[jsk_perception] Add tile_images.py #1192

wkentaro · 2015-10-03T17:19:56Z

$ roslaunch jsk_perception tile_images.launch

wkentaro · 2015-10-03T17:23:03Z

CLI

$ rosrun jsk_perception tile_images.py _input_topics:='[img1/output, img2/output]'

wkentaro · 2015-10-04T08:40:06Z

[opencv_apps] Scanning dependencies of target opencv_apps_generate_messages
[opencv_apps] [ 93%] Built target opencv_apps_generate_messages
[opencv_apps] [ 93%] [ 94%] Building CXX object CMakeFiles/opencv_apps.dir/src/nodelet/contour_moments_nodelet.cpp.o
[opencv_apps] Building CXX object CMakeFiles/opencv_apps.dir/src/nodelet/face_detection_nodelet.cpp.o
[opencv_apps] [ 94%] Building CXX object CMakeFiles/opencv_apps.dir/src/nodelet/goodfeature_track_nodelet.cpp.o
[jsk_pcl_ros] -- jsk_pcl_ros: 0 messages, 17 services
[opencv_apps] [ 95%] [ 95%] Building CXX object CMakeFiles/opencv_apps.dir/src/nodelet/camshift_nodelet.cpp.o
[opencv_apps] Building CXX object CMakeFiles/opencv_apps.dir/src/nodelet/simple_example_nodelet.cpp.o
[jsk_pcl_ros] flags:   -Wno-deprecated -fopenmp
[opencv_apps] [ 96%] Building CXX object CMakeFiles/opencv_apps.dir/src/nodelet/simple_compressed_example_nodelet.cpp.o
[jsk_pcl_ros] -- Configuring done
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:79:22: error: 'CompressedImageConstPtr' in namespace 'sensor_msgs' does not name a type
[opencv_apps]    void imageCb(const sensor_msgs::CompressedImageConstPtr& msg)
[opencv_apps]                       ^
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:79:60: error: ISO C++ forbids declaration of 'msg' with no type [-fpermissive]
[opencv_apps]    void imageCb(const sensor_msgs::CompressedImageConstPtr& msg)
[opencv_apps]                                                             ^
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp: In constructor 'simple_compressed_example::ImageConverter::ImageConverter()':
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:69:32: error: 'CompressedImage' is not a member of 'sensor_msgs'
[opencv_apps]      image_pub_ = nh_.advertise<sensor_msgs::CompressedImage>("/image_converter/output_video/compressed", 1);
[opencv_apps]                                 ^
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:69:32: error: 'CompressedImage' is not a member of 'sensor_msgs'
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:69:107: error: no matching function for call to 'ros::NodeHandle::advertise(const char [41], int)'
[opencv_apps]      image_pub_ = nh_.advertise<sensor_msgs::CompressedImage>("/image_converter/output_video/compressed", 1);
[opencv_apps]                                                                                                            ^
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:69:107: note: candidates are:
[opencv_apps] In file included from /opt/ros/indigo/include/ros/ros.h:45:0,
[opencv_apps]                  from /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:40:
[opencv_apps] /opt/ros/indigo/include/ros/node_handle.h:236:15: note: template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, bool)
[opencv_apps]      Publisher advertise(const std::string& topic, uint32_t queue_size, bool latch = false)
[opencv_apps]                ^
[opencv_apps] /opt/ros/indigo/include/ros/node_handle.h:236:15: note:   template argument deduction/substitution failed:
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:69:107: error: template argument 1 is invalid
[opencv_apps]      image_pub_ = nh_.advertise<sensor_msgs::CompressedImage>("/image_converter/output_video/compressed", 1);
[opencv_apps]                                                                                                            ^
[opencv_apps] In file included from /opt/ros/indigo/include/ros/ros.h:45:0,
[opencv_apps]                  from /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:40:
[opencv_apps] /opt/ros/indigo/include/ros/node_handle.h:302:13: note: template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, const SubscriberStatusCallback&, const SubscriberStatusCallback&, const VoidConstPtr&, bool)
[opencv_apps]    Publisher advertise(const std::string& topic, uint32_t queue_size,
[opencv_apps]              ^
[opencv_apps] /opt/ros/indigo/include/ros/node_handle.h:302:13: note:   template argument deduction/substitution failed:
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:69:107: error: template argument 1 is invalid
[opencv_apps]      image_pub_ = nh_.advertise<sensor_msgs::CompressedImage>("/image_converter/output_video/compressed", 1);
[opencv_apps]                                                                                                            ^
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp: In member function 'void simple_compressed_example::ImageConverter::imageCb(const int&)':
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:84:75: error: no matching function for call to 'toCvCopy(const int&, const string&)'
[opencv_apps]        cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
