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 OpenCV.
• Add missing test file This fixes #171
• Properly deal with alpha in image compression. That fixes #169
• Silence warnings about un-used variables
• export OpenCV variables
• Contributors: Kei Okada, Victor Lamoine, Vincent Rabaud

1.12.4 (2017-01-29)

• properly find Boost Python 2 or 3 This fixes #158
• Contributors: Vincent Rabaud

1.12.3 (2016-12-04)

• Use api in sensor_msgs to get byte_depth and num channels
• Implement cpp conversion of N channel image This is cpp version of https://github.com/ros-perception/vision_opencv/pull/141, which is one for python.
• Fill black color to depth nan region
• address gcc6 build error in cv_bridge and tune With gcc6, compiling fails with [stdlib.h: No such file or directory]{.title-ref}, as including \'-isystem /usr/include\' breaks with gcc6, cf., https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129 This commit addresses this issue for cv_bridge in the same way it was done in the commit ead421b8 [1] for image_geometry. This issue was also addressed in various other ROS packages. A list of related commits and pull requests is at: https://github.com/ros/rosdistro/issues/12783 [1] https://github.com/ros-perception/vision_opencv/commit/ead421b85eeb750cbf7988657015296ed6789bcf Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
• cv_bridge: Add missing test_depend on numpy
• Contributors: Kentaro Wada, Lukas Bulwahn, Maarten de Vries

1.12.2 (2016-09-24)

• Specify background label when colorizing label image
• Adjust to arbitrary image channels like 32FC40 Proper fix for #141
• Remove unexpectedly included print statement
• Contributors: Kentaro Wada, Vincent Rabaud

1.12.1 (2016-07-11)

• split the conversion tests out of enumerants
• support is_bigendian in Python Fixes #114 Also fixes mono16 test

• Support compressed Images messages in python for indigo

  • Add cv2_to_comprssed_imgmsg: Convert from cv2 image to compressed image ros msg.
  • Add comprssed_imgmsg_to_cv2: Convert the compress message to a new image.
  • Add compressed image tests.

  - Add time to msgs (compressed and regular). add enumerants test for compressed image. merge the compressed tests with the regular ones. better comment explanation. I will squash this commit. Fix indentation fix typo mistage: from .imgmsg_to_compressed_cv2 to .compressed_imgmsg_to_cv2. remove cv2.CV_8UC1 remove rospy and time depndency. change from IMREAD_COLOR to IMREAD_ANYCOLOR. - make indentaion of 4. - remove space trailer. - remove space from empty lines. - another set of for loops, it will make things easier to track. In that new set, just have the number of channels in ([],1,3,4) (ignore two for jpg). from: https://github.com/ros-perception/vision_opencv/pull/132#discussion_r66721943

  - keep the OpenCV error message. from: https://github.com/ros-perception/vision_opencv/pull/132#discussion_r66721013 add debug print for test. add case for 4 channels in test. remove 4 channels case from compressed test. add debug print for test. change typo of format. fix typo in format. change from dip to dib. change to IMREAD_ANYCOLOR as python code. (as it should). rename TIFF to tiff Sperate the tests one for regular images and one for compressed. update comment

• Add CvtColorForDisplayOptions with new colormap param

• fix doc jobs

• Add python binding for cv_bridge::cvtColorForDisplay

• Don\'t colorize float image as label image This is a bug and image whose encoding is other than 32SC1 should not be colorized. (currently, depth images with 32FC1 is also colorized.)

• Fix compilation of cv_bridge with opencv3 and python3.

• Contributors: Kentaro Wada, Maarten de Vries, Vincent Rabaud, talregev

1.12.0 (2016-03-18)

• depend on OpenCV3 only
• Contributors: Vincent Rabaud

1.11.12 (2016-03-10)

• Fix my typo
• Remove another eval Because [cvtype2_to_dtype_with_channels(\'8UCimport os; os.system(\"rm -rf /\")\')]{.title-ref} should never have a chance of happening.
• Remove eval, and other fixes Also, extend from object, so as not to get a python 2.2-style class, and use the new-style raise statement
• Contributors: Eric Wieser

1.11.11 (2016-01-31)

• clean up the doc files
• fix a few warnings in doc jobs
• Contributors: Vincent Rabaud

