Merge branch 'master' into new_node

jsk-ros-pkg · Feb 3, 2021 · 241a21e · 241a21e
2 parents cef5ab6 + 9a69732
commit 241a21e
Show file tree

Hide file tree

Showing 60 changed files with 604 additions and 177 deletions.
diff --git a/.readme/gallery_jsk_recognition_utils.jpg b/.readme/gallery_jsk_recognition_utils.jpg
diff --git a/.travis b/.travis
diff --git a/.travis.yml b/.travis.yml
@@ -39,9 +39,10 @@ before_script:
 script:
   - if [ "${CHECK_PYTHON3_COMPILE}" == "true" ]; then python3 -m compileall .; exit $?; fi
   # use https://github.com/ros-infrastructure/rosdep/pull/694 to respect version_lt for python pip, some package requries python3
-  - export BEFORE_SCRIPT="sudo pip install numpy==1.16.6; sudo pip install fcn chainercv chainer==6.7.0 cupy-cuda91; $BEFORE_SCRIPT"
+  - export BEFORE_SCRIPT="sudo pip install numpy==1.16.6; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 chainer==6.7.0 cupy-cuda91; $BEFORE_SCRIPT"
   - if [[ "$ROS_DISTRO" == "kinetic" && "$ROS_DISTRO" == "melodic" ]]; then export BEFORE_SCRIPT="sudo apt-get install -y patchutils; curl -sL https://patch-diff.githubusercontent.com/raw/ros-infrastructure/rosdep/pull/753.diff | sudo patch -d /usr/lib/python2.7/dist-packages/ -p2; curl -sL https://patch-diff.githubusercontent.com/raw/ros-infrastructure/rosdep/pull/694.diff | filterdiff --exclude='a/test/*' | sudo patch -d /usr/lib/python2.7/dist-packages/ -p2; $BEFORE_SCRIPT"; fi
   - .travis/travis.sh
+  - which virtualenv 2>/dev/null || pip3 install --user virtualenv
   - (cd $TRAVIS_BUILD_DIR/doc && source setup.sh && make html)
 after_success:
   # trigger build of jsk-docs.readthedocs.org

diff --git a/README.md b/README.md
@@ -1,14 +1,14 @@
 <!--
     DO NOT EDIT THIS FILE BY HAND.
 
-    This file is automatically generated by /home/shingo/ros/kinetic/src/jsk-ros-pkg/jsk_recognition/generate_readme.py at 2019-10-18T18:52:30.818076.
+    This file is automatically generated by /home/shingo/ros/kinetic/src/jsk-ros-pkg/jsk_recognition/generate_readme.py at 2020-10-25T19:40:48.897765.
 -->
 
 jsk\_recognition
 ===============
 
 [![GitHub version](https://badge.fury.io/gh/jsk-ros-pkg%2Fjsk_recognition.svg)](https://badge.fury.io/gh/jsk-ros-pkg%2Fjsk_recognition)
-[![Build Status](https://travis-ci.org/jsk-ros-pkg/jsk_recognition.svg)](https://travis-ci.org/jsk-ros-pkg/jsk_recognition)
+[![Build Status](https://travis-ci.com/jsk-ros-pkg/jsk_recognition.svg)](https://travis-ci.com/jsk-ros-pkg/jsk_recognition)
 [![Read the Docs](https://readthedocs.org/projects/jsk-recognition/badge/?version=latest)](https://jsk-docs.readthedocs.io/projects/jsk_recognition/en/latest/)
 
 jsk_recognition is a stack for the perception packages which are used in JSK lab.
@@ -76,12 +76,12 @@ Deb build status
 [//]: # (rosrun jsk_tools generate_deb_status_table.py jsk_recognition)
 
