Migrate image_buffer to rgbd_image_buffer (#79)

Merge after tue-robotics/rgbd#66

Author: MatthijsBurgh

ed_sensor_integration/CMakeLists.txt

@@ -4,12 +4,18 @@ project(ed_sensor_integration)
 add_compile_options(-Wall -Werror=all)
 add_compile_options(-Wextra -Werror=extra)
 
+find_package(OpenCV REQUIRED)
+find_package(PCL REQUIRED COMPONENTS common kdtree)
 find_package(catkin REQUIRED COMPONENTS
+  code_profiler
   ed
-  ed_sensor_integration_msgs
+  ${PROJECT_NAME}_msgs
   geolib2
   geometry_msgs
   image_geometry
+  rgbd
+  rgbd_image_buffer
+  roscpp
   sensor_msgs
   tf2_ros
   tue_config
@@ -24,8 +30,8 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES ed_kinect
-  # DEPENDS
-  CATKIN_DEPENDS ed ed_sensor_integration_msgs tue_config
+  CATKIN_DEPENDS code_profiler ed ${PROJECT_NAME}_msgs geolib2 image_geometry rgbd rgbd_image_buffer roscpp tue_config visualization_msgs
+  DEPENDS OpenCV PCL
 )
 
 # ------------------------------------------------------------------------------------------------
@@ -43,36 +49,34 @@ include_directories(
 # ------------------------------------------------------------------------------------------------
 
 add_library(ed_association
+  include/${PROJECT_NAME}/association_matrix.h
   src/association_matrix.cpp
-  include/ed_sensor_integration/association_matrix.h
 )
 
 add_library(ed_kinect
-    src/kinect/image_buffer.cpp
-    include/ed/kinect/image_buffer.h
-    src/kinect/fitter.cpp
-    include/ed/kinect/fitter.h
-    src/kinect/beam_model.cpp
+    include/ed/kinect/association.h
     include/ed/kinect/beam_model.h
-    src/kinect/mesh_tools.cpp
+    include/ed/kinect/entity_update.h
+    include/ed/kinect/fitter.h
     include/ed/kinect/mesh_tools.h
-    src/kinect/segmenter.cpp
+    include/ed/kinect/renderer.h
     include/ed/kinect/segmenter.h
-    src/kinect/association.cpp
-    include/ed/kinect/association.h
-    src/kinect/updater.cpp
     include/ed/kinect/updater.h
-    include/ed/kinect/entity_update.h
+    src/kinect/association.cpp
+    src/kinect/beam_model.cpp
+    src/kinect/fitter.cpp
+    src/kinect/mesh_tools.cpp
     src/kinect/renderer.cpp
-    include/ed/kinect/renderer.h
+    src/kinect/segmenter.cpp
+    src/kinect/updater.cpp
 )
 target_link_libraries(ed_kinect ed_association ${catkin_LIBRARIES})
 add_dependencies(ed_kinect ${catkin_EXPORTED_TARGETS})
 
 add_library(ed_laser
-  src/laser/updater.cpp
-  include/ed/laser/updater.h
   include/ed/laser/entity_update.h
+  include/ed/laser/updater.h
+  src/laser/updater.cpp
 )
 target_link_libraries(ed_laser ed_association ${catkin_LIBRARIES})
 add_dependencies(ed_laser ${catkin_EXPORTED_TARGETS})
@@ -123,10 +127,49 @@ target_link_libraries(ed_fitter_data ed_kinect)
 add_executable(ed_fitter_live tools/fitter_viz_live.cpp)
 target_link_libraries(ed_fitter_live ed_kinect)
 
+# ------------------------------------------------------------------------------------------------
+#                                          Install
+# ------------------------------------------------------------------------------------------------
+
+install(
+  FILES plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+)
+
+install(
+  TARGETS
+    ed_association
+    ed_clearer_plugin
+    ed_kinect
+    ed_kinect_plugin
+    ed_laser
+    ed_laser_plugin
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(
+  TARGETS
+    ed_fitter_data
+    ed_fitter_live
+    ed_image_saver
+    ed_segmenter
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 # ------------------------------------------------------------------------------------------------
 #                                           TESTS
 # ------------------------------------------------------------------------------------------------
-if(CATKIN_ENABLE_TESTING)
+if (CATKIN_ENABLE_TESTING)
+  find_package(catkin_lint_cmake REQUIRED)
+  catkin_add_catkin_lint_test("-W2 --ignore HEADER_OUTSIDE_PACKAGE_INCLUDE_PATH")
+
   catkin_add_gtest(test_furniture_fitting test/test_furniture_fit.cpp)
   target_link_libraries(test_furniture_fitting ed_kinect ${catkin_LIBRARIES})
 

ed_sensor_integration/include/ed/kinect/image_buffer.h

@@ -5,25 +5,41 @@
 <package format="3">
   <name>ed_sensor_integration</name>
   <version>0.0.0</version>
-  <description>No description available</description>
+  <description>Plugins to integrate sensor data into the ED worldmodel</description>
 
   <maintainer email="s.v.d.dries@tue.nl">Sjoerd van den Dries</maintainer>
 
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <depend>code_profiler</depend>
   <depend>ed</depend>
   <depend>ed_sensor_integration_msgs</depend>
   <depend>geolib2</depend>
-  <depend>geometry_msgs</depend>
   <depend>image_geometry</depend>
-  <depend>sensor_msgs</depend>
-  <depend>tf2_ros</depend>
+  <depend>libopencv-dev</depend>
+  <depend>libpcl-common</depend>
+  <depend>libpcl-kdtree</depend>
+  <depend>rgbd</depend>
+  <depend>rgbd_image_buffer</depend>
+  <depend>roscpp</depend>
   <depend>tue_config</depend>
-  <depend>tue_filesystem</depend>
   <depend>visualization_msgs</depend>
 
+  <build_depend>geometry_msgs</build_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <build_depend>tf2_ros</build_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <build_depend>tue_filesystem</build_depend>
+  <exec_depend>tue_filesystem</exec_depend>
+
+  <test_depend>catkin_lint_cmake</test_depend>
+
+  <doc_depend>doxygen</doc_depend>
+
   <export>
     <ed plugin="${prefix}/plugins.xml" />
     <rosdoc config="rosdoc.yaml" />