1.5.2 (2011-07-21)

image_proc

• Fixes to YUV422 conversion.

• Crop-decimate nodelet wasn't registered.

1.5.1 (2011-07-17)

camera_calibration

• Use optimal new camera matrix in monocular calibration. This optimizes the viewport, so that the rectified image contains the maximum amount of good data. Note: P can now differ from K for monocular cameras!

• New sampling heuristic for selecting checkerboards: add a sample only if it's sufficiently different from every previous sample. Sample set is "good enough" if each individual parameter has adequate coverage.

• Added options to control calibration optimizer. Can now use rational polynomial model for high-distortion cameras. <<Ticket(ros-pkg 4853)>>

• Better visual feedback with color coding for parameter bars.
• After calibration, show linear error and checkerboard on rectified image.
• Fixed bug where alpha setting was ignored for monocular calibration.
• Improved skew measurement.
• Size measurement now based on accurate area calculation.

• No longer reward far away checkerboards or little skew. <<Ticket(ros-pkg 4054)>>

• Improved robustness of subpixel refinement of detected checkerboard corners.
• Use fast initial check to try to avoid slowdown when no checkerboard is visible.

image_proc

• New crop-decimate nodelet for simulating binning and ROI in software.
• Debayer nodelet

  • Can choose debayering algorithm via dynamic_reconfigure, one of:

    • Bilinear - the default fast algorithm.
    • VNG (new) - Variable Number of Gradients. A slow but high quality algorithm.

    • Edge-aware and edge-aware weighted (new) - slightly slower than bilinear, but mostly avoid "zipper" artifacts on edges. These algorithms were written for the Kinect and are not yet integrated into OpenCV, so they only support GRBG8 in this release.

  • Supports new 16-bit encodings and RGBA/BGRA encodings.

  • Supports YUV422 encoding.

  • Direct Bayer->gray conversion instead of Bayer->BGR->gray.

• Rectify nodelet

  • Can choose interpolation algorithm via dynamic_reconfigure.

image_view

• Changed handling of floating point images to generally see something reasonable even when the image is not scaled to [0.0, 1.0].

1.5.0 (2011-05-27)

camera_calibration

• Sped up corner detection on high-res image by performing detection on smaller version.

image_proc

• Debayer nodelet passes through MONO16 images.

• Parameter for interpolation method when rectifying.

stereo_image_proc

• Fill out valid_window field in disparity images. <<Ticket(ros-pkg 4973)>>

image_rotate

• Fix to remove ambiguous color encodings. <<Ticket(ros-pkg 4913)>>