 
-| Package                 | Kinetic (Xenial)                                                                                                                                                                                           | Melodic (Bionic)                                                                                                                                                                                           | Noetic (Bionic)                                                                                                                                                                                            |
-|:------------------------|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| jsk_recognition (arm64) | [![Build Status](http://build.ros.org/job/Kbin_uxv8_uXv8__jsk_recognition__ubuntu_xenial_arm64__binary/badge/icon)](http://build.ros.org/job/Kbin_uxv8_uXv8__jsk_recognition__ubuntu_xenial_arm64__binary) | [![Build Status](http://build.ros.org/job/Mbin_ubv8_uBv8__jsk_recognition__ubuntu_bionic_arm64__binary/badge/icon)](http://build.ros.org/job/Mbin_ubv8_uBv8__jsk_recognition__ubuntu_bionic_arm64__binary) | [![Build Status](http://build.ros.org/job/Nbin_ubv8_uBv8__jsk_recognition__ubuntu_bionic_arm64__binary/badge/icon)](http://build.ros.org/job/Nbin_ubv8_uBv8__jsk_recognition__ubuntu_bionic_arm64__binary) |
-| jsk_recognition (armhf) | [![Build Status](http://build.ros.org/job/Kbin_uxhf_uXhf__jsk_recognition__ubuntu_xenial_armhf__binary/badge/icon)](http://build.ros.org/job/Kbin_uxhf_uXhf__jsk_recognition__ubuntu_xenial_armhf__binary) | [![Build Status](http://build.ros.org/job/Mbin_ubhf_uBhf__jsk_recognition__ubuntu_bionic_armhf__binary/badge/icon)](http://build.ros.org/job/Mbin_ubhf_uBhf__jsk_recognition__ubuntu_bionic_armhf__binary) | [![Build Status](http://build.ros.org/job/Nbin_ubhf_uBhf__jsk_recognition__ubuntu_bionic_armhf__binary/badge/icon)](http://build.ros.org/job/Nbin_ubhf_uBhf__jsk_recognition__ubuntu_bionic_armhf__binary) |
-| jsk_recognition (i386)  | [![Build Status](http://build.ros.org/job/Kbin_uX32__jsk_recognition__ubuntu_xenial_i386__binary/badge/icon)](http://build.ros.org/job/Kbin_uX32__jsk_recognition__ubuntu_xenial_i386__binary)             | ---                                                                                                                                                                                                        | ---                                                                                                                                                                                                        |
-| jsk_recognition (amd64) | [![Build Status](http://build.ros.org/job/Kbin_uX64__jsk_recognition__ubuntu_xenial_amd64__binary/badge/icon)](http://build.ros.org/job/Kbin_uX64__jsk_recognition__ubuntu_xenial_amd64__binary)           | [![Build Status](http://build.ros.org/job/Mbin_uB64__jsk_recognition__ubuntu_bionic_amd64__binary/badge/icon)](http://build.ros.org/job/Mbin_uB64__jsk_recognition__ubuntu_bionic_amd64__binary)           | [![Build Status](http://build.ros.org/job/Nbin_uB64__jsk_recognition__ubuntu_bionic_amd64__binary/badge/icon)](http://build.ros.org/job/Nbin_uB64__jsk_recognition__ubuntu_bionic_amd64__binary)           |
+| Package                 | Kinetic (Xenial)                                                                                                                                                                                           | Melodic (Bionic)                                                                                                                                                                                           | Melodic (Stretch)                                                                                                                                                                                            | Noetic (Focal)                                                                                                                                                                                           | Noetic (Buster)                                                                                                                                                                                            |
+|:------------------------|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| jsk_recognition (arm64) | [![Build Status](http://build.ros.org/job/Kbin_uxv8_uXv8__jsk_recognition__ubuntu_xenial_arm64__binary/badge/icon)](http://build.ros.org/job/Kbin_uxv8_uXv8__jsk_recognition__ubuntu_xenial_arm64__binary) | [![Build Status](http://build.ros.org/job/Mbin_ubv8_uBv8__jsk_recognition__ubuntu_bionic_arm64__binary/badge/icon)](http://build.ros.org/job/Mbin_ubv8_uBv8__jsk_recognition__ubuntu_bionic_arm64__binary) | [![Build Status](http://build.ros.org/job/Mbin_dsv8_dSv8__jsk_recognition__debian_stretch_arm64__binary/badge/icon)](http://build.ros.org/job/Mbin_dsv8_dSv8__jsk_recognition__debian_stretch_arm64__binary) | [![Build Status](http://build.ros.org/job/Nbin_ufv8_uFv8__jsk_recognition__ubuntu_focal_arm64__binary/badge/icon)](http://build.ros.org/job/Nbin_ufv8_uFv8__jsk_recognition__ubuntu_focal_arm64__binary) | [![Build Status](http://build.ros.org/job/Nbin_dbv8_dBv8__jsk_recognition__debian_buster_arm64__binary/badge/icon)](http://build.ros.org/job/Nbin_dbv8_dBv8__jsk_recognition__debian_buster_arm64__binary) |
+| jsk_recognition (armhf) | [![Build Status](http://build.ros.org/job/Kbin_uxhf_uXhf__jsk_recognition__ubuntu_xenial_armhf__binary/badge/icon)](http://build.ros.org/job/Kbin_uxhf_uXhf__jsk_recognition__ubuntu_xenial_armhf__binary) | [![Build Status](http://build.ros.org/job/Mbin_ubhf_uBhf__jsk_recognition__ubuntu_bionic_armhf__binary/badge/icon)](http://build.ros.org/job/Mbin_ubhf_uBhf__jsk_recognition__ubuntu_bionic_armhf__binary) | ---                                                                                                                                                                                                          | [![Build Status](http://build.ros.org/job/Nbin_ufhf_uFhf__jsk_recognition__ubuntu_focal_armhf__binary/badge/icon)](http://build.ros.org/job/Nbin_ufhf_uFhf__jsk_recognition__ubuntu_focal_armhf__binary) | ---                                                                                                                                                                                                        |
+| jsk_recognition (i386)  | [![Build Status](http://build.ros.org/job/Kbin_uX32__jsk_recognition__ubuntu_xenial_i386__binary/badge/icon)](http://build.ros.org/job/Kbin_uX32__jsk_recognition__ubuntu_xenial_i386__binary)             | ---                                                                                                                                                                                                        | ---                                                                                                                                                                                                          | ---                                                                                                                                                                                                      | ---                                                                                                                                                                                                        |
+| jsk_recognition (amd64) | [![Build Status](http://build.ros.org/job/Kbin_uX64__jsk_recognition__ubuntu_xenial_amd64__binary/badge/icon)](http://build.ros.org/job/Kbin_uX64__jsk_recognition__ubuntu_xenial_amd64__binary)           | [![Build Status](http://build.ros.org/job/Mbin_uB64__jsk_recognition__ubuntu_bionic_amd64__binary/badge/icon)](http://build.ros.org/job/Mbin_uB64__jsk_recognition__ubuntu_bionic_amd64__binary)           | [![Build Status](http://build.ros.org/job/Mbin_ds_dS64__jsk_recognition__debian_stretch_amd64__binary/badge/icon)](http://build.ros.org/job/Mbin_ds_dS64__jsk_recognition__debian_stretch_amd64__binary)     | [![Build Status](http://build.ros.org/job/Nbin_uF64__jsk_recognition__ubuntu_focal_amd64__binary/badge/icon)](http://build.ros.org/job/Nbin_uF64__jsk_recognition__ubuntu_focal_amd64__binary)           | [![Build Status](http://build.ros.org/job/Nbin_db_dB64__jsk_recognition__debian_buster_amd64__binary/badge/icon)](http://build.ros.org/job/Nbin_db_dB64__jsk_recognition__debian_buster_amd64__binary)     |
 
