Port depth image proc on ROS2

depth_image_proc/CMakeLists.txt

@@ -1,44 +1,87 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.5)
 project(depth_image_proc)
 
-find_package(catkin REQUIRED cmake_modules cv_bridge eigen_conversions image_geometry image_transport message_filters nodelet sensor_msgs stereo_msgs tf2 tf2_ros)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-if(cv_bridge_VERSION VERSION_GREATER "1.12.0")
-  add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES ${PROJECT_NAME})
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(image_geometry REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(message_filters REQUIRED)
+find_package(class_loader REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(stereo_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
 
-find_package(Boost REQUIRED)
 find_package(Eigen3 QUIET)
 if(NOT EIGEN3_FOUND)
   find_package(Eigen REQUIRED)
   set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
 endif()
 find_package(OpenCV REQUIRED)
-include_directories(include ${BOOST_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
-
-add_library(${PROJECT_NAME} src/nodelets/convert_metric.cpp
-                             src/nodelets/crop_foremost.cpp
-                             src/nodelets/disparity.cpp
-                             src/nodelets/point_cloud_xyz.cpp
-                             src/nodelets/point_cloud_xyzrgb.cpp
-                             src/nodelets/point_cloud_xyzi.cpp
-                             src/nodelets/point_cloud_xyz_radial.cpp
-                             src/nodelets/point_cloud_xyzi_radial.cpp
-                             src/nodelets/register.cpp
+include_directories(include ${BOOST_INCLUDE_DIRS} ${rclcpp_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
+
+add_library(${PROJECT_NAME} SHARED
+  src/nodelets/convert_metric.cpp
+  src/nodelets/crop_foremost.cpp
+  src/nodelets/disparity.cpp
+  src/nodelets/point_cloud_xyz.cpp
+  src/nodelets/point_cloud_xyzrgb.cpp
+  src/nodelets/point_cloud_xyzi.cpp
+  src/nodelets/point_cloud_xyz_radial.cpp
+  src/nodelets/point_cloud_xyzi_radial.cpp
+  src/nodelets/register.cpp
 )
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+ament_target_dependencies(${PROJECT_NAME}
+  "image_transport"
+  "image_geometry"
+  "cv_bridge"
+  "class_loader"
+  "message_filters"
+  "rclcpp"
+  "tf2_ros"
+  "tf2"
+  "tf2_eigen"
+  "stereo_msgs"
+  "sensor_msgs"
+)
+
+#rclcpp_register_node_plugins(${PROJECT_NAME} "${PROJECT_NAME}::ConvertMetricNode")
+#rclcpp_register_node_plugins(${PROJECT_NAME} "${PROJECT_NAME}::CropForemostNode")
+#rclcpp_register_node_plugins(${PROJECT_NAME} "${PROJECT_NAME}::DisparityNode")
+#rclcpp_register_node_plugins(${PROJECT_NAME} "${PROJECT_NAME}::PointCloudXyzNode")
+#rclcpp_register_node_plugins(${PROJECT_NAME} "${PROJECT_NAME}::PointCloudXyzRadialNode")
+#rclcpp_register_node_plugins(${PROJECT_NAME} "${PROJECT_NAME}::PointCloudXyziNode")
+#rclcpp_register_node_plugins(${PROJECT_NAME} "${PROJECT_NAME}::PointCloudXyziRadialNode")
+#rclcpp_register_node_plugins(${PROJECT_NAME} "${PROJECT_NAME}::PointCloudXyzrgbNode")
+#rclcpp_register_node_plugins(${PROJECT_NAME} "${PROJECT_NAME}::RegisterNode")
+
+target_link_libraries(${PROJECT_NAME} ${ament_LIBRARIES} ${OpenCV_LIBRARIES})
 
 install(DIRECTORY include/${PROJECT_NAME}/
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    DESTINATION include/${PROJECT_NAME}
     FILES_MATCHING PATTERN "*.h")
 
 install(TARGETS ${PROJECT_NAME}
-        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        DESTINATION lib
 )
-install(FILES nodelet_plugins.xml
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+install(DIRECTORY examples/launch
+  DESTINATION share/${PROJECT_NAME}/
 )
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

depth_image_proc/examples/launch/convert_metric.launch.py

@@ -0,0 +1,66 @@
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the Willow Garage nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+
+import launch_ros.actions
+
+
+def generate_launch_description():
+    default_rviz = os.path.join(get_package_share_directory('depth_image_proc'),
+                                'launch', 'rviz/convert_metric.rviz')
+    return LaunchDescription([
+        # install realsense from https://github.com/intel/ros2_intel_realsense
+        launch_ros.actions.Node(
+            package='realsense_ros2_camera', node_executable='realsense_ros2_camera',
+            output='screen'),
+
+        # composition api_composition, remap the topic
+        launch_ros.actions.Node(
+            package='composition', node_executable='api_composition', output='screen',
+            remappings=[('image_raw', '/camera/depth/image_rect_raw'),
+                        ('camera_info', '/camera/depth/camera_info'),
+                        ('image', '/camera/depth/converted_image')]),
+
+        # depth_image_proc::ConvertMetricNode
+        launch_ros.actions.Node(
+            package='composition', node_executable='api_composition_cli', output='screen',
+            arguments=['depth_image_proc', 'depth_image_proc::ConvertMetricNode']),
+
+        # rviz
+        launch_ros.actions.Node(
+            package='rviz2', node_executable='rviz2', output='screen',
+            arguments=['--display-config', default_rviz]),
+    ])

