Changes for ROS kinetic and formatting.

CMakeLists.txt

@@ -8,40 +8,52 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   geometry_msgs
 )
-find_package(OpenCV REQUIRED)
+find_package(OpenCV 2 REQUIRED core highgui)
 
 catkin_package(
 )
 
 include_directories(
+  ${OpenCV_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
+  include
 )
 
-MESSAGE("System is: " ${CMAKE_SYSTEM_PROCESSOR})
+message("System is: " ${CMAKE_SYSTEM_PROCESSOR})
 if (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
-	if (CMAKE_SIZEOF_VOID_P EQUAL 4)
-		MESSAGE("-- 32bit detected")	
-		link_directories(${PROJECT_SOURCE_DIR}/lib/x86)
-	elseif (CMAKE_SIZEOF_VOID_P EQUAL 8)
-		MESSAGE("-- 64bit detected")
-		link_directories(${PROJECT_SOURCE_DIR}/lib/x64)
-	endif ()
+  if (CMAKE_SIZEOF_VOID_P EQUAL 4)
+    message("-- 32bit detected")
+    link_directories(lib/x86)
+  elseif (CMAKE_SIZEOF_VOID_P EQUAL 8)
+    message("-- 64bit detected")
+    link_directories(lib/x64)
+  endif ()
 else()
-	MESSAGE("-- Non-linux platform detected but sorry we do not support :D")
+  message("-- Non-linux platform detected but sorry we do not support :D")
 endif ()
 
 if (${CMAKE_SYSTEM_PROCESSOR} MATCHES "armv7l" )
-	MESSAGE("-- " ${CMAKE_SYSTEM_PROCESSOR} " detected")
-	link_directories(${PROJECT_SOURCE_DIR}/lib/XU3)
+  message("-- " ${CMAKE_SYSTEM_PROCESSOR} " detected")
+  link_directories(lib/XU3)
 else ()
 endif ()
 
-include_directories(${PROJECT_SOURCE_DIR}/include)
+link_libraries(
+  ${OpenCV_LIBS}
+  ${catkin_LIBRARIES}
+  DJI_guidance
+  usb-1.0
+  yaml-cpp)
 
-add_executable(guidanceNode ${PROJECT_SOURCE_DIR}/src/GuidanceNode.cpp ${PROJECT_SOURCE_DIR}/src/DJI_utility.cpp)
-add_executable(guidanceNodeTest ${PROJECT_SOURCE_DIR}/src/GuidanceNodeTest.cpp)
-add_executable(guidanceNodeCalibration ${PROJECT_SOURCE_DIR}/src/GuidanceNodeCalibration.cpp ${PROJECT_SOURCE_DIR}/src/DJI_utility.cpp)
+add_executable(guidanceNode
+  src/GuidanceNode.cpp
+  src/DJI_utility.cpp)
 
-target_link_libraries(guidanceNode DJI_guidance usb-1.0 ${catkin_LIBRARIES} ${OpenCV_LIBS})
-target_link_libraries(guidanceNodeTest ${catkin_LIBRARIES} ${OpenCV_LIBS})
-target_link_libraries(guidanceNodeCalibration DJI_guidance usb-1.0 yaml-cpp ${catkin_LIBRARIES} ${OpenCV_LIBS})
+add_executable(guidanceNodeTest
+  src/GuidanceNodeTest.cpp)
+
+add_executable(guidanceNodeCalibration
+  src/GuidanceNodeCalibration.cpp
+  src/DJI_utility.cpp)
+
+#  vim: set et fenc=utf-8 ff=unix sts=0 sw=2 ts=2 :

