add opencv_apps, proposed in #40

opencv_apps/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(opencv_apps)
+
+find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure message_generation image_transport nodelet roscpp)
+
+# generate the dynamic_reconfigure config file
+generate_dynamic_reconfigure_options(
+  cfg/EdgeDetection.cfg cfg/HoughLines.cfg cfg/HoughCircles.cfg
+  cfg/FindContours.cfg cfg/ConvexHull.cfg cfg/GeneralContours.cfg cfg/ContourMoments.cfg
+  cfg/FaceDetection.cfg
+  cfg/GoodfeatureTrack.cfg
+  #
+  cfg/CamShift.cfg
+  cfg/FBackFlow.cfg
+  cfg/LKFlow.cfg
+  cfg/PeopleDetect.cfg
+  cfg/PhaseCorr.cfg
+  cfg/SegmentObjects.cfg
+  cfg/SimpleFlow.cfg
+  cfg/WatershedSegmentation.cfg
+  )
+
+## Generate messages in the 'msg' folder
+add_message_files(
+   FILES
+   Point2D.msg
+   Point2DStamped.msg
+   Point2DArray.msg
+   Point2DArrayStamped.msg
+   Rect.msg
+   RectArray.msg
+   RectArrayStamped.msg
+   Flow.msg
+   FlowStamped.msg
+   FlowArray.msg
+   FlowArrayStamped.msg
+   RectArrayStamped.msg
+   Size.msg
+   Face.msg
+   FaceArray.msg
+   FaceArrayStamped.msg
+   Line.msg
+   LineArray.msg
+   LineArrayStamped.msg
+   RotatedRect.msg
+   RotatedRectStamped.msg
+   RotatedRectArray.msg
+   RotatedRectArrayStamped.msg
+   Circle.msg
+   CircleArray.msg
+   CircleArrayStamped.msg
+   Moment.msg
+   MomentArray.msg
+   MomentArrayStamped.msg
+   Contour.msg
+   ContourArray.msg
+   ContourArrayStamped.msg
+)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs
+)
+
+catkin_package()
+
+find_package(OpenCV REQUIRED)
+
+include_directories( ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+
+## Declare a cpp library
+add_library(${PROJECT_NAME} SHARED
+  # https://github.com/Itseez/opencv/blob/2.4/samples/cpp/tutorial_code
+  # ImgTrans
+  src/nodelet/edge_detection_nodelet.cpp
+  src/nodelet/hough_lines_nodelet.cpp
+  src/nodelet/hough_circles_nodelet.cpp
+  # ShapeDescriptors
+  src/nodelet/find_contours_nodelet.cpp
+  src/nodelet/convex_hull_nodelet.cpp
+  src/nodelet/general_contours_nodelet.cpp
+  src/nodelet/contour_moments_nodelet.cpp
+  # objectDetection
+  src/nodelet/face_detection_nodelet.cpp
+  # TrackingMotion
+  src/nodelet/goodfeature_track_nodelet.cpp
+  # https://github.com/Itseez/opencv/blob/2.4/samples/cpp
+  # 3calibration.cpp
+  # bagofwords_classification.cpp
+  # bgfg_gmg.cpp
+  # bgfg_segm.cpp
+  # brief_match_test.cpp
+  # build3dmodel.cpp
+  # calibration_artificial.cpp
+  # calibration.cpp
+  src/nodelet/camshift_nodelet.cpp
+  # chamfer.cpp
+  # connected_components.cpp
+  # contours2.cpp
+  # convexhull.cpp
+  # cout_mat.cpp
+  # delaunay2.cpp
+  # demhist.cpp
+  # descriptor_extractor_matcher.cpp
+  # detection_based_tracker_sample.cpp
+  # detector_descriptor_evaluation.cpp
+  # detector_descriptor_matcher_evaluation.cpp
+  # dft.cpp
+  # distrans.cpp
+  # drawing.cpp
+  # edge.cpp
+  # em.cpp
+  # fabmap_sample.cpp
+  # facerec_demo.cpp
+  # facial_features.cpp
+  src/nodelet/fback_flow_nodelet.cpp
+  # ffilldemo.cpp
+  # filestorage.cpp
+  # fitellipse.cpp
+  # freak_demo.cpp
+  # gencolors.cpp
+  # generic_descriptor_match.cpp
+  # grabcut.cpp
+  # houghcircles.cpp
+  # houghlines.cpp
+  # hybridtrackingsample.cpp
+  # image.cpp
+  # imagelist_creator.cpp
+  # image_sequence.cpp
+  # inpaint.cpp
+  # intelperc_capture.cpp
+  # kalman.cpp
+  # kmeans.cpp
+  # laplace.cpp
+  # latentsvm_multidetect.cpp
+  # letter_recog.cpp
+  # linemod.cpp
