Merge branch 'master' into panorama-sample-launch-refactor

.github/workflows/config.yml

@@ -66,16 +66,29 @@ jobs:
             NOT_TEST_INSTALL : true
             USE_JENKINS: true
             DOCKER_IMAGE_JENKINS: ros-ubuntu:20.04-pcl
-            TEST_PKGS : 'jsk_recognition_msgs' # to skip test
-            BEFORE_SCRIPT : "sudo pip install numpy==1.16.6; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==6.7.0 protobuf==3.18.0 cupy-cuda91 pytesseract==0.3.6 torch==1.4.0;"
+            BEFORE_SCRIPT : "sudo pip3 install numpy==1.17.5 scipy==1.3.3 scikit-image==0.16.2 PyWavelets==0.5.1 imageio==2.4.1 pandas==0.25.3; sudo pip3 install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==7.8.1 protobuf==3.6.1 cupy-cuda91 pytesseract==0.3.10 Pillow==9.3.0 torch==1.4.0 torchvision==0.5.0;sudo dpkg -i /workspace/.ros/data/libpcl-features1.10_1.10.0+dfsg-5ubuntu1_amd64.deb;"
+            BUILD_PKGS: 'checkerboard_detector imagesift jsk_perception jsk_recognition_utils resized_image_transport'
+            EXTRA_DEB: ros-noetic-pr2-description
             experimental : false
           - ROS_DISTRO: noetic
             USE_DEB: false
             NOT_TEST_INSTALL : true
             USE_JENKINS: true
             DOCKER_IMAGE_JENKINS: ros-ubuntu:20.04-pcl
-            BEFORE_SCRIPT : "sudo pip install numpy==1.16.6; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==6.7.0 protobuf==3.18.0 cupy-cuda91 pytesseract==0.3.6 torch==1.4.0;"
-            experimental : true
+            TEST_PKGS : 'jsk_pcl_ros_utils jsk_pcl_ros'
+            BEFORE_SCRIPT : "sudo pip3 install numpy==1.17.5 scipy==1.3.3 scikit-image==0.16.2 PyWavelets==0.5.1 imageio==2.4.1 pandas==0.25.3; sudo pip3 install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==7.8.1 protobuf==3.6.1 cupy-cuda91 pytesseract==0.3.10 Pillow==9.3.0 torch==1.4.0 torchvision==0.5.0;sudo dpkg -i /workspace/.ros/data/libpcl-features1.10_1.10.0+dfsg-5ubuntu1_amd64.deb;"
+            BUILD_PKGS: 'jsk_pcl_ros_utils jsk_pcl_ros'
+            EXTRA_DEB: ros-noetic-pr2-description
+            experimental : false
+          - ROS_DISTRO: noetic
+            USE_DEB: false
+            NOT_TEST_INSTALL : true
+            USE_JENKINS: true
+            DOCKER_IMAGE_JENKINS: ros-ubuntu:20.04-pcl
+            TEST_PKGS : 'jsk_recognition_msgs' # to skip test
+            BEFORE_SCRIPT : "sudo pip3 install numpy==1.17.5 scipy==1.3.3 scikit-image==0.16.2 PyWavelets==0.5.1 imageio==2.4.1 pandas==0.25.3; sudo pip3 install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==7.8.1 protobuf==3.6.1 cupy-cuda91 pytesseract==0.3.10 Pillow==9.3.0 torch==1.4.0 torchvision==0.5.0;sudo dpkg -i /workspace/.ros/data/libpcl-features1.10_1.10.0+dfsg-5ubuntu1_amd64.deb;"
+            EXTRA_DEB: ros-noetic-pr2-description
+            experimental : false
 
 
     steps:

.travis.rosinstall.noetic

@@ -0,0 +1,4 @@
+- git: # https://github.com/ros-perception/image_transport_plugins/pull/64
+   uri: https://github.com/ros-perception/image_transport_plugins.git
+   local-name: image_transport_plugins
+   version: noetic-devel

imagesift/test/test_imagesift.test

@@ -6,7 +6,8 @@
 
   <test test-name="test_imagesift"
         name="test_imagesift"
-        pkg="jsk_tools" type="test_topic_published.py">
+        pkg="jsk_tools" type="test_topic_published.py"
+        retry="3">
     <rosparam>
       topic_0: /Feature0D
       timeout_0: 10

jsk_pcl_ros/CMakeLists.txt

@@ -140,7 +140,7 @@ generate_dynamic_reconfigure_options(
 
 find_package(OpenCV REQUIRED core imgproc)
 
-include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${ml_classifiers_INCLUDE_DIRS})
 link_directories(${catkin_LIBRARY_DIRS})
 if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
   set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -z defs")
@@ -505,10 +505,34 @@ install(TARGETS ${jsk_pcl_ros_install_libraries}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 )
 
