succesfully migrated to ubuntu 16 and ros kinetic

dsgou · May 17, 2016 · 822fcd4 · 822fcd4
1 parent 0cc1b9c
commit 822fcd4
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Showing 8 changed files with 25 additions and 33 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,3 @@
 **/~*
 *.swp
-
+**/sessions/
diff --git a/chroma/package.xml b/chroma/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>chroma</name>
   <version>0.0.0</version>
   <description>The chroma package</description>
@@ -41,11 +41,9 @@
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
-  <build_depend>vision</build_depend>
-
-  <run_depend>vision</run_depend>
-  <run_depend>roscpp</run_depend>
+  <depend>roscpp</depend>
+  <depend>vision</depend>
+
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

diff --git a/chroma/src/chroma.cpp b/chroma/src/chroma.cpp
@@ -70,13 +70,7 @@ void Chroma_processing::imageCb(const sensor_msgs::ImageConstPtr& msg)
 	cur_rgb.convertTo(cur_rgb, -1, 4, 0);
 
 	// gamma correction
-	double inverse_gamma = 1.0 / 2.2;
-
-	Mat lut_matrix(1, 256, CV_8UC1 );
-	uchar * ptr = lut_matrix.ptr();
-	for( int i = 0; i < 256; i++ )
-		ptr[i] = (int)( pow( (double) i / 255.0, inverse_gamma ) * 255.0 );
-	LUT( cur_rgb, lut_matrix, cur_rgb );
+	gammaCorrection(cur_rgb);
 
 
 	// First run variable initialization 

diff --git a/depth/package.xml b/depth/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>depth</name>
   <version>0.0.0</version>
   <description>The depth package</description>
@@ -41,10 +41,8 @@
   <!--   <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>
+  <depend>roscpp</depend>
+  <depend>vision</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

diff --git a/fusion/config/parameters.yaml b/fusion/config/parameters.yaml
@@ -4,8 +4,8 @@ image_topic: "/chroma_proc/image"
 image_dif_topic: "/chroma_proc/image_dif"
 depth_topic: "/depth_proc/image"
 playback_topics: false
-write_csv: true
-display: true
+write_csv: false
+display: false
 min_depth: 0
 max_depth: 6000
 camera_frame: "camera_link"
diff --git a/fusion/package.xml b/fusion/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>fusion</name>
   <version>0.0.0</version>
   <description>The fusion package</description>
@@ -41,13 +41,9 @@
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>vision</build_depend>
-
-  <run_depend>vision</run_depend>  
-  <run_depend>message_runtime</run_depend>
-  <run_depend>roscpp</run_depend>
+  <depend>roscpp</depend>
+  <depend>message_generation</depend>
+  <depend>vision</depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

diff --git a/vision/package.xml b/vision/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>vision</name>
   <version>0.0.0</version>
   <description>The vision package</description>
@@ -41,8 +41,8 @@
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
-  <run_depend>roscpp</run_depend>
+  <depend>roscpp</depend>
+  <depend>opencv</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

diff --git a/vision/src/vision.cpp b/vision/src/vision.cpp
@@ -1365,7 +1365,13 @@ void gammaCorrection(Mat& src)
 	uchar * ptr = lut_matrix.ptr();
 	for( int i = 0; i < 256; i++ )
 		ptr[i] = (int)( pow( (double) i / 255.0, inverse_gamma ) * 255.0 );
-	LUT( src, lut_matrix, src );
+
+	Mat here(1, 256, CV_8UC1 );
+	ptr = here.ptr();
+	for( int i = 0; i < 256; i++ )
+		ptr[i] = 5;
+
+	LUT( here, lut_matrix, here );
 }
 
 /* Clusterizes a given vector