1.11.10 (2016-01-16)

• fix OpenCV3 build
• Describe about converting label to bgr image in cvtColorForDisplay
• Convert label to BGR image to display
• Add test for rgb_colors.cpp
• Add rgb_colors util
• Update doc for converting to BGR in cvtColorForDisplay
• Convert to BGR from any encoding
• Refactor: sensor_msgs::image_encodings -> enc
• Contributors: Kentaro Wada, Vincent Rabaud

1.11.9 (2015-11-29)

• deal with endianness
• add cvtColorForDisplay
• Improved efficiency by using toCvShare instead of toCvCopy.
• Add format enum for easy use and choose format.
• fix compilation warnings
• start to extend the cv_bridge with cvCompressedImage class, that will convert from cv::Mat opencv images to CompressedImage ros messages and vice versa
• Contributors: Carlos Costa, Vincent Rabaud, talregev

1.11.8 (2015-07-15)

• Simplify some OpenCV3 distinction
• fix tests
• fix test under OpenCV3
• Remove Python for Android
• Contributors: Gary Servin, Vincent Rabaud

1.11.7 (2014-12-14)

• check that the type is indeed a Numpy one This is in response to #51
• Contributors: Vincent Rabaud

1.11.6 (2014-11-16)

• chnage the behavior when there is only one channel
• cleanup tests
• Contributors: Vincent Rabaud

1.11.5 (2014-09-21)

• get code to work with OpenCV3 actually fixes #46 properly
• Contributors: Vincent Rabaud

1.11.4 (2014-07-27)

• Fix #42
• Contributors: Libor Wagner

1.11.3 (2014-06-08)

• Correct dependency from non-existent package to cv_bridge
• Contributors: Isaac Isao Saito

1.11.2 (2014-04-28)

• Add depend on python for cv_bridge
• Contributors: Scott K Logan

1.11.1 (2014-04-16)

• fixes #34
• Contributors: Vincent Rabaud

1.11.0 (2014-02-15)

• remove deprecated API and fixes #33
• fix OpenCV dependencies
• Contributors: Vincent Rabaud

1.10.15 (2014-02-07)

• fix python 3 error at configure time
• Contributors: Dirk Thomas

1.10.14 (2013-11-23 16:17)

• update changelog
• Find NumPy include directory
• Contributors: Brian Jensen, Vincent Rabaud

1.10.13 (2013-11-23 09:19)

• fix compilation on older NumPy
• Contributors: Vincent Rabaud

1.10.12 (2013-11-22)

• bump changelog
• Fixed issue with image message step size
• fix crash for non char data
• fix #26
• Contributors: Brian Jensen, Vincent Rabaud

1.10.11 (2013-10-23)

• fix bad image check and improve it too
• Contributors: Vincent Rabaud

1.10.10 (2013-10-19)

• fixes #25
• Contributors: Vincent Rabaud

1.10.9 (2013-10-07)

• fixes #20
• Contributors: Vincent Rabaud

1.10.8 (2013-09-09)

• fixes #22
• fixes #17
• check for CATKIN_ENABLE_TESTING
• fixes #16
• update email address
• Contributors: Lukas Bulwahn, Vincent Rabaud

1.10.7 (2013-07-17)

1.10.6 (2013-03-01)

• make sure conversion are applied for depth differences
• Contributors: Vincent Rabaud

1.10.5 (2013-02-11)

1.10.4 (2013-02-02)

• fix installation of the boost package
• Contributors: Vincent Rabaud

1.10.3 (2013-01-17)

• Link against PTYHON_LIBRARIES
• Contributors: William Woodall

1.10.2 (2013-01-13)

• use CATKIN_DEVEL_PREFIX instead of obsolete CATKIN_BUILD_PREFIX
• Contributors: Dirk Thomas

1.10.1 (2013-01-10)

• add licenses
• fixes #5 by removing the logic from Python and using wrapped C++ and adding a test for it
• fix a bug discovered when running the opencv_tests
• use some C++ logic
• add a Boost Python module to have the C++ logix used directly in Python
• Contributors: Vincent Rabaud

1.10.0 (2013-01-03)

• add conversion from Bayer to gray
• Contributors: Vincent Rabaud

1.9.15 (2013-01-02)