-install(DIRECTORY config euslisp launch plugins sample scripts test
+install(DIRECTORY config euslisp launch plugins test
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
 )
+if($ENV{ROS_DISTRO} STREQUAL "indigo") # on noetic it needs catkin_install_python to support Python3 and it does not work on indigo for some reason...
+install(DIRECTORY sample scripts
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+   USE_SOURCE_PERMISSIONS
+   )
+else()
+install(DIRECTORY sample scripts
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+  PATTERN "*"
+  PATTERN "*/*.py" EXCLUDE
+)
+
+file(GLOB SCRIPT_PROGRAMS scripts/*.py)
+catkin_install_python(
+  PROGRAMS ${SCRIPT_PROGRAMS}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts
+)
+file(GLOB SAMPLE_SCRIPT_PROGRAMS sample/*.py)
+catkin_install_python(
+  PROGRAMS ${SAMPLE_SCRIPT_PROGRAMS}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/sample
+)
+endif()
 
 if (CATKIN_ENABLE_TESTING)
   find_package(jsk_perception REQUIRED)

jsk_pcl_ros/package.xml

@@ -91,6 +91,8 @@
   <exec_depend>visualization_msgs</exec_depend>
   <exec_depend>yaml-cpp</exec_depend>
 
+  <test_depend>compressed_depth_image_transport</test_depend>
+  <test_depend>compressed_image_transport</test_depend>
   <test_depend>jsk_perception</test_depend>
   <test_depend>jsk_tools</test_depend>
   <test_depend>roslaunch</test_depend>

jsk_pcl_ros/sample/include/play_rosbag_baxter_realsense_l515.xml

@@ -6,11 +6,12 @@
   <arg name="RGB_IMAGE" value="/camera/color/image_rect_color" />
   <arg name="DEPTH_CAMERA_INFO" value="/camera/aligned_depth_to_color/camera_info" />
   <arg name="DEPTH_IMAGE" value="/camera/aligned_depth_to_color/image_raw" />
+  <arg name="RATE" default="1.0" />
 
   <param name="/use_sim_time" value="true"/>
 
   <node name="rosbag_play" pkg="rosbag" type="play"
-        args="$(find jsk_pcl_ros)/sample/data/baxter_realsense_l515.bag --clock --loop"/>
+        args="--rate $(arg RATE) $(find jsk_pcl_ros)/sample/data/baxter_realsense_l515.bag --clock --loop"/>
 
   <group ns="camera">
     <group ns="color">

jsk_pcl_ros/sample/sample_incremental_model_registration.launch

@@ -3,7 +3,7 @@
   <arg name="rosbag_play_args" default="--clock --loop" />
 
   <param name="/use_sim_time" value="true"/>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro'"/>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find pr2_description)/robots/pr2.urdf.xacro'"/>
 
   <node name="rosbag_play"
         pkg="rosbag" type="play"

jsk_pcl_ros/sample/sample_joint_state_static_filter.launch

@@ -3,7 +3,7 @@
   <arg name="gui" default="true"/>
 
   <param name="/use_sim_time" value="true"/>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro'"/>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find pr2_description)/robots/pr2.urdf.xacro'"/>
 
   <node name="rosbag_play"
         pkg="rosbag" type="play"

jsk_pcl_ros/sample/sample_organized_statistical_outlier_removal.launch

@@ -1,9 +1,11 @@
 <launch>
   <arg name="gui" default="true" />
+  <arg name="RATE" default="1.0" />
 
   <include file="$(find jsk_pcl_ros)/sample/include/play_rosbag_baxter_realsense_l515.xml">
     <arg name="launch_manager" value="true" />
     <arg name="manager" value="realsense_nodelet_manager" />
+    <arg name="RATE" value="$(arg RATE)" />
   </include>
 
   <include file="$(find jsk_pcl_ros)/launch/organized_statistical_outlier_removal.launch">

jsk_pcl_ros/scripts/check_depth_error/depth_error_calibration.py

@@ -348,7 +348,7 @@ def updatePlot():
 def generateFrequencyMap():
     global width, height
     # bgr
-    img = np.tile(np.uint8([0,0,0]), (height / 10, width / 10, 1))
+    img = np.tile(np.uint8([0,0,0]), (height // 10, width // 10, 1))
     frequency = dict()
     for (u, v) in value_cache.keys():
         min_color = np.uint8([255, 0, 0])

jsk_pcl_ros/src/incremental_model_registration_nodelet.cpp

@@ -207,6 +207,7 @@ namespace jsk_pcl_ros
     std_srvs::Empty::Request& req,
     std_srvs::Empty::Response& res)
   {
+    boost::mutex::scoped_lock lock(mutex_);
     if (samples_.size() <= 1) {
       ROS_ERROR("no enough samples");
       return false;
@@ -251,6 +252,7 @@ namespace jsk_pcl_ros
     nonregistered_ros_cloud.header.stamp = ros::Time::now();
     nonregistered_ros_cloud.header.frame_id = frame_id_;
     pub_cloud_non_registered_.publish(nonregistered_ros_cloud);
+    return true;
   }
 
