perception/vision_opencv/issues/228>`_)
+* Optimize includes (`#354 <https://github.com/ros-perception/vision_opencv/issues/354>`_)
+  As suggested by include-what-you-use
+* Fix Python linking on OSX (`#331 <https://github.com/ros-perception/vision_opencv/issues/331>`_)
+* Fix typo (`#333 <https://github.com/ros-perception/vision_opencv/issues/333>`_)
+* Contributors: Christian Rauch, Markus Vieth, Matthijs van der Burgh, Tobias Fischer
+
+1.15.0 (2020-05-19)
+-------------------
+* [Noetic] Use opencv3 on buster (`#330 <https://github.com/ros-perception/vision_opencv/issues/330>`_)
+* more portable fixes. (`#328 <https://github.com/ros-perception/vision_opencv/issues/328>`_)
+* Contributors: Sean Yen, Shane Loretz
+
+1.14.0 (2020-04-06)
+-------------------
+* Noetic release (`#323 <https://github.com/ros-perception/vision_opencv/issues/323>`_)
+* 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: Alejandro Hernández Cordero, James Xu, Sean Yen
+
 1.13.0 (2018-04-30)
 -------------------
 * Use rosdep OpenCV and not ROS one.

cv_bridge/CMakeLists.txt

@@ -1,19 +1,30 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 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)
+
+  if(PYTHONLIBS_VERSION_STRING VERSION_LESS "3.8")
+    # Debian Buster
+    find_package(Boost REQUIRED python37)
   else()
-    find_package(Boost REQUIRED python3)
+    # Ubuntu Focal
+    find_package(Boost REQUIRED python)
   endif()
 else()
 find_package(Boost REQUIRED)
 endif()
-find_package(OpenCV 3 REQUIRED
+
+set(_opencv_version 4)
+find_package(OpenCV 4 QUIET)
+if(NOT OpenCV_FOUND)
+  message(STATUS "Did not find OpenCV 4, trying OpenCV 3")
+  set(_opencv_version 3)
+endif()
+
+find_package(OpenCV ${_opencv_version} REQUIRED
   COMPONENTS
     opencv_core
     opencv_imgproc
@@ -32,6 +43,7 @@ catkin_package(
 catkin_python_setup()
 
 include_directories(include ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+link_directories(${Boost_LIBRARY_DIRS})
 
 if(NOT ANDROID)
 add_subdirectory(python)

cv_bridge/include/cv_bridge/rgb_colors.h

@@ -36,7 +36,7 @@
 #ifndef CV_BRIDGE_RGB_COLORS_H_
 #define CV_BRIDGE_RGB_COLORS_H_
 
-#include <opencv2/opencv.hpp>
+#include <opencv2/core/matx.hpp>
 
 
 namespace cv_bridge

cv_bridge/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>cv_bridge</name>
-  <version>1.13.0</version>
+  <version>1.16.2</version>
   <description>
     This contains CvBridge, which converts between ROS
     Image messages and OpenCV images.
@@ -21,21 +21,21 @@
 
   <build_depend>boost</build_depend>
   <build_depend>libopencv-dev</build_depend>
-  <build_depend>python</build_depend>
-  <build_depend>python-opencv</build_depend>
+  <build_depend>python3</build_depend>
+  <build_depend>python3-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>python3</exec_depend>
+  <exec_depend>python3-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>
+  <test_depend>python3-numpy</test_depend>
 
   <doc_depend>dvipng</doc_depend>
 </package>

cv_bridge/python/cv_bridge/core.py

@@ -124,7 +124,7 @@ def compressed_imgmsg_to_cv2(self, cmprs_img_msg, desired_encoding = "passthroug
         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)
+        im = cv2.imdecode(buf, cv2.IMREAD_UNCHANGED)
 
         if desired_encoding == "passthrough":
             return im
@@ -167,8 +167,12 @@ def imgmsg_to_cv2(self, img_msg, desired_encoding = "passthrough"):
             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(type(img_msg.data) == str):
+                im = np.ndarray(shape=(img_msg.height, img_msg.width, n_channels),
+                               dtype=dtype, buffer=img_msg.data.encode())
+            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()
@@ -222,7 +226,7 @@ def cv2_to_compressed_imgmsg(self, cvim, dst_format = "jpg"):
 
         return cmprs_img_msg
 
-    def cv2_to_imgmsg(self, cvim, encoding = "passthrough"):
+    def cv2_to_imgmsg(self, cvim, encoding = "passthrough", header = None):
         """
         Convert an OpenCV :cpp:type:`cv::Mat` type to a ROS sensor_msgs::Image message.
 
