Refactor and simplify, replace argparse with click, add unit tests, change some topics & TFs

[valgur]

This PR touches nearly all parts of the code more or less. The main changes are:

• Cleaner separation of raw and odom code. Moved all raw/odom specific code out of the message creation functions. pykitti helped a lot here by abstracting away many of the small differences between the datasets.
• Replaced argparse with click. Click allows the raw and odom dataset handling to be moved to separate sub-commands with different parameters, e.g. kitti2bag odom --color gray --sequence 1. Click is also more convenient to write tests against.
• Added unit tests. The tests download and cache a single synced raw drive and calibrations to run tests against. Odometry dataset is somewhat faked by using camera images from the raw drive. The unit tests verify that the program runs without errors and that the output is reasonable - that expected topics exist with the correct number of messages. The tests can be run via python setup.py test or pytest in the repo root.
• Made the ROS distro configurable in Dockerfile. Changed the base image to 'perception' since it contains all the required packages and the resulting full image size is nearly the same (~1.2 GB) but the Dockerfile builds much faster.
• Use the Dockerfile for running tests in Travis-CI. Configured Travis to test all of the recent ROS distros (with the exception of Indigo, where the Python version is too old for some dependencies and I don't see much point in trying to support it).
• Fixed a setup.py installation issue (the required packages parameter was not provoided). I think this fixes the occasional issue noted in the readme when kitti2bag is installed in non-editable mode.
• The odom dataset handling was quite broken with newer pykitti versions.

I also introduced some changes to the created bags:

• Adjusted the information in CameraInfo to follow the ROS conventions for it:
  • Set the camera TF frames to the common rectified camera frame (that is, the frame of rectified camera 0). No pose information is lost since the pose of the cameras relative to the rectified camera frame is encoded in each camera's projection matrix P. The stereo_image_proc package expects this convention to be followed, in particular.
  • Renamed the RGB camera topics to 'image_rect_color'.
  • Set the rectifying rotation matrix R to identity since the cameras are already rectified.
  • Do not include the distortion parameters D, since the images are already undistorted.

• Renamed 'camera_gray_left' -> 'camera_gray/left', etc. so the camera topics can be used more easily with stereo_image_proc.
• Changed the dynamic TF frame id from base_link to imu_link which makes more sense to me since the data describes the IMU rather than the vehicle base (related to Problem with OXTS and transforms #24, Set OXTS poses to be in imu_link frame #25). Also corrected the dynamic TF frame id for odom to match the camera0 tf name used elsewhere.

I hope I'm not causing too much of a headache by modifying such a large chunk of code at once. Feel free to let me know if you don't agree with any changes or would like to see something implemented differently.

[valgur]

Here's a minimal launch file to demo stereo_image_proc working after the camera topic adjustments:

<launch>
  <arg name="manager" default="disp_manager"/>

  <group ns="/kitti/camera_gray">
    <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen"/>
    <node pkg="nodelet" type="nodelet" name="disparity" output="screen"
          args="load stereo_image_proc/disparity $(arg manager)">
      <param name="approximate_sync" value="true"/>
    </node>
    <node pkg="nodelet" type="nodelet" name="point_cloud2" output="screen"
          args="load stereo_image_proc/point_cloud2 $(arg manager)">
      <remap from="left/image_rect_color" to="/kitti/camera_color/left/image_rect_color"/>
      <param name="approximate_sync"      value="true"/>
    </node>
  </group>

  <node pkg="image_view" type="stereo_view" name="stereo_view" output="screen">
    <remap from="stereo" to="/kitti/camera_gray"/>
    <remap from="image" to="image_rect"/>
    <param name="approximate_sync" value="true"/>
  </node>
</launch>

[tomas789]

This PR looks like a great improvement. I went through the code quickly and it looks good to me. I especially like the dockerization of it as it adds a path to avoid the installation-related issues. I'm struggling a bit with why did you decide to go with the click instead of the built-in argparse as they both can do basically the same stuff but why not.

I will not be able to test the code but I'm happy to approve if somebody else says they tried and it worked. Or if you know somebody that could verify, I will add them as collaborators and they can approve that too.

Also, could you update the README.md file with examples on how to run it (preferably add an option without having to use the Docker as some guys might not be that familiar with that)?

[valgur]

why did you decide to go with the click instead of the built-in argparse

They are pretty similar, I agree. The main reasons why I preferred click:

• The CLI can be used as a Python API as well since click defines the arguments as parameters to a function. My goal was to separate the raw and odom related code to separate functions anyway and this aligned well with click's subcommands.
• Click provides a test runner, something that is lacking from argparse. This is a lot more convenient to use (the CLI output and exceptions are captured automatically, for example) and robust than the alternatives, like creating a subprocess to test the CLI.
• I simply like click's API design and functionality better, personally.

[valgur]

I don't have any third parties to invite to review the code right now besides some colleagues, but that would not help much, I think.

I think most of the changes are fairly straightforward. The only change I'm not 100% sure about is the dynamic TF frame change from 'base_link' to 'imu_link'. I would like to reproduce the issue #11 and see if this change fixes it.

I'll update the readme later today. I think adding a changelog file would be a very good idea as well.