[opencv_apps]                                                                            ^
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:84:75: note: candidates are:
[opencv_apps] In file included from /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:44:0:
[opencv_apps] /opt/ros/indigo/include/cv_bridge/cv_bridge.h:126:12: note: cv_bridge::CvImagePtr cv_bridge::toCvCopy(const ImageConstPtr&, const string&)
[opencv_apps]  CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr& source,
[opencv_apps]             ^
[opencv_apps] /opt/ros/indigo/include/cv_bridge/cv_bridge.h:126:12: note:   no known conversion for argument 1 from 'const int' to 'const ImageConstPtr& {aka const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >&}'
[opencv_apps] /opt/ros/indigo/include/cv_bridge/cv_bridge.h:148:12: note: cv_bridge::CvImagePtr cv_bridge::toCvCopy(const Image&, const string&)
[opencv_apps]  CvImagePtr toCvCopy(const sensor_msgs::Image& source,
[opencv_apps]             ^
[opencv_apps] /opt/ros/indigo/include/cv_bridge/cv_bridge.h:148:12: note:   no known conversion for argument 1 from 'const int' to 'const Image& {aka const sensor_msgs::Image_<std::allocator<void> >&}'
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:101:32: error: 'class cv_bridge::CvImage' has no member named 'toCompressedImageMsg'
[opencv_apps]      image_pub_.publish(cv_ptr->toCompressedImageMsg());
[opencv_apps]                                 ^
[opencv_apps] In file included from /opt/ros/indigo/include/ros/serialization.h:37:0,
[opencv_apps]                  from /opt/ros/indigo/include/ros/publisher.h:34,
[opencv_apps]                  from /opt/ros/indigo/include/ros/node_handle.h:32,
[opencv_apps]                  from /opt/ros/indigo/include/ros/ros.h:45,
[opencv_apps]                  from /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:40:
[opencv_apps] /opt/ros/indigo/include/ros/message_traits.h: In instantiation of 'static const char* ros::message_traits::MD5Sum<M>::value() [with M = int]':
[opencv_apps] /opt/ros/indigo/include/ros/message_traits.h:228:103:   required from 'const char* ros::message_traits::md5sum() [with M = int]'
[opencv_apps] /opt/ros/indigo/include/ros/subscribe_options.h:89:50:   required from 'void ros::SubscribeOptions::initByFullCallbackType(const string&, uint32_t, const boost::function<void(P)>&, const boost::function<boost::shared_ptr<typename ros::ParameterAdapter<P>::Message>()>&) [with P = const int&; std::string = std::basic_string<char>; uint32_t = unsigned int; typename ros::ParameterAdapter<P>::Message = int]'
[opencv_apps] /opt/ros/indigo/include/ros/node_handle.h:393:5:   required from 'ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M), T*, const ros::TransportHints&) [with M = const int&; T = simple_compressed_example::ImageConverter; std::string = std::basic_string<char>; uint32_t = unsigned int]'
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:68:42:   required from here
[opencv_apps] /opt/ros/indigo/include/ros/message_traits.h:121:29: error: '__s_getMD5Sum' is not a member of 'int'
[opencv_apps]      return M::__s_getMD5Sum().c_str();
[opencv_apps]                              ^
[opencv_apps] /opt/ros/indigo/include/ros/message_traits.h: In instantiation of 'static const char* ros::message_traits::DataType<M>::value() [with M = int]':
[opencv_apps] /opt/ros/indigo/include/ros/message_traits.h:237:105:   required from 'const char* ros::message_traits::datatype() [with M = int]'
[opencv_apps] /opt/ros/indigo/include/ros/subscribe_options.h:90:54:   required from 'void ros::SubscribeOptions::initByFullCallbackType(const string&, uint32_t, const boost::function<void(P)>&, const boost::function<boost::shared_ptr<typename ros::ParameterAdapter<P>::Message>()>&) [with P = const int&; std::string = std::basic_string<char>; uint32_t = unsigned int; typename ros::ParameterAdapter<P>::Message = int]'
[opencv_apps] /opt/ros/indigo/include/ros/node_handle.h:393:5:   required from 'ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M), T*, const ros::TransportHints&) [with M = const int&; T = simple_compressed_example::ImageConverter; std::string = std::basic_string<char>; uint32_t = unsigned int]'
[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:68:42:   required from here
[opencv_apps] /opt/ros/indigo/include/ros/message_traits.h:138:31: error: '__s_getDataType' is not a member of 'int'
[opencv_apps]      return M::__s_getDataType().c_str();
[opencv_apps]                                ^
[opencv_apps] make[2]: *** [CMakeFiles/opencv_apps.dir/src/nodelet/simple_compressed_example_nodelet.cpp.o] Error 1
[opencv_apps] make[2]: *** Waiting for unfinished jobs....
[opencv_apps] [ 96%] Building CXX object CMakeFiles/opencv_apps.dir/src/nodelet/fback_flow_nodelet.cpp.o
[opencv_apps] make[1]: *** [CMakeFiles/opencv_apps.dir/all] Error 2
[opencv_apps] <== '/workspace/ros/ws_jsk_recognition/build/opencv_apps/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' failed with return code '2'
Failed   <== opencv_apps             [ 1 minute and 44.7 seconds ]