@@ -231,6 +235,7 @@ def cv2_to_imgmsg(self, cvim, encoding = "passthrough"):
 
            * ``"passthrough"``
            * one of the standard strings in sensor_msgs/image_encodings.h
+        :param header:    A std_msgs.msg.Header message
 
         :rtype:           A sensor_msgs.msg.Image message
         :raises CvBridgeError: when the ``cvim`` has a type that is incompatible with ``encoding``
@@ -247,6 +252,8 @@ def cv2_to_imgmsg(self, cvim, encoding = "passthrough"):
         img_msg = sensor_msgs.msg.Image()
         img_msg.height = cvim.shape[0]
         img_msg.width = cvim.shape[1]
+        if header is not None:
+            img_msg.header = header
         if len(cvim.shape) < 3:
             cv_type = self.dtype_with_channels_to_cvtype2(cvim.dtype, 1)
         else:

cv_bridge/setup.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup()

cv_bridge/src/CMakeLists.txt

@@ -4,7 +4,11 @@ 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})
+install(TARGETS ${PROJECT_NAME}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
 
 if(NOT ANDROID)
 # add a Boost Python library
@@ -32,24 +36,30 @@ 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()
+add_library(${PROJECT_NAME}_boost module.cpp module_opencv4.cpp)
 target_link_libraries(${PROJECT_NAME}_boost ${Boost_LIBRARIES}
                                             ${catkin_LIBRARIES}
-                                            ${PYTHON_LIBRARIES}
                                             ${PROJECT_NAME}
 )
 
+if(NOT APPLE)
+  target_link_libraries(${PROJECT_NAME}_boost ${PYTHON_LIBRARIES})
+endif()
+
 set_target_properties(${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")
+  set_target_properties(${PROJECT_NAME}_boost PROPERTIES
+                        LINK_FLAGS "-undefined dynamic_lookup")
+endif()
+if(MSVC)
+  set_target_properties(${PROJECT_NAME}_boost PROPERTIES
+                        SUFFIX ".pyd")
 endif()
 
 install(TARGETS ${PROJECT_NAME}_boost DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}/boost/)

cv_bridge/src/cv_bridge.cpp

@@ -481,7 +481,7 @@ void CvImage::toCompressedImageMsg(sensor_msgs::CompressedImage& ros_image, cons
 {
   ros_image.header = header;
   cv::Mat image;
-  if (encoding == enc::BGR8 || encoding == enc::BGRA8)
+  if (encoding == enc::BGR8 || encoding == enc::BGRA8  || encoding == enc::MONO8 || encoding == enc::MONO16)
   {
     image = this->image;
   }
@@ -519,19 +519,24 @@ CvImagePtr toCvCopy(const sensor_msgs::CompressedImage& source, const std::strin
   // 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();
+  if (encoding != enc::MONO16) {
+    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();
+    }
+  }
+  else {
+    return toCvCopyImpl(rgb_a, source.header, enc::MONO16, encoding);
   }
 }
 
@@ -677,9 +682,9 @@ CvImageConstPtr cvtColorForDisplay(const CvImageConstPtr& source,
   else if (source->encoding == "CV_8UC4")
     source_typed->encoding = enc::BGRA8;
   else if (source->encoding == "CV_16UC3")
-    source_typed->encoding = enc::BGR8;
+    source_typed->encoding = enc::BGR16;
   else if (source->encoding == "CV_16UC4")
-    source_typed->encoding = enc::BGRA8;
+    source_typed->encoding = enc::BGRA16;
 
   // If no conversion is needed, don't convert
   if (source_typed->encoding == encoding)

cv_bridge/src/module.hpp

@@ -33,16 +33,10 @@ int convert_to_CvMat2(const PyObject* o, cv::Mat& m);
 
 PyObject* pyopencv_from(const cv::Mat& m);
 
-#if PYTHON3
-static int do_numpy_import( )
+static void * do_numpy_import( )
 {
     import_array( );
+    return nullptr;
 }
-#else
-static void do_numpy_import( )
-{
-    import_array( );
-}
-#endif
 
 #endif