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Merge pull request #7 from bmagyar/hydro-devel
Migrated to hydro and catkinized
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| <package> | ||
| <name>blort</name> | ||
| <version>0.0.1</version> | ||
| <description> | ||
| BLORT - The Blocks World Robotic Vision Toolbox. Ported and refactored version of the library. | ||
| Mörwald, T.; Prankl, J.; Richtsfeld, A.; Zillich, M.; Vincze, M. BLORT - The Blocks World Robotic Vision Toolbox Best Practice in 3D Perception and Modeling for Mobile Manipulation (in conjunction with ICRA 2010), 2010. | ||
| </description> | ||
| <maintainer email="bencemagyar@pal-robotics.com">Bence Magyar</maintainer> | ||
| <license>BSD</license> | ||
| <url type="website">http://ros.org/wiki/perception_blort</url> | ||
| <url type="website">http://www.acin.tuwien.ac.at/?id=290</url> | ||
| <author email="moerwald@acin.tuwien.ac.at">Thomas Mörwald</author> | ||
| <author email="zillich@acin.tuwien.ac.at">Michael Zillich</author> | ||
| <author email="arichtsfeld@acin.tuwien.ac.at">Andreas Richtsfeld</author> | ||
| <author email="prankl@acin.tuwien.ac.at">Johann Prankl</author> | ||
| <author email="vincze@acin.tuwien.ac.at"> Markus Vincze</author> | ||
| <author email="bencemagyar@pal-robotics.com">Bence Magyar</author> | ||
| <buildtool_depend>catkin</buildtool_depend> | ||
| <build_depend>roscpp</build_depend> | ||
| <build_depend>opencv2</build_depend> | ||
| <build_depend>geometry_msgs</build_depend> | ||
| <build_depend>sensor_msgs</build_depend> | ||
| <build_depend>tf</build_depend> | ||
| <build_depend>siftgpu</build_depend> | ||
| <build_depend>libglew</build_depend> | ||
| <build_depend>libglew-dev</build_depend> | ||
| <run_depend>roscpp</run_depend> | ||
| <run_depend>opencv2</run_depend> | ||
| <run_depend>geometry_msgs</run_depend> | ||
| <run_depend>sensor_msgs</run_depend> | ||
| <run_depend>tf</run_depend> | ||
| <run_depend>siftgpu</run_depend> | ||
| <run_depend>libglew</run_depend> | ||
| <run_depend>libglew-dev</run_depend> | ||
| <!-- | ||
| opengl | ||
| libglu1 | ||
| --> | ||
| </package> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,66 +1,80 @@ | ||
| cmake_minimum_required(VERSION 2.4.6) | ||
| include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) | ||
| cmake_minimum_required(VERSION 2.8.3) | ||
| project(blort_ros) | ||
|
|
||
| # Set the build type. Options are: | ||
| # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage | ||
| # Debug : w/ debug symbols, w/o optimization | ||
| # Release : w/o debug symbols, w/ optimization | ||
| # RelWithDebInfo : w/ debug symbols, w/ optimization | ||
| # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries | ||
| set(ROS_BUILD_TYPE RelWithDebInfo) | ||
| find_package(catkin REQUIRED COMPONENTS | ||
| blort | ||
| roscpp | ||
| geometry_msgs | ||
| tf | ||
| sensor_msgs | ||
| dynamic_reconfigure | ||
| image_transport | ||
| cv_bridge | ||
| message_generation | ||
| ) | ||
|
|
||
| rosbuild_init() | ||
| find_package(OpenCV REQUIRED) | ||
|
|
||
| #set the default path for built executables to the "bin" directory | ||
| set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) | ||
| #set the default path for built libraries to the "lib" directory | ||
| set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) | ||
| add_message_files( | ||
| FILES | ||
| NameTypeValue.msg | ||
| ObjectPoseList.msg | ||
| ObjectPose.msg | ||
| TrackerConfidences.msg | ||
| TrackerResults.msg | ||
| ) | ||
|
|
||
| #uncomment if you have defined messages | ||
| rosbuild_genmsg() | ||
