Vision library is now a ros package, so that catkin_make compiles eve…

…rything.
dsgou · May 9, 2016 · 4e5973b · 4e5973b
1 parent 38b8bd5
commit 4e5973b
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Showing 11 changed files with 82 additions and 21 deletions.
diff --git a/README.md b/README.md
@@ -24,7 +24,7 @@ their movement and physique(e.g. height).
  * Input : 
   	   * RGB image
 	   * RGB image difference
-	   * depth image difference
+	   * depth image
 	   * depth image difference
 * **ros_visual**
  * Description: High level package to help launch all the nodes and automate the process, only contains launch files
@@ -70,13 +70,7 @@ their movement and physique(e.g. height).
 * Copy this project in ```~/catkin_ws/src```
 * Install Alglib (clustering for depth estimation), in case the stdafx.h file needed is not in /usr/include/
 check where your system has  stored it and add the directory in the CMAkeList.txt link_directories()
-* Install the vision library
 
-  ```
-    cd ~/catkin_ws/src/vision
-    cmake .
-    sudo make install
-  ```
 * Run in terminal: 
 
   ```

diff --git a/chroma/CMakeLists.txt b/chroma/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(OpenCV REQUIRED)
+find_package(vision REQUIRED)
 
 catkin_package()
 
@@ -22,6 +23,7 @@ include_directories(
   /usr/include/
   ${catkin_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
+  ${vision_INCLUDE_DIRS}
 )
 
 
@@ -36,5 +38,5 @@ add_executable(chroma ${SRC_LIST})
 target_link_libraries(${PROJECT_NAME} 
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
-  libvision.so
+  ${vision_LIBRARIES}
 )
diff --git a/chroma/package.xml b/chroma/package.xml
@@ -41,6 +41,8 @@
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>roscpp</build_depend>
+  <run_depend>roscpp</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

diff --git a/depth/CMakeLists.txt b/depth/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(OpenCV REQUIRED)
+find_package(vision REQUIRED)
 
 catkin_package()
 
@@ -25,6 +26,7 @@ include_directories(
   /usr/include/
   ${catkin_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
+  ${vision_INCLUDE_DIRS}
 )
 
 link_directories(
@@ -38,6 +40,7 @@ add_executable(depth ${SRC_LIST})
 target_link_libraries(${PROJECT_NAME} 
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
-  libvision.so
+  ${vision_LIBRARIES}  
+#libvision.so
 )
 
diff --git a/depth/package.xml b/depth/package.xml
@@ -41,10 +41,14 @@
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>roscpp</build_depend>
+  <build_depend>vision</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>vision</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
 
   </export>
-</package>
+</package>
diff --git a/fusion/CMakeLists.txt b/fusion/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(OpenCV REQUIRED)
+find_package(vision REQUIRED)
 
 catkin_package()
 
@@ -25,6 +26,7 @@ include_directories(
   /usr/include/
   ${catkin_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
+  ${vision_INCLUDE_DIRS}
 )
 
 link_directories(
@@ -39,6 +41,6 @@ add_executable(fusion ${SRC_LIST})
 target_link_libraries(${PROJECT_NAME} 
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
-  libvision.so
+  ${vision_LIBRARIES}
 )
 
diff --git a/fusion/package.xml b/fusion/package.xml
@@ -41,10 +41,13 @@
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>roscpp</build_depend>
+  <run_depend>roscpp</run_depend>
+
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
 
   </export>
-</package>
+</package>
diff --git a/ros_visual/launch/config.xml → ros_visual/launch/config.launch b/ros_visual/launch/config.xml → ros_visual/launch/config.launch
@@ -7,7 +7,7 @@
 	<arg name="depth_out_dif_topic"  default="/depth_proc/image_dif"/>
 	<arg name="project_path" default="$(find ros_visual)" />
 	<arg name="playback_topics"  default="false"/>
-	<arg name="write_csv"  default="true"/>
+	<arg name="write_csv"  default="false"/>
 	<arg name="display"  default="false"/>
 	<arg name="min_depth"  default="0"/>
 	<arg name="max_depth"  default="6000"/>

diff --git a/ros_visual/package.xml b/ros_visual/package.xml
@@ -40,6 +40,8 @@
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <run_depend>roscpp</run_depend>
   <run_depend>chroma</run_depend>
   <run_depend>depth</run_depend>
   <run_depend>fusion</run_depend>

diff --git a/vision/CMakeLists.txt b/vision/CMakeLists.txt
@@ -6,6 +6,9 @@ set(CMAKE_BUILD_TYPE Release)
 
 find_package(OpenCV REQUIRED)
 
+catkin_package(INCLUDE_DIRS include
+               LIBRARIES vision)
+
 include_directories(
   include
   /usr/include/
@@ -29,12 +32,6 @@ target_link_libraries(${PROJECT_NAME}
   alglib
 )
 
-install(TARGETS vision DESTINATION /usr/local/lib)
-install(FILES ${HEADERS} DESTINATION include)
-
-
-
-
-
-
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
diff --git a/vision/package.xml b/vision/package.xml
@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<package>
+  <name>vision</name>
+  <version>0.0.0</version>
+  <description>The vision package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">dimitris</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/fusion</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <run_depend>roscpp</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>