image_pipeline-0.9.0 is now out. image_pipeline fills the gap between camera_drivers and higher-level vision processing. It includes a camera calibration GUI, a lightweight viewer for image topics, and nodes to perform color interpolation, rectification and stereo processing on camera images.
This is a stable release and has passed our user testing requirements. For changes see the changelist below. This release finally removes much long-deprecated code. In particular, the old stereoproc node is gone, as are all of the stereo messages excepting DisparityImage (which has a new definition).
Changes
image_proc:
- Raw images may now be 8-bit mono, RGB, BGR, or any of the four bayer encodings.
- Now using OpenCV for bayer interpolation.
- Now using image_geometry for rectification.
- Better error reporting when started in global namespace or input topics do not exist.
stereo_image_proc:
- Inherited improvements from image_proc.
- Now using OpenCV's block matching implementation to calculate the disparity image.
- Parameters have changed to more closely follow OpenCV's options.
- Publishing floating-point disparity image.
- No longer publishing image_disparity, use stereo_view for visualization instead.
- REMOVED deprecated stereoproc node and other obsolete files.
image_view:
- stereo_view shows color-mapped disparity image along with left/right.
stereo_msgs:
- New definition of DisparityImage. Disparities are now floating-point, not fixed-point. Better comments.
- REMOVED all deprecated messages (RawStereo, DisparityInfo, StereoInfo).
- Added split_rawstereo.py script to convert RawStereo bags to Image & CameraInfo bags.
camera_calibration:
- GUI improvements.
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