• use the reverted isColor behavior
• Contributors: Vincent Rabaud

1.9.14 (2012-12-30)

1.9.13 (2012-12-15)

• use the catkin macros for the setup.py
• fix #3
• Contributors: Vincent Rabaud

1.9.12 (2012-12-14)

• buildtool_depend catkin fix
• CMakeLists.txt clean up.
• Contributors: William Woodall

1.9.11 (2012-12-10)

• fix issue #1
• Cleanup of package.xml
• Contributors: Vincent Rabaud, William Woodall

1.9.10 (2012-10-04)

• fix the bad include folder
• Contributors: Vincent Rabaud

1.9.9 (2012-10-01)

• fix dependencies
• Contributors: Vincent Rabaud

1.9.8 (2012-09-30)

• fix some dependencies
• add rosconsole as a dependency
• fix missing Python at install and fix some dependencies
• Contributors: Vincent Rabaud

1.9.7 (2012-09-28 21:07)

• add missing stuff
• make sure we find catkin
• Contributors: Vincent Rabaud

1.9.6 (2012-09-28 15:17)

• move the test to where it belongs
• fix the tests and the API to not handle conversion from CV_TYPE to Color type (does not make sense)
• comply to the new Catkin API
• backport the YUV422 bug fix from Fuerte
• apply patch from https://code.ros.org/trac/ros-pkg/ticket/5556
• Contributors: Vincent Rabaud

1.9.5 (2012-09-15)

• remove dependencies to the opencv2 ROS package
• Contributors: Vincent Rabaud

1.9.4 (2012-09-13)

• make sure the include folders are copied to the right place
• Contributors: Vincent Rabaud

1.9.3 (2012-09-12)

1.9.2 (2012-09-07)

• be more compliant to the latest catkin
• added catkin_project() to cv_bridge, image_geometry, and opencv_tests
• Contributors: Jonathan Binney, Vincent Rabaud

1.9.1 (2012-08-28 22:06)

• remove things that were marked as ROS_DEPRECATED
• Contributors: Vincent Rabaud

1.9.0 (2012-08-28 14:29)

• catkinized opencv_tests by Jon Binney
• catkinized cv_bridge package... others disable for now by Jon Binney
• remove the version check, let\'s trust OpenCV :)
• revert the removal of opencv2
• vision_opencv: Export OpenCV flags in manifests for image_geometry, cv_bridge.
• finally get rid of opencv2 as it is a system dependency now
• bump REQUIRED version of OpenCV to 2.3.2, which is what\'s in ros-fuerte-opencv
• switch rosdep name to opencv2, to refer to ros-fuerte-opencv2
• added missing header
• Added constructor to CvImage to make converting a cv::Mat to sensor_msgs::Image less verbose.
• cv_bridge: Added unit test for #5206
• cv_bridge: Applied patch from mdesnoyer to fix handling of non-continuous OpenCV images. #5206
• Adding opencv2 to all manifests, so that client packages may not break when using them.
• baking in opencv debs and attempting a pre-release
• cv_bridge: Support for new 16-bit encodings.
• cv_bridge: Deprecate old C++ cv_bridge API.
• cv_bridge: Correctly scale for MONO8 <-> MONO16 conversions.
• cv_bridge: Fixed issue where pointer version to toCvCopy would ignore the requested encoding (http://answers.ros.org/question/258/converting-kinect-rgb-image-to-opencv-gives-wrong).
• fixed doc build by taking a static snapshot
• cv_bridge: Marking doc reviewed.
• cv_bridge: Tweaks to make docs look better.
• cv_bridge: Added cvtColor(). License notices. Documented that CvBridge class is obsolete.
• cv_bridge: Added redesigned C++ cv_bridge.
• Doc cleanup
• Trigger doc rebuild
• mono16 -> bgr conversion tested and fixed in C
• Added Ubuntu platform tags to manifest
• Handle mono16 properly
• Raise exception when imgMsgToCv() gets an image encoding it does not recognise, #3489
• Remove use of deprecated rosbuild macros
• Fixed example
• cv_bridge split from opencv2
• Contributors: Vincent Rabaud, ethanrublee, gerkey, jamesb, mihelich, vrabaud, wheeler