 }

jsk_pcl_ros/test/test_cluster_point_indices_decomposer_bbox.test

@@ -92,7 +92,7 @@
   <test test-name="test_cluster_point_indices_decomposer_bbox"
         name="test_cluster_point_indices_decomposer_bbox"
         pkg="jsk_pcl_ros" type="test_cluster_point_indices_decomposer_bbox.py"
-        time-limit="30" retry="1">
+        time-limit="30" retry="3">
     <remap from="~boxes" to="cluster_point_indices_decomposer/boxes" />
     <rosparam>
       check_times: 10
@@ -102,7 +102,7 @@
   <test test-name="test_cluster_point_indices_decomposer_bbox_align_boxes_with_frame"
         name="test_cluster_point_indices_decomposer_bbox_align_boxes_with_frame"
         pkg="jsk_pcl_ros" type="test_cluster_point_indices_decomposer_bbox.py"
-        time-limit="30" retry="1">
+        time-limit="30" retry="3">
     <remap from="~boxes" to="cluster_point_indices_decomposer_align_boxes_with_frame/boxes" />
     <rosparam>
       check_times: 10
@@ -112,7 +112,7 @@
   <test test-name="test_cluster_point_indices_decomposer_bbox_pca"
         name="test_cluster_point_indices_decomposer_bbox_pca"
         pkg="jsk_pcl_ros" type="test_cluster_point_indices_decomposer_bbox.py"
-        time-limit="30" retry="1">
+        time-limit="30" retry="3">
     <remap from="~boxes" to="cluster_point_indices_decomposer_pca/boxes" />
     <rosparam>
       check_times: 10

jsk_pcl_ros/test/test_convex_connected_voxels.test

@@ -12,7 +12,8 @@
 
   <test test-name="test_convex_connected_voxels"
       name="test_convex_connected_voxels"
-      pkg="jsk_tools" type="test_topic_published.py">
+      pkg="jsk_tools" type="test_topic_published.py"
+      retry="3" time-limit="120">
     <rosparam>
       topic_0: /sample_convex_connected_voxels/output/indices
       timeout_0: 100

jsk_pcl_ros/test/test_organized_statistical_outlier_removal.test

@@ -2,15 +2,16 @@
 
   <include file="$(find jsk_pcl_ros)/sample/sample_organized_statistical_outlier_removal.launch">
     <arg name="gui" value="false"/>
+    <arg name="RATE" value="0.25" />
   </include>
 
   <test test-name="test_organized_statistical_outlier_removal"
         name="test_organized_statistical_outlier_removal"
         pkg="jsk_tools" type="test_topic_published.py"
-        retry="3">
+        retry="3" time-limit="120">
     <rosparam>
       topic_0: /statistical_outlier_removal/output
-      timeout_0: 30
+      timeout_0: 100
     </rosparam>
   </test>
 

jsk_pcl_ros_utils/scripts/cloud_on_plane_info.py

@@ -6,6 +6,27 @@
 from jsk_rviz_plugins.overlay_text_interface import OverlayTextInterface
 from jsk_recognition_msgs.msg import BoolStamped
 
+# workaround until https://github.com/jsk-ros-pkg/jsk_visualization/pull/864 is merged and released.
+class OverlayTextInterface_fix(OverlayTextInterface):
+    def publish(self, text):
+        msg = OverlayText()
+        msg.text = text
+        msg.width = int(self.config.width)
+        msg.height = int(self.config.height)
+        msg.top = int(self.config.top)
+        msg.left = int(self.config.left)
+        msg.fg_color.a = self.config.fg_alpha
+        msg.fg_color.r = self.config.fg_red
+        msg.fg_color.g = self.config.fg_green
+        msg.fg_color.b = self.config.fg_blue
+        msg.bg_color.a = self.config.bg_alpha
+        msg.bg_color.r = self.config.bg_red
+        msg.bg_color.g = self.config.bg_green
+        msg.bg_color.b = self.config.bg_blue
+        msg.text_size = self.config.text_size
+        self.pub.publish(msg)
+
+
 g_lock = Lock()
 g_msg = None
 def callback(msg):
@@ -23,7 +44,7 @@ def publish_text(event):
 
 if __name__ == "__main__":
     rospy.init_node("cloud_on_plane_info")
-    text_interface = OverlayTextInterface("~text")
+    text_interface = OverlayTextInterface_fix("~text")
     sub = rospy.Subscriber("~input", BoolStamped, callback)
     rospy.Timer(rospy.Duration(0.1), publish_text)
     rospy.spin()

jsk_perception/CMakeLists.txt

@@ -41,9 +41,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(roseus)
 
-if(NOT $ENV{ROS_DISTRO} STREQUAL "indigo") # on noetic it needs catkin_install_python to support Python3 and it does not work on indigo for some reason...
-  catkin_python_setup()
-endif()
+catkin_python_setup()
 
 find_package(Boost REQUIRED COMPONENTS filesystem system)
 
@@ -447,9 +445,17 @@ catkin_install_python(
   PROGRAMS ${NODE_SCRIPT_PROGRAMS}
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/node_scripts
 )
+if(CATKIN_DEVEL_PREFIX)
+  add_custom_target(link_dir_mkdir
+    COMMAND ${CMAKE_COMMAND} -E make_directory ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/node_scripts)
+  foreach(SUB_DIR craft deep_sort hmr openpose)
+    add_custom_target(link_dir_${SUB_DIR} ALL
+      COMMAND ${CMAKE_COMMAND} -E create_symlink ${PROJECT_SOURCE_DIR}/node_scripts/${SUB_DIR} ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/node_scripts/${SUB_DIR})
+    add_dependencies(link_dir_${SUB_DIR} link_dir_mkdir)
+  endforeach()
+endif(CATKIN_DEVEL_PREFIX)
 endif()
 
-
 # ------------------------------------------------------------------------------------
 # Test
 # ------------------------------------------------------------------------------------

jsk_perception/node_scripts/alexnet_object_recognition.py

@@ -30,7 +30,7 @@
 from jsk_recognition_utils.chainermodels import AlexNetBatchNormalization
 import rospy
 from sensor_msgs.msg import Image
-from vgg16_object_recognition import VGG16ObjectRecognition
+from jsk_perception.vgg16_object_recognition import VGG16ObjectRecognition
 
 
 class AlexNetObjectRecognition(VGG16ObjectRecognition):

jsk_perception/node_scripts/binpack_rect_array.py

@@ -24,6 +24,8 @@ def width_cmp(self, another):
         return self.rect.width - another.rect.width
     def __cmp__(self, another): # python2
         return self.max_cmp(another) or self.min_cmp(another) or self.height_cmp(another) or self.width_cmp(another) or 0
+    def __lt__(self, another): # python3
+        return self.max_cmp(another) or self.min_cmp(another) or self.height_cmp(another) or self.width_cmp(another) or 0
 
 class Packer():
     def __init__(self):

jsk_perception/node_scripts/bof_histogram_extractor.py

@@ -5,8 +5,12 @@
 """
 
 import gzip
-import cPickle as pickle
-from distutils.version import StrictVersion
+import sys
+if sys.version_info.major <= 2:
+    import cPickle as pickle
+else:  # for python3
+    import _pickle as pickle
+from distutils.version import LooseVersion
 from pkg_resources import get_distribution
 
 import numpy as np
@@ -34,14 +38,20 @@ def __init__(self):
         if bof_data is None:
             quit()
         with gzip.open(bof_data, 'rb') as f:
-            self.bof = pickle.load(f)
-        if (StrictVersion(get_distribution('scikit-learn').version) >=
-                StrictVersion('0.17.0')):
+            if sys.version_info.major <= 2:
+                self.bof = pickle.load(f)
+            else:
+                self.bof = pickle.load(f, encoding='latin1')
+        if (LooseVersion(get_distribution('scikit-learn').version) >=
+                LooseVersion('0.17')):
             if 'n_jobs' not in self.bof.nn.__dict__ or not isinstance(self.bof.nn.n_jobs, int):
                 # In scikit-learn>=0.17.0,
                 # sklearn.neighbors.NearestNeighbors needs 'n_jobs' attribute.
                 # https://github.com/jsk-ros-pkg/jsk_recognition/issues/1669
                 self.bof.nn.n_jobs = 1
+        # noetic uses newer scikit-learn which uses n_samples_fit_
+        if 'n_ssamples_fit_' not in self.bof.nn.__dict__:
+            self.bof.nn.n_samples_fit_ = self.bof.nn._fit_X.shape[0]
 
         self._pub = self.advertise('~output', VectorArray, queue_size=1)
         rospy.loginfo('Initialized BoF histogram extractor')
@@ -79,7 +89,7 @@ def _apply(self, feature_msg, label_msg):
         decomposed = decompose_descriptors_with_label(
             descriptors=desc, positions=pos, label_img=label,
             skip_zero_label=True)
-        X = np.array(decomposed.values())
+        X = np.array(list(decomposed.values()))
         if X.size == 0:
             return
         X = self.bof.transform(X)