wkentaro · 2015-10-04T10:41:32Z

about travis test::

restarted
fixed
no idea why I had error at first time

k-okada · 2015-10-05T00:33:34Z

[opencv_apps] /workspace/ros/ws_jsk_recognition/src/vision_opencv/opencv_apps/src/nodelet/simple_compressed_example_nodelet.cpp:79:22: error: 'CompressedImageConstPtr' in namespace 'sensor_msgs' does not name a type

something wrong on opencv_apps

wkentaro · 2015-10-05T06:16:19Z

yeah, but why the test passes at second time?

garaemon · 2015-10-05T06:18:43Z

Is dependency not correct?

garaemon · 2015-10-05T06:19:44Z

opencv_apps depends on geometry_msgs
https://github.com/ros-perception/vision_opencv/blob/indigo/opencv_apps/CMakeLists.txt#L70
https://github.com/ros-perception/vision_opencv/blob/indigo/opencv_apps/CMakeLists.txt#L4

No dependency to sensor_msgs

wkentaro · 2015-10-05T06:23:52Z

opencv_apps depends on image_transport.
https://github.com/ros-perception/vision_opencv/blob/indigo/opencv_apps/package.xml#L16

and imag_transport depends on sensor_msgs.

% rospack depends image_transport | grep sensor_msgs
sensor_msgs

garaemon · 2015-10-05T06:26:46Z

needs to depend on sensor_msgs_gencpp?

[jsk_perception] Add tile_images.py

k-okada · 2015-10-05T10:44:39Z

yeah, but why the test passes at second time?

You mean it failed in the first time, but after restarting travis, then it passed.
In that case, it is most likely that travis failed to install ros-indigo-sensor-msgs due to sync of the ros repository.

they use rosdep install -r at https://github.com/jsk-ros-pkg/jsk_travis/blob/master/rosdep-install.sh#L6

  -r                    Continue installing despite errors.

wkentaro · 2015-10-05T10:48:48Z

What can we do to avoid this kind of test failure? Or get to know quickly why test fails?

garaemon · 2015-10-05T12:50:42Z

I think apt-get succeeded because catkin should raise error if sensor_msgs package is not found.

k-okada · 2015-10-05T12:53:19Z

yeah, you're right. so that's might be different reason.

◉ Kei Okada

On Mon, Oct 5, 2015 at 9:50 PM, Ryohei Ueda notifications@github.com
wrote:

I think apt-get succeeded because catkin should raise error if sensor_msgs
package is not found.

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garaemon · 2015-10-05T13:17:00Z

it looks sensor_msgs/CompressedImage.h header exists but sensor_msgs::CompressedImageConstPtr type does not exist.

If we use catkin_make, this kind of asynchronous error may occur but now we use catkin_tools.
I believe catkin_tools always compiles packages in isolated manner.

garaemon · 2015-10-05T13:37:41Z

hmm, no idea

http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/trusty-travis-jsk-ros-pkg-jsk_recognition-indigo-deb-true-ros-indigo-opencv3-true/77/consoleFull

k-okada · 2015-10-05T14:22:17Z

I see, we need to latest cv_bridge to compile src code of opencv_apps,
ros-perception/vision_opencv@9a196a0

◉ Kei Okada

On Mon, Oct 5, 2015 at 10:37 PM, Ryohei Ueda notifications@github.com
wrote:

hmm, no idea

http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/trusty-travis-jsk-ros-pkg-jsk_recognition-indigo-deb-true-ros-indigo-opencv3-true/77/consoleFull

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k-okada · 2015-10-05T14:22:47Z

add allow_failures until they release new version?