 [//]: #
 

diff --git a/doc/add_img_tables_to_index.py b/doc/add_img_tables_to_index.py
@@ -13,6 +13,7 @@
 
 import hashlib
 import os
+import six
 
 
 __copyright__ = '2015, JSK Lab'
@@ -31,7 +32,10 @@ def rst_image_table_data(url_prefix, img_files):
                           for ext in ['.rst', '.md']]
         if not any(map(os.path.exists, doc_candidates)):
             continue
-        label_name = hashlib.sha1(img_file).hexdigest()[:8]
+        if hasattr(img_file, 'encode'):
+            label_name = hashlib.sha1(img_file.encode('utf-8')).hexdigest()[:8]
+        else:
+            label_name = hashlib.sha1(img_file).hexdigest()[:8]
         img_file = os.path.join(url_prefix, 'images', img_file)
         labels.append(
             '\n'
@@ -48,7 +52,7 @@ def rst_image_table_data(url_prefix, img_files):
     # generate table
     table = []
     table.append('+------------+------------+------------+')
-    for i in xrange(0, len(blocks), N_COLUMN):
+    for i in six.moves.range(0, len(blocks), N_COLUMN):
         table.append('| ' + ' | '.join(blocks[i:i+N_COLUMN]) + ' |')
         table.append('+------------+------------+------------+')
     return '\n\n'.join(labels), '\n'.join(table)
@@ -81,4 +85,4 @@ def main(exclude_patterns):
 