src/DJI_utility.cpp

@@ -1,101 +1,101 @@
-#include "DJI_utility.h"
-
-#ifdef WIN32
-
-DJI_lock::DJI_lock()
-{
-	InitializeCriticalSection( &m_critical_section );
-}
-
-DJI_lock::~DJI_lock()
-{
-}
-
-void DJI_lock::enter()
-{
-	EnterCriticalSection( &m_critical_section );
-}
-
-void DJI_lock::leave()
-{
-	LeaveCriticalSection( &m_critical_section );
-}
-
-void   sleep( int microsecond )
-{
-	Sleep( ( microsecond + 999 ) / 1000 );
-}
-DJI_event::DJI_event()
-{
-	SECURITY_ATTRIBUTES   sa;
-	sa.nLength = sizeof(sa);
-	sa.lpSecurityDescriptor = NULL;
-	sa.bInheritHandle = TRUE;
-	CreatePipe( &m_pipe_read, &m_pipe_write, &sa, 0 );
-}
-
-DJI_event::~DJI_event()
-{
-	CloseHandle( m_pipe_read );
-	CloseHandle( m_pipe_write );
-}
-
-int DJI_event::set_event()
-{
-	char buffer[1] = {0};
-	int count = 0;
-	int ret = WriteFile( m_pipe_write, (LPWORD)buffer, 1, (LPDWORD)&count, NULL );
-	return ret;
-}
-
-int DJI_event::wait_event()
-{
-	char buffer[1] = {0};
-	int count = 0;
-	int ret = ReadFile( m_pipe_read, (LPWORD)buffer, 1, (LPDWORD)&count, NULL );
-	return ret;
-}
-
-#else
-
-DJI_lock::DJI_lock()
-{
-	pthread_mutex_init( &m_lock, NULL );
-}
-
-DJI_lock::~DJI_lock()
-{
-}
-
-void DJI_lock::enter()
-{
-	pthread_mutex_lock( &m_lock );
-}
-
-void DJI_lock::leave()
-{
-	pthread_mutex_unlock( &m_lock );
-}
-
-DJI_event::DJI_event()
-{
-	sem_init( &m_sem, 0, 0 );
-}
-
-DJI_event::~DJI_event()
-{
-}
-
-int DJI_event::set_event()
-{
-	int ret = sem_post( &m_sem );
-	return ret;
-}
-
-int DJI_event::wait_event()
-{
-	int ret = sem_wait( &m_sem );
-	return ret;
-}
-
-#endif
+#include "DJI_utility.h"
+
+#ifdef WIN32
+
+DJI_lock::DJI_lock()
+{
+    InitializeCriticalSection( &m_critical_section );
+}
+
+DJI_lock::~DJI_lock()
+{
+}
+
+void DJI_lock::enter()
+{
+    EnterCriticalSection( &m_critical_section );
+}
+
+void DJI_lock::leave()
+{
+    LeaveCriticalSection( &m_critical_section );
+}
+
+void   sleep( int microsecond )
+{
+    Sleep( ( microsecond + 999 ) / 1000 );
+}
+DJI_event::DJI_event()
+{
+    SECURITY_ATTRIBUTES   sa;
+    sa.nLength = sizeof(sa);
+    sa.lpSecurityDescriptor = NULL;
+    sa.bInheritHandle = TRUE;
+    CreatePipe( &m_pipe_read, &m_pipe_write, &sa, 0 );
+}
+
+DJI_event::~DJI_event()
+{
+    CloseHandle( m_pipe_read );
+    CloseHandle( m_pipe_write );
+}
+
+int DJI_event::set_event()
+{
+    char buffer[1] = {0};
+    int count = 0;
+    int ret = WriteFile( m_pipe_write, (LPWORD)buffer, 1, (LPDWORD)&count, NULL );
+    return ret;
+}
+
+int DJI_event::wait_event()
+{
+    char buffer[1] = {0};
+    int count = 0;
+    int ret = ReadFile( m_pipe_read, (LPWORD)buffer, 1, (LPDWORD)&count, NULL );
+    return ret;
+}
+
+#else
+
+DJI_lock::DJI_lock()
+{
+    pthread_mutex_init( &m_lock, NULL );
+}
+
+DJI_lock::~DJI_lock()
+{
+}
+
+void DJI_lock::enter()
+{
+    pthread_mutex_lock( &m_lock );
+}
+
+void DJI_lock::leave()
+{
+    pthread_mutex_unlock( &m_lock );
+}
+
+DJI_event::DJI_event()
+{
+    sem_init( &m_sem, 0, 0 );
+}
+
+DJI_event::~DJI_event()
+{
+}
+
+int DJI_event::set_event()
+{
+    int ret = sem_post( &m_sem );
+    return ret;
+}
+
+int DJI_event::wait_event()
+{
+    int ret = sem_wait( &m_sem );
+    return ret;
+}
+
+#endif

src/GuidanceNode.cpp

@@ -12,8 +12,7 @@
 #include <sensor_msgs/Image.h>
 #include <sensor_msgs/image_encodings.h>
 
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
+#include <opencv2/opencv.hpp>
 
 #include "DJI_guidance.h"
 #include "DJI_utility.h"
@@ -347,3 +346,5 @@ int main(int argc, char** argv)
 
     return 0;
 }
+
+/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */