1.2.0 (2010-07-22)

camera_calibration:

• Removed bogus C flags from manifest (<<Ticket(ros-pkg 4161)>>).

image_proc:

• Fixed possible crash when changing the encoding of the raw image stream (<<Ticket(ros-pkg 4252)>>).

stereo_image_proc:

• Made some methods of StereoProcessor public so e.g. a Videre STOC driver can user them.

1.1.6 (2010-06-01)

camera_calibration:

• Fixed to work with arbitrary size images, not only 640x480.
• Regression tests for multiple image sizes.
• Fixed cosmetic problem in update of small images.

1.1.5 (2010-05-23)

New package image_rotate, for visualizing camera streams in an orientation that is more intuitive to the user than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.

stereo_image_proc:

• Removed WG block matcher option. OpenCV's implementation is always used.

camera_calibration:

• Mono calibration now reports linear error of the rectified checkerboard corners (<<Ticket(ros-pkg 4035)>>).

1.1.4 (2010-04-27)

camera_calibration:

• Updated cameracheck to work with stricter topic name checking (#4036).

1.1.3 (2010-04-26)

This release includes bug-fixes from 1.0.1 and 1.0.2. Other changes listed below.

camera_calibration:

• camera_hammer utility for testing a set_camera_info service call.

image_view:

• Workaround for exiting when the user closes the window on Linux systems (#3026).
• Source files and executables now go in src/ and bin/ (#3978).

1.1.2 (2010-04-12)

stereo_image_proc:

• Force min_disparity to be zero when using WG block matcher, which doesn't support non-zero values.
• Explicitly zero out border pixels that tend to have junk when using OpenCV block matcher. (Probably fixed in more recent revisions of OpenCV)
• Made OpenCV the default block matcher, preparing to remove WG reference implementation.

image_proc:

• Specific error message on receiving image with ambiguous 8UC3 encoding.

camera_calibration:

• Can initialize calibrators from CameraInfo messages (#3891).

1.1.1 (2010-03-12)

• Changed default stereo_image_proc settings to give good stereo results on PR2 data.

1.1 (2010-03-10)

camera_calibration:

• calibration no longer makes buggy assumptions about corner spacing always being .108m
• Added a simple calibration script (camera_calibrate_from_disk.py) that loads a set of images from disk and performs monocular calibration returning the camera intrinsics.
• Set projection matrix P correctly in monocular calibration.

image_proc:

• Warn if color topic requested but raw image data is grayscale.

stereo_image_proc:

• Allow using either the OpenCV block matcher or the Willow Garage reference implementation. Should give roughly the same results with vision_opencv 1.1 or greater.

• Added points2 topic with the new sensor_msgs/PointCloud2 format.

• Upped texture_threshold maximum to 10000; high values needed for simulated stereo images.

1.0.4 (2010-06-01)

Back-ports bug-fixes to camera_calibration in 1.1.5 and 1.1.6.

1.0.3 (2010-04-27)

camera_calibration:

• Updated cameracheck to work with stricter topic name checking (#4036).

1.0.2 (2010-04-19)

This Boxturtle release includes further fixes to camera_calibration:

• Fixed incorrect detecting of camera remaps (#3989).
• Throw error when settings camera info fails (r28790).
• Correctly lay out window for images smaller than 640x480 (r28852).

1.0.1 (2010-04-14)

This release back-ports several important bug fixes from 1.1 development to Boxturtle, as well as some improved error reporting.

camera_calibration:

• Monocular calibration now sets the projection matrix P correctly (#3684, #3975).
• Removed hard-coded assumptions about corner spacing.
• Calibration with smaller than 640x480 images (#3951).
• Wait for set_camera_info service at startup, error if it doesn't become available (#3977).
• Throw out images with corners very close to the image edges; can cause bad calibration (#3980).
• Only allow Save/Upload when calibration is done (#3934, #3956).

image_proc:

• Warn if color topic requested but raw image data is grayscale.

• Specific error message when receiving an image with ambiguous encoding 8UC3 (#3941).

1.0 (2010-01-18)

• 1.0 Release!

0.9 (2010-01-11)

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.

0.1.1 (2009-12-23)

• Release to support higher-level stacks that are in stable release process. Repository location moved to https://code.ros.org/svn/ros-pkg/stacks/image_pipeline/