depth_image_proc/examples/launch/crop_foremost.launch.py

@@ -0,0 +1,66 @@
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the Willow Garage nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+
+import launch_ros.actions
+
+
+def generate_launch_description():
+    default_rviz = os.path.join(get_package_share_directory('depth_image_proc'),
+                                'launch', 'rviz/crop_formost.rviz')
+    return LaunchDescription([
+        # install realsense from https://github.com/intel/ros2_intel_realsense
+        launch_ros.actions.Node(
+            package='realsense_ros2_camera', node_executable='realsense_ros2_camera',
+            output='screen'),
+
+        # composition api_composition, remap the topic
+        launch_ros.actions.Node(
+            package='composition', node_executable='api_composition', output='screen',
+            remappings=[('image_raw', '/camera/depth/image_rect_raw'),
+                        ('camera_info', '/camera/depth/camera_info'),
+                        ('image', '/camera/depth/crop_image')]),
+
+        # depth_image_proc::CropForemostNode
+        launch_ros.actions.Node(
+            package='composition', node_executable='api_composition_cli', output='screen',
+            arguments=['depth_image_proc', 'depth_image_proc::CropForemostNode']),
+
+        # rviz
+        launch_ros.actions.Node(
+            package='rviz2', node_executable='rviz2', output='screen',
+            arguments=['--display-config', default_rviz]),
+    ])

depth_image_proc/examples/launch/disparity.launch.py

@@ -0,0 +1,69 @@
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the Willow Garage nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+
+import launch_ros.actions
+
+
+def generate_launch_description():
+    default_rviz = os.path.join(get_package_share_directory('depth_image_proc'),
+                                'launch', 'rviz/disparity.rviz')
+    return LaunchDescription([
+        # install realsense from https://github.com/intel/ros2_intel_realsense
+        launch_ros.actions.Node(
+            package='realsense_ros2_camera', node_executable='realsense_ros2_camera',
+            output='screen'),
+
+        # composition api_composition, remap the topic
+        # we use realsense camera for test, realsense not support left and right topic
+        # so we remap to depth image only for interface test.
+        launch_ros.actions.Node(
+            package='composition', node_executable='api_composition', output='screen',
+            remappings=[('left/image_rect', '/camera/depth/image_rect_raw'),
+                        ('right/camera_info', '/camera/depth/camera_info'),
+                        ('left/disparity', '/camera/left/disparity')]),
+
+        # depth_image_proc::DisparityNode
+        launch_ros.actions.Node(
+            package='composition', node_executable='api_composition_cli', output='screen',
+            arguments=['depth_image_proc', 'depth_image_proc::DisparityNode']),
+
+        # TODO: rviz could not display disparity(stereo_msgs)
+        # run stereo_view for display after image_view be ported
+        launch_ros.actions.Node(
+            package='rviz2', node_executable='rviz2', output='screen',
+            arguments=['--display-config', default_rviz]),
+    ])

depth_image_proc/examples/launch/point_cloud_xyz.launch.py

@@ -0,0 +1,66 @@
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the Willow Garage nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+
+import launch_ros.actions
+
+
+def generate_launch_description():
+    default_rviz = os.path.join(get_package_share_directory('depth_image_proc'),
+                                'launch', 'rviz/point_cloud_xyz.rviz')
+    return LaunchDescription([
+        # install realsense from https://github.com/intel/ros2_intel_realsense
+        launch_ros.actions.Node(
+            package='realsense_ros2_camera', node_executable='realsense_ros2_camera',
+            output='screen'),
+
+        # composition api_composition, remap the topic
+        launch_ros.actions.Node(
+            package='composition', node_executable='api_composition', output='screen',
+            remappings=[('image_rect', '/camera/depth/image_rect_raw'),
+                        ('camera_info', '/camera/depth/camera_info'),
+                        ('points', '/camera/depth/points')]),
+
+        # depth_image_proc::PointCloudXyzNode
+        launch_ros.actions.Node(
+            package='composition', node_executable='api_composition_cli', output='screen',
+            arguments=['depth_image_proc', 'depth_image_proc::PointCloudXyzNode']),
+
+        # rviz
+        launch_ros.actions.Node(
+            package='rviz2', node_executable='rviz2', output='screen',
+            arguments=['--display-config', default_rviz]),
+    ])