Add MegaPose Implementation to visp_megapose

visp_megapose/.vscode/settings.json

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+{
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "codecvt": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "map": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
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+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
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+        "thread": "cpp",
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+        "concepts": "cpp",
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+        "unordered_set": "cpp",
+        "numbers": "cpp",
+        "ranges": "cpp",
+        "semaphore": "cpp",
+        "stop_token": "cpp",
+        "typeindex": "cpp",
+        "variant": "cpp"
+    }
+}

visp_megapose/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package visp_auto_tracker
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.13.1 (2022-02-20)
+-------------------
+
+0.13.0 (2022-02-16)
+-------------------
+
+0.12.1 (2021-04-22)
+-------------------
+* CMake fixes
+* Contributors: Fabien Spindler
+
+0.12.0 (2021-04-21)
+-------------------
+* Fix warnings detected by catkin_lint
+* Fix warning detected during packaging
+* Update README with Noetic support
+* Use python3 on neotic
+* Fix compat with Ubuntu 20.04
+* Moves tracker_ref_frame from extern to param (#97)
+* Contributors: Fabien Spindler
+
+0.11.0 (2019-05-27)
+-------------------
+* Update with Melodic
+* Fix memory leak
+* Introduce vpMbGenericTracker and visp3 headers in visp_auto_tracker
+* Introduce visp3 headers
+* Code indentation
+* Introduce vpMbGenericTracker
+* Introduce vpHandEyeCalibration class
+* Fix build for melodic (Closes #88)
+* Fix compilation on 17.04 by adding missing boost/format.hpp inclusion
+* Contributors: Fabien Spindler
+
+0.10.0 (2017-02-10)
+-------------------
+* Fix catkin_lint warnings level 2
+* kinetic-0.9.3
+* Prepare changelogs
+* Contributors: Fabien Spindler
+
+0.7.0 (2014-03-12)
+------------------
+* Add flashcode_mbt as subdirectory.
+* Merge visp_auto_tracker as our subdirectory
+* Contributors: Thomas Moulard
+
+0.7.2 (2014-04-07)
+------------------
+* Fix various dependency issues in the CMakeLists.txt and package.xml files
+* :lipstick: Aesthetic changes
+* [visp_auto_tracker] Add missing dependency
+* Add missing dependency to ViSP
+* Fix errors detected with catkin_lint
+* Contributors: Fabien Spindler, Thomas Moulard
+
+0.7.3 (2014-04-10)
+------------------
+* Fix to install models folder
+* indigo-0.7.2
+* Prepare changelogs
+* Contributors: Fabien Spindler
+
+0.8.0 (2015-04-01)
+------------------
+* Remove catkin_lint issues and warnings
+* Fix doc url location
+* Update launch files
+* Comment viewer node. Only interesting when visp_auto_tracker debug_display param is False
+* Improve pose computation using Lagrange and Dementhon methods as initialisation
+* Increase quality value to avoid keypoint detection on the black part of the target
+* Introduce code_message parameter as a comment to show how to use.
+* New parameter "code_message" to specify the target to track from the code message.
+  If this parameter is not set, the code that is tracked is the largest in the image.
+* Add frame_size parameter to the tracker client and viewer nodes that allow to 
+  specify the lenght (in meter) of the frame axis
+* Publish the code message of the tracked target on /visp_auto_tracker/code_message topic.
+  If no target is tracked, publish an empty message.
+  Remove fps printing
+* Fix to publish covariance matrix associated to the pose estimation
+* Fix to publish an empty list of moving edges and klt points on their respective topics
+  when the tracker fails
+* Makes sure klt points that are sent via ros are from visible polygons.
+* Show how to use the viewer with visp_auto_tracker
+* Consider also .cao file to describe the cad model of the object to track with the 
+  hybrid model-based tracker
+* Remove useless include
+* Fix issue https://github.com/lagadic/vision_visp/issues/45 to take into account 
+  model_name parameter set in the launch file.
+* Changes done to use flash code detectors introduced in ViSP 2.10.0 rather than 
+  the one in visp_auto_tracker/flashcode_mbt/detectors.
+* Fix to avoid an OpenCV exception when the object roi is outside the image
+* Fix to run the viewer node
+* Fix to publish camera_info with the images
+* Fix compat with ViSP 2.10.0
+* Update and fix content of README files
+* Download the tutorial-qrcode.bag bag file from a new location that allows the 
+  download without SSL certificate
+* Install visp_auto_tracker/models folder
+* 0.7.3
+* Prepare changelogs
+* Prepare changelogs
+* Contributors: Aurelien Yol, Fabien Spindler
+
+0.9.0 (2015-12-20)
+------------------
+* Fix catkin_lint error and issues
+* Compat with ViSP 3.0.0
+* Fix to build with ViSP 2.10.0 when VISP_BUILD_DEPRECATED=OFF
+* jade-0.8.0
+* Prepare changelogs
+* Contributors: Aurelien Yol, Fabien Spindler
+
+0.9.1 (2015-12-21)
+------------------
+* Revert build_depend visp removal that is mandatory.
+* jade-0.9.0
+* Prepare changelogs
+* Contributors: Fabien Spindler
+
+0.9.3 (2016-05-20)
+------------------
+* Fix CMAKE_CXX_FLAGS as separated list
+* kinetic-0.9.2
+* Contributors: Fabien Spindler
+
+

visp_megapose/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(visp_megapose)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+ament_auto_find_build_dependencies()
+
+set(Boost_INCLUDE_DIR /usr/include/boost)
+set(BOOST_LIBRARYDIR /usr/lib/x86_64-linux-gnu/)
+
+# ignore BOOST deprecated headers
+add_definitions("-DBOOST_ALLOW_DEPRECATED_HEADERS")
+add_definitions("-DBOOST_BIND_GLOBAL_PLACEHOLDERS")
+
+find_package(geometry_msgs REQUIRED)
+find_package(message_filters REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(visp_bridge REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(VISP REQUIRED COMPONENTS visp_core visp_detection dnn_tracker gui io)
+find_package(rclpy REQUIRED)
+find_package(cv_bridge REQUIRED)
+# service message
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/Init.srv"
+  "srv/Track.srv"
+  "srv/Render.srv"
+  DEPENDENCIES std_msgs sensor_msgs geometry_msgs
+)
+# service message
+
+add_executable(megapose_client src/megapose_client.cpp)
+ament_target_dependencies(megapose_client
+ geometry_msgs
+ std_msgs
+ rclcpp
+ sensor_msgs
+ visp_bridge
+ tf2_ros
+ tf2
+ VISP
+ image_transport
+ cv_bridge
+)
+rosidl_get_typesupport_target(cpp_typesupport_target
+  ${PROJECT_NAME} rosidl_typesupport_cpp)
+
+target_link_libraries(megapose_client "${cpp_typesupport_target}")
+install(
+  TARGETS
+  megapose_client
+  DESTINATION lib/${PROJECT_NAME}
+)
+install(PROGRAMS
+  scripts/megapose_server_.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+install(
+    DIRECTORY launch
+    DESTINATION share/${PROJECT_NAME}
+)
+install(
+    DIRECTORY data
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()