 
 if __name__ == '__main__':
-    main()
+    main(['_build', 'venv', 'README.md'])
diff --git a/doc/conf.py b/doc/conf.py
@@ -10,6 +10,7 @@
 
 
 extensions = [
+    'recommonmark',
     'sphinx_markdown_tables',
     'sphinx.ext.mathjax',
 ]
@@ -196,7 +197,7 @@
 # (source start file, target name, title,
 #  author, documentclass [howto, manual, or own class]).
 latex_documents = [
-  (master_doc, 'jsk_recognition.tex', u'jsk_recognition Documentation',
+  (master_doc, 'jsk_recognition.tex', u'jsk\_recognition Documentation',
    author, 'manual'),
 ]
 

diff --git a/doc/images/insta360_air_sample.png b/doc/images/insta360_air_sample.png
diff --git a/doc/imagesift/nodes/imagesift.rst b/doc/imagesift/nodes/imagesift.rst
@@ -29,13 +29,23 @@ Publishing Topic
 
    This appears with both inputs ``image`` and ``camera_info``.
 
+Parameters
+----------
+
+- ``~image_transport`` (``String``, default: ``raw``)
+
+  Set `compressed` or `theora` to subscribe compressed images
 
 Run
 ---
 You can run executable like below::
 
     $ rosrun imagesift imagesift
 
+To subscribe compressed image, run executable like below::
+
+    $ rosrun imagesift imagesift _image_transport:=compressed
+
 
 Sample
 ------

diff --git a/doc/index.rst b/doc/index.rst
@@ -23,6 +23,7 @@ The code is open source, and `available on github`_.
    install_ensenso
    install_structure_core
    install_elp_usb_4k
+   install_insta360_air
    install_chainer_gpu
    install_pcl_from_source
    deep_learning_with_image_dataset/overview

diff --git a/doc/install_insta360_air.md b/doc/install_insta360_air.md
@@ -0,0 +1,22 @@
+# Install Insta360 Air
+
+- Insta360 Air:[https://www.insta360.com/jp/product/insta360-air](https://www.insta360.com/jp/product/insta360-air)
+- libuvc_camera: [http://wiki.ros.org/libuvc_camera](http://wiki.ros.org/libuvc_camera)
+
+![Insta360 Air](./images/insta360_air_sample.png)
+
+## Install Udev
+
+```bash
+roscd jsk_perception
+sudo cp udev/99-insta360-air.rules /etc/udev/rules.d/
+sudo service udev restart
+```
+
+## Sample
+
+```bash
+roslaunch jsk_perception sample_insta360_air.launch
+# For indigo or lower
+roslaunch jsk_perception sample_insta360_air.launch use_usb_cam:=true
+```
diff --git a/doc/jsk_pcl_ros/nodes/depth_image_creator.md b/doc/jsk_pcl_ros/nodes/depth_image_creator.md
@@ -44,16 +44,21 @@ Currently it supports `pcl::PointXYZ` and `pcl::PointXYZRGB` as the input.
    but fixed transformation is used according to `~rotation` and `translation`.
 * `~use_asynchronous` (Boolean, default: `False`)
 
-   Do not synchronize `~input` and `~info` if this parameter is set to `True`.
+  If this parameter is set to `True`, this node process incoming PointCloud regardless of the synchronization between `~input` and `~info`.
 * `~use_approximate` (Boolean, default: `False`)
 
    Synchronize `~input` and `~info` approximately if this parameter is set to `True`.
+   If this parameter is set to `False`, and the timestamps of the `~input` and `~info` are not strictly matched, the callback will not be processed.
+   (See http://wiki.ros.org/message_filters/ApproximateTime)
 * `~info_throttle` (Integer, default: `0`)
 
    The number of `~info` messages to skip to generate depth image.
-* `~max_queue_size` (integer, default: `3`):
+* `~max_queue_size` (integer, default: `100`):
 