+  src/nodelet/lk_flow_nodelet.cpp
+  # logpolar_bsm.cpp
+  # matcher_simple.cpp
+  # matching_to_many_images.cpp
+  # meanshift_segmentation.cpp
+  # minarea.cpp
+  # morphology2.cpp
+  # opencv_version.cpp
+  # OpenEXRimages_HDR_Retina_toneMapping.cpp
+  # OpenEXRimages_HDR_Retina_toneMapping_video.cpp
+  # openni_capture.cpp
+  # pca.cpp
+  src/nodelet/people_detect_nodelet.cpp
+  src/nodelet/phase_corr_nodelet.cpp
+  # points_classifier.cpp
+  # retinaDemo.cpp
+  # rgbdodometry.cpp
+  src/nodelet/segment_objects_nodelet.cpp
+  ## select3dobj.cpp
+  src/nodelet/simple_flow_nodelet.cpp
+  # squares.cpp
+  # starter_imagelist.cpp
+  # starter_video.cpp
+  # stereo_calib.cpp
+  # stereo_match.cpp
+  # stitching.cpp
+  # stitching_detailed.cpp
+  # tvl1_optical_flow.cpp
+  ## videocapture_pvapi.cpp
+  ## video_dmtx.cpp
+  # video_homography.cpp
+  # videostab.cpp
+  src/nodelet/watershed_segmentation_nodelet.cpp
+)
+
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
+install(TARGETS ${PROJECT_NAME}
+        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+add_executable(edge_detection_exe src/node/edge_detection.cpp)
+SET_TARGET_PROPERTIES(edge_detection_exe PROPERTIES OUTPUT_NAME edge_detection)
+target_link_libraries(edge_detection_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+add_executable(hough_lines_exe src/node/hough_lines.cpp)
+SET_TARGET_PROPERTIES(hough_lines_exe PROPERTIES OUTPUT_NAME hough_lines)
+target_link_libraries(hough_lines_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+add_executable(hough_circles_exe src/node/hough_circles.cpp)
+SET_TARGET_PROPERTIES(hough_circles_exe PROPERTIES OUTPUT_NAME hough_circles)
+target_link_libraries(hough_circles_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+add_executable(find_contours_exe src/node/find_contours.cpp)
+SET_TARGET_PROPERTIES(find_contours_exe PROPERTIES OUTPUT_NAME find_contours)
+target_link_libraries(find_contours_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+add_executable(convex_hull_exe src/node/convex_hull.cpp)
+SET_TARGET_PROPERTIES(convex_hull_exe PROPERTIES OUTPUT_NAME convex_hull)
+target_link_libraries(convex_hull_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+add_executable(general_contours_exe src/node/general_contours.cpp)
+SET_TARGET_PROPERTIES(general_contours_exe PROPERTIES OUTPUT_NAME general_contours)
+target_link_libraries(general_contours_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+add_executable(contour_moments_exe src/node/contour_moments.cpp)
+SET_TARGET_PROPERTIES(contour_moments_exe PROPERTIES OUTPUT_NAME contour_moments)
+target_link_libraries(contour_moments_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+add_executable(face_detection_exe src/node/face_detection.cpp)
+SET_TARGET_PROPERTIES(face_detection_exe PROPERTIES OUTPUT_NAME face_detection)
+target_link_libraries(face_detection_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+add_executable(goodfeature_track_exe src/node/goodfeature_track.cpp)
+SET_TARGET_PROPERTIES(goodfeature_track_exe PROPERTIES OUTPUT_NAME goodfeature_track)
+target_link_libraries(goodfeature_track_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+  # bgfg_gmg.cpp
+  # bgfg_segm.cpp
+  # calibration.cpp
+
+add_executable(camshift_exe src/node/camshift.cpp)
+SET_TARGET_PROPERTIES(camshift_exe PROPERTIES OUTPUT_NAME camshift)
+target_link_libraries(camshift_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+add_executable(fback_flow_exe src/node/fback_flow.cpp)