◉ Kei Okada

On Mon, Oct 5, 2015 at 11:21 PM, Kei Okada k-okada@jsk.t.u-tokyo.ac.jp
wrote:

I see, we need to latest cv_bridge to compile src code of opencv_apps,

ros-perception/vision_opencv@9a196a0

◉ Kei Okada

On Mon, Oct 5, 2015 at 10:37 PM, Ryohei Ueda notifications@github.com
wrote:

hmm, no idea

http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/trusty-travis-jsk-ros-pkg-jsk_recognition-indigo-deb-true-ros-indigo-opencv3-true/77/consoleFull

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garaemon · 2015-10-05T14:26:02Z

We clone the latest visuon_opencv on jenkins, don't we?

2015年10月5日月曜日、Kei Okadanotifications@github.comさんは書きました:

add allow_failures until they release new version?

◉ Kei Okada

On Mon, Oct 5, 2015 at 11:21 PM, Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp
javascript:_e(%7B%7D,'cvml','k-okada@jsk.t.u-tokyo.ac.jp');>
wrote:

I see, we need to latest cv_bridge to compile src code of opencv_apps,

ros-perception/vision_opencv@9a196a0

◉ Kei Okada

On Mon, Oct 5, 2015 at 10:37 PM, Ryohei Ueda <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

hmm, no idea

http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/trusty-travis-jsk-ros-pkg-jsk_recognition-indigo-deb-true-ros-indigo-opencv3-true/77/consoleFull

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#1192 (comment)

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✉︎ from iPhone

k-okada · 2015-10-05T14:28:57Z

Yes but we did not compile cv_bridge, may be to reduce compile time

◉ Kei Okada

2015/10/05 23:26、Ryohei Ueda notifications@github.com のメッセージ:

We clone the latest visuon_opencv on jenkins, don't we?

2015年10月5日月曜日、Kei Okadanotifications@github.comさんは書きました:

add allow_failures until they release new version?

◉ Kei Okada

On Mon, Oct 5, 2015 at 11:21 PM, Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp
javascript:_e(%7B%7D,'cvml','k-okada@jsk.t.u-tokyo.ac.jp');>
wrote:

I see, we need to latest cv_bridge to compile src code of opencv_apps,

ros-perception/vision_opencv@9a196a0

◉ Kei Okada

On Mon, Oct 5, 2015 at 10:37 PM, Ryohei Ueda <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

hmm, no idea

http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/trusty-travis-jsk-ros-pkg-jsk_recognition-indigo-deb-true-ros-indigo-opencv3-true/77/consoleFull

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#1192 (comment)

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#1192 (comment)
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garaemon · 2015-10-06T02:22:04Z

cv_bridge should be compiled.

http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/trusty-travis-jsk-ros-pkg-jsk_recognition-indigo-deb-true-ros-indigo-opencv3-true/77/consoleFull

wkentaro force-pushed the tile-images branch 2 times, most recently from 4e7abef to be2e813 Compare October 3, 2015 17:22

[jsk_perception] Add tile_images.py

c1300f1

wkentaro force-pushed the tile-images branch from be2e813 to c1300f1 Compare October 3, 2015 17:56

garaemon added a commit that referenced this pull request Oct 5, 2015

Merge pull request #1192 from wkentaro/tile-images

44fb3cf

[jsk_perception] Add tile_images.py

garaemon merged commit 44fb3cf into jsk-ros-pkg:master Oct 5, 2015

wkentaro deleted the tile-images branch October 5, 2015 10:08

wkentaro mentioned this pull request Oct 5, 2015

Pretty output of test failure which is good for contributors to view jsk-ros-pkg/jsk_travis#159

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garaemon mentioned this pull request Oct 9, 2015

[jsk_pcl_ros] use target_link_libraries instead of link_libraries #1199

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[jsk_perception] Add tile_images.py #1192

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[jsk_perception] Add tile_images.py #1192

[jsk_perception] Add tile_images.py #1192

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