    Queue length for synchronization of topics.
+   According to the message_filters synchronization policy, in case of `~input`(1Hz) and `~info`(30Hz) comes,
+   message_filters needs at least over 30 queue_size for searching a synchronized set of the two.
+   (You can also check like this `rosrun jsk_topic_tools is_synchronized --approximate-sync --queue-size 3 /kinect_head/depth_registered/camera_info /kinect_head/depth_registered/points`)
 
 * `~max_pub_queue_size` (integer, default: `~max_queue_size_`):
 

diff --git a/doc/jsk_perception/nodes/images/split_image.png b/doc/jsk_perception/nodes/images/split_image.png
diff --git a/doc/jsk_perception/nodes/mask_rcnn_instance_segmentation.rst b/doc/jsk_perception/nodes/mask_rcnn_instance_segmentation.rst
@@ -55,18 +55,27 @@ Parameters
 
   GPU id.
 
+* ``~model_name`` (String, ``mask_rcnn_resnet50``)
+
+  Model name.
+  ``mask_rcnn_resnet50``, ``mask_rcnn_fpn_resnet50`` and  ``mask_rcnn_fpn_resnet101`` are supported.
+
 * ``~score_thresh`` (Float, default: ``0.7``)
 
   Score threshold of detections.
 
-* ``~fg_class_names`` (List of String, required)
+* ``~fg_class_names`` (List of String, ``None``)
 
   Foreground class names that is used to identify number of class.
   It is also used for the ``name`` field of ``~output/labels``.
+  When ``pretrained_model: coco`` is set, default COCO ``pretrained_model`` and ``fg_class_names`` will be loaded.
+  When ``pretrained_model: voc`` is set, default VOC ``pretrained_model`` and ``fg_class_names`` will be loaded.
 
 * ``~pretrained_model`` (String, required)
 
   Pretrained model path.
+  When ``pretrained_model: coco`` is set, default COCO ``pretrained_model`` and ``fg_class_names`` will be loaded.
+  When ``pretrained_model: voc`` is set, default VOC ``pretrained_model`` and ``fg_class_names`` will be loaded.
 
 * ``~classifier_name`` (String, default: ``rospy.get_name()``)
 

diff --git a/doc/jsk_perception/nodes/split_image.md b/doc/jsk_perception/nodes/split_image.md
@@ -0,0 +1,33 @@
+# split_image.py
+![](./images/split_image.png)
+
+## What Is This
+
+Split the input image at equal intervals vertically and horizontally.
+
+## Subscribing Topic
+
+* `~input` (`sensor_msgs/Image`)
+
+    Input image to be split.
+
+## Publishing Topic
+
+* `~output/vertical(vertical_index)/horizontal(horizontal_index)` (`sensor_msgs/Image`)
+
+    Split images. The number of published topics is `~vertical_splits` * `~horizontal_splits`.
+
+## Parameters
+
+* `~vertical_splits` (int, default: 1)
+
+    The number of parts the input image is split vertically.
+
+* `~horizontal_splits` (int, default: 1)
+
+    The number of parts the input image is split horizontally.
+
+## Sample
+```bash
+roslaunch jsk_perception sample_split_image.launch
+```
diff --git a/doc/requirements.txt b/doc/requirements.txt
@@ -1,4 +1,5 @@
 recommonmark==0.5.0
-Sphinx==1.8.4
+six==1.15.0
+Sphinx==3.3.0
 sphinx-markdown-tables==0.0.9
 sphinx_rtd_theme==0.4.3
diff --git a/doc/setup.sh b/doc/setup.sh
@@ -4,6 +4,6 @@ type virtualenv &>/dev/null || {
   echo "Please install virtualenv" >&2
 }
 
-virtualenv venv
+virtualenv --python=python3 venv
 . venv/bin/activate
 pip install -r requirements.txt
diff --git a/imagesift/include/imagesift/imagesift.h b/imagesift/include/imagesift/imagesift.h
@@ -70,6 +70,7 @@ namespace imagesift
     bool _useMask;
     boost::mutex _mutex;
     boost::shared_ptr<image_transport::ImageTransport> _it;
+    image_transport::TransportHints _hints;
     image_transport::Subscriber _subImage;
     // for useMask
     message_filters::Subscriber<sensor_msgs::Image> _subImageWithMask;