+SET_TARGET_PROPERTIES(fback_flow_exe PROPERTIES OUTPUT_NAME fback_flow)
+target_link_libraries(fback_flow_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+  # fback.cpp
+  # hybridtrackingsample.cpp
+  # image_sequence.cpp
+  # intelperc_capture.cpp
+  # laplace.cpp
+  # linemod.cpp
+  # lkdemo.cpp
+
+add_executable(lk_flow_exe src/node/lk_flow.cpp)
+SET_TARGET_PROPERTIES(lk_flow_exe PROPERTIES OUTPUT_NAME lk_flow)
+target_link_libraries(lk_flow_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+add_executable(people_detect_exe src/node/people_detect.cpp)
+SET_TARGET_PROPERTIES(people_detect_exe PROPERTIES OUTPUT_NAME people_detect)
+target_link_libraries(people_detect_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+add_executable(phase_corr_exe src/node/phase_corr.cpp)
+SET_TARGET_PROPERTIES(phase_corr_exe PROPERTIES OUTPUT_NAME phase_corr)
+target_link_libraries(phase_corr_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+  # phase_corr.cpp
+  # retinaDemo.cpp
+  # segment_objects.cpp
+
+add_executable(segment_objects_exe src/node/segment_objects.cpp)
+SET_TARGET_PROPERTIES(segment_objects_exe PROPERTIES OUTPUT_NAME segment_objects)
+target_link_libraries(segment_objects_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+  # select3dobj.cpp
+
+add_executable(simple_flow_exe src/node/simple_flow.cpp)
+SET_TARGET_PROPERTIES(simple_flow_exe PROPERTIES OUTPUT_NAME simple_flow)
+target_link_libraries(simple_flow_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+  # starter_video.cpp
+  # videocapture_pvapi.cpp
+  # video_dmtx.cpp
+  # video_homography.cpp
+
+add_executable(watershed_segmentation_exe src/node/watershed_segmentation.cpp)
+SET_TARGET_PROPERTIES(watershed_segmentation_exe PROPERTIES OUTPUT_NAME watershed_segmentation)
+target_link_libraries(watershed_segmentation_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+
+install(TARGETS edge_detection_exe hough_lines_exe hough_circles_exe face_detection_exe goodfeature_track_exe
+  camshift_exe fback_flow_exe lk_flow_exe people_detect_exe phase_corr_exe segment_objects_exe watershed_segmentation_exe
+        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(FILES nodelet_plugins.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

opencv_apps/cfg/CamShift.cfg

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+#! /usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2014, Kei Okada.
+# All rights reserved.
+#
+# 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 Willow Garage, Inc. 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.
+
+
+PACKAGE='camshift'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", True)
+
+gen.add("vmin", int_t, 0, "Vmin",  10, 1, 256)
+gen.add("vmax", int_t, 0, "Vmax", 256, 1, 256)
+gen.add("smin", int_t, 0, "Smin",  30, 1, 256)
+
+exit(gen.generate(PACKAGE, "camshift", "CamShift"))

opencv_apps/cfg/ContourMoments.cfg

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+#! /usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2014, Kei Okada.
+# All rights reserved.
+#
+# 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 Willow Garage, Inc. 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.
+
+
+PACKAGE='contour_moments'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", True)
+
+gen.add("canny_low_threshold", int_t, 0, "Canny Edge low Threshold", 100, 1, 255)
+
+exit(gen.generate(PACKAGE, "contour_moments", "ContourMoments"))
+