cv_bridge

Introduction

cv_bridge converts between ROS2 image messages and OpenCV image representation for perception applications. As follows:

This ros2 branch initially derives from porting on the basis of ros kinetic branch

Installation

Firstly, it assumes that the ros2 core has already been installed, please refer to ROS2 installation to get started if the ros2 core isn’t ready to use

Install dependencies

OpenCV3 is a must to install, please refer to the official installation guide from OpenCV Tutorials Since ros2 bases on python3, please make sure that python3-numpy is installed, or install like this:

sudo apt install python3-numpy

Now cv_bridge python backend still has dependency on python boost (equal or higer than 1.58.0), and install them as follows in Ubuntu 16.04:

sudo apt install libboost-python1.58.0
cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libboost_python-py35.so libboost_python3.so

Build and Test

Fetch the latest code and build

cd <YOUR_ROS2_WORKSPACE>
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout ros2
colcon build --symlink-install

Run the tests

Python tests have dependency to opencv python support and install it:

pip3 install opencv-python

Next to prepare runtime environment and run tests:

source <YOUR_ROS2_WORKSPACE>/install/local_setup.bash
colcon test

Known issues

• boost endian: remove boost endian APIs with standard C++ 11 or higer instead
• Not verify with Windows and OS X environment and there may be building or running issues

Changelog for package cv_bridge

2.1.4 (2020-01-17)

2.1.3 (2019-10-23)

• populate array.array directly instead of converting to and from a string (#305)
• include Boost to fix Windows build (#290)
• Export interfaces for Win32 Shared Lib (#301)
• Contributors: Dirk Thomas, Jonathan Noyola, Sean Yen

2.1.2 (2019-05-30)

• Suppress Boost Python warning. (#279)
• silence unused return value warnings (#276)
• Contributors: Karsten Knese, Michael Carroll

2.1.1 (2019-04-26)

• Replace ament commands with colcon (#263) Latest ros2 repo does not include ament_tools. Executing ament command results in error.
• Contributors: Lalit Begani

2.1.0 (2018-11-26)

• find boost_python on boost 1.58 (<1.65) (#246)
• Contributors: Mikael Arguedas

2.0.5 (2018-08-17)

• remove redundant ament_auto_lint dependency to release package
• fix test_encode_decode_cv2_compressed runtime error with JPEG2000
• change python3-numpy as build and execution dependency to fix building error while releasing package
• Contributor: Ethan Gao

2.0.4 (2018-08-14)

• Add libopencv-dev as dependency of cv_bridge
• Replace assert_equal with assert to remove dependency to nose package
• Contributor: Ethan Gao

2.0.3 (2018-08-07)

• fix the build warning with colcon building
• optimize buffer type of imgmsg_to_cv2()
• add python3_opencv and python3_numpy as dependency
• uncrustify 0.67 coding style alignment
• Contributors: Mikael Arguedas, Lars Berscheid, Ethan Gao

2.0.2 (2018-06-29)

• fix rosdep keys issue of opencv3

2.0.1 (2018-06-28)

2.0.0 (2018-06-06)

• Port cv_bridge to ros2
• Remove the old inherent boost files
• Replace boost code with newer C++ standard higher than C++11
• Add a new readme
• Adapt message definition like sensor_msg/Image etc in ROS2
• Coding style alignment with ROS2 using cppcheck/cpplint and python flake8/pep257
• Enable all the C++/Python unit test with gtest and unittest with ament tools
• Contributors: Ethan Gao

1.12.7 (2017-11-12)

1.12.6 (2017-11-11)

• fix endianness issues
• Contributors: Vincent Rabaud

1.12.5 (2017-11-05)

• add version_gte for opencv3 \@vrabaud If you'll update opencv3 version as discussed in https://discourse.ros.org/t/opencv-3-3/2674/4, I think we'd better to add 'version_gte' tag so that apt-get install ros-kinetic-cv-bridge also pulls openv3.3 from repository, to avoid API breaking issue between opencv2 and opencv3.
• Simplify the dependency components of cv_bridge Fixes #183
• Fixes #177 The Python bridge was wrong on OpenCV2 with mono8 (and any Mat with only two dimensions btw). Took the official Python bridge from

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