| #uncomment if you have defined services | ||
| rosbuild_gensrv() | ||
| #add dynamic reconfigure api | ||
| add_service_files( | ||
| FILES | ||
| EstimatePose.srv | ||
| RecoveryCall.srv | ||
| SetCameraInfo.srv | ||
| TrackerCommand.srv | ||
| ) | ||
|
|
||
| rosbuild_find_ros_package(dynamic_reconfigure) | ||
| include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake) | ||
| gencfg() | ||
| generate_messages( | ||
| DEPENDENCIES geometry_msgs sensor_msgs | ||
| ) | ||
|
|
||
| rosbuild_add_executable(learnsifts src/nodes/learnsifts.cpp) | ||
| target_link_libraries(learnsifts siftgpu ${OpenCV_INCLUDE_DIRS}) | ||
| generate_dynamic_reconfigure_options( | ||
| cfg/Tracker.cfg | ||
| cfg/Detector.cfg | ||
| ) | ||
|
|
||
| include_directories(include ${catkin_INCLUDE_DIRS}) | ||
|
|
||
| catkin_package( | ||
| ) | ||
|
|
||
| add_executable(learnsifts src/nodes/learnsifts.cpp) | ||
| target_link_libraries(learnsifts siftgpu ${OpenCV_INCLUDE_DIRS} ${catkin_LIBRARIES}) | ||
| target_link_libraries(learnsifts module_tomgine module_glwindow module_tracker module_threadobject module_recognizer3d) | ||
|
|
||
| rosbuild_add_executable(gltracker_node src/nodes/tracker_node.cpp | ||
| src/trackerinterface.hpp | ||
| src/gltracker.cpp) | ||
| add_executable(gltracker_node src/nodes/tracker_node.cpp | ||
| src/trackerinterface.hpp | ||
| src/gltracker.cpp) | ||
| target_link_libraries(gltracker_node ${OpenCV_INCLUDE_DIRS} | ||
| module_tomgine | ||
| module_tracker | ||
| module_glwindow | ||
| ${catkin_LIBRARIES} | ||
| GLU GL glut X11 rt) | ||
|
|
||
| rosbuild_add_executable(gldetector_node src/nodes/detector_node.cpp | ||
| src/gldetector.cpp) | ||
| add_executable(gldetector_node src/nodes/detector_node.cpp | ||
| src/gldetector.cpp) | ||
| target_link_libraries(gldetector_node ${OpenCV_INCLUDE_DIRS} | ||
| ${catkin_LIBRARIES} | ||
| module_tracker | ||
| module_tomgine | ||
| siftgpu | ||
| module_recognizer3d) | ||
|
|
||
| add_library(${PROJECT_NAME} src/pose_util.cpp) | ||
|
|
||
| rosbuild_add_library(${PROJECT_NAME} src/pose_util.cpp) | ||
|
|
||
| rosbuild_add_executable(pose2Tf src/nodes/pose2Tf.cpp) | ||
| target_link_libraries(pose2Tf ${PROJECT_NAME}) | ||
|
|
||
| rosbuild_add_executable(pose2Tf_repeat src/nodes/pose2Tf_repeat.cpp) | ||
| target_link_libraries(pose2Tf_repeat ${PROJECT_NAME}) | ||
|
|
||
| add_executable(pose2Tf src/nodes/pose2Tf.cpp) | ||
| target_link_libraries(pose2Tf ${PROJECT_NAME} | ||
| ${catkin_LIBRARIES}) | ||
|
|
||
| #common commands for building c++ executables and libraries | ||
| #rosbuild_add_library(${PROJECT_NAME} src/example.cpp) | ||
| #target_link_libraries(${PROJECT_NAME} another_library) | ||
| rosbuild_add_boost_directories() | ||
| rosbuild_link_boost(gltracker_node signals) | ||
| #rosbuild_add_executable(example examples/example.cpp) | ||
| #target_link_libraries(example ${PROJECT_NAME}) | ||
| add_executable(pose2Tf_repeat src/nodes/pose2Tf_repeat.cpp) | ||
| target_link_libraries(pose2Tf_repeat ${PROJECT_NAME} | ||
| ${catkin_LIBRARIES}) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,9 @@ | ||
| <launch> | ||
| <group ns="/histogram_segmentation"> | ||
| <rosparam command="load" file="$(find pal_vision_segmentation)/config/default_tabletop_histogram.yaml" /> | ||
| </group> | ||
|
|
||
| <node pkg="pal_vision_segmentation" type="histogram_segmentation" name="histogram_segmentation" args="$(find blort_ros)/Resources/img/pringles_template.png"> | ||
| <remap from="image" to="/stereo/left/image" /> | ||
| </node> | ||
| </launch> |
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