From c5b1f8f6d37f2b38b2013a870721b50a3750cb5c Mon Sep 17 00:00:00 2001
From: Austin Deric <Austin.Deric@gmail.com>
Date: Tue, 2 Jun 2020 16:50:55 -0500
Subject: [PATCH 1/2] fix cmakelists and includes for use by external pacakges

---
 .gitmodules                                |  6 ---
 CMakeLists.txt                             | 43 +++++++++------------
 OpticalFlowConfig.cmake.in                 |  8 ----
 external/klt_feature_tracker               |  1 -
 include/{ => OpticalFlow}/constants.hpp    |  0
 include/{ => OpticalFlow}/flow_opencv.hpp  |  4 +-
 include/{ => OpticalFlow}/flow_px4.hpp     |  6 +--
 include/{ => OpticalFlow}/optical_flow.hpp |  2 +-
 include/{ => OpticalFlow}/px4flow.hpp      |  0
 package.xml                                | 44 ++--------------------
 src/flow_opencv.cpp                        |  2 +-
 src/flow_px4.cpp                           |  2 +-
 src/optical_flow.cpp                       |  2 +-
 src/px4flow.cpp                            |  2 +-
 14 files changed, 31 insertions(+), 91 deletions(-)
 delete mode 100644 .gitmodules
 delete mode 100644 OpticalFlowConfig.cmake.in
 delete mode 160000 external/klt_feature_tracker
 rename include/{ => OpticalFlow}/constants.hpp (100%)
 rename include/{ => OpticalFlow}/flow_opencv.hpp (97%)
 rename include/{ => OpticalFlow}/flow_px4.hpp (95%)
 rename include/{ => OpticalFlow}/optical_flow.hpp (98%)
 rename include/{ => OpticalFlow}/px4flow.hpp (100%)

diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index 44b22bf..0000000
--- a/.gitmodules
+++ /dev/null
@@ -1,6 +0,0 @@
-[submodule "external/klt_feature_tracker"]
-	path = external/klt_feature_tracker
-	url = https://github.com/Maidbot/klt_feature_tracker.git
-	branch = master
-	shallow = true
-
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 86d2c6e..5634cad 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,6 +40,20 @@ if( POLICY CMP0042 )
   cmake_policy(SET CMP0042 NEW)
 endif()
 project( OpticalFlow )
+
+find_package(catkin REQUIRED COMPONENTS
+  klt_feature_tracker)
+
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS klt_feature_tracker
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
 set(version_major 0)
 set(version_minor 1)
 set(version_patch 0)
@@ -55,15 +69,13 @@ set(${PROJECT_NAME}_INCLUDE_DIRS
 find_package( OpenCV REQUIRED )
 OPTION(OPENCV "ON for OpenCV" ON) # -DOPENCV=OFF
 
-add_subdirectory( external/klt_feature_tracker klt_feature_tracker )
-set( klt_feature_tracker_LIBS "klt_feature_tracker" )
-
 if(OpenCV_FOUND AND OPENCV)
     message(STATUS "Building ${PROJECT_NAME} with OpenCV")
 
     set(OpticalFlow_INCLUDE_DIRS
+      ${catkin_INCLUDE_DIRS}
       ${CMAKE_CURRENT_SOURCE_DIR}/include
-      ${klt_feature_tracker_INCLUDE_DIRS}
+      ${catkin_INCLUDE_DIRS}
       ${OpenCV_INCLUDE_DIRS}
     )
 
@@ -78,7 +90,7 @@ if(OpenCV_FOUND AND OPENCV)
 
     target_link_libraries( OpticalFlow
       ${OpenCV_LIBS}
-      ${klt_feature_tracker_LIBS}
+      ${catkin_LIBRARIES}
     )
 else()
     message(STATUS "Building ${PROJECT_NAME} without OpenCV")
@@ -98,24 +110,3 @@ else()
 endif()
 
 target_include_directories(OpticalFlow PUBLIC include)
-
-# Generate the Config file from the .in file, doing @VAR@ substitution only
-configure_file(OpticalFlowConfig.cmake.in FindOpticalFlow.cmake @ONLY)
-
-# INSTALL STEPS
-INSTALL(
-  TARGETS OpticalFlow
-  RUNTIME DESTINATION lib
-  LIBRARY DESTINATION lib)
-
-INSTALL(
-  DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/external/klt_feature_tracker/include/
-  DESTINATION include)
-
-INSTALL(
-  DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
-  DESTINATION include)
-
-INSTALL(
-  FILES ${CMAKE_CURRENT_BINARY_DIR}/FindOpticalFlow.cmake
-  DESTINATION ${CMAKE_INSTALL_PREFIX})
diff --git a/OpticalFlowConfig.cmake.in b/OpticalFlowConfig.cmake.in
deleted file mode 100644
index 77b2636..0000000
--- a/OpticalFlowConfig.cmake.in
+++ /dev/null
@@ -1,8 +0,0 @@
-# - Config file for the OpticalFlow package
-# It defines the following variables
-#  OpticalFlow_INCLUDE_DIRS - include directories
-#  OpticalFlow_LIBRARIES    - libraries to link against
- 
-set(OpticalFlow_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include")
-#set(OpticalFlow_LIBRARY_DIR "@CMAKE_INSTALL_PREFIX@/lib")
-FIND_LIBRARY(OpticalFlow_LIBRARIES OpticalFlow PATHS "@CMAKE_INSTALL_PREFIX@/lib" NO_DEFAULT_PATH)
\ No newline at end of file
diff --git a/external/klt_feature_tracker b/external/klt_feature_tracker
deleted file mode 160000
index 9b5b567..0000000
--- a/external/klt_feature_tracker
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 9b5b567ae77f93d1ef4d36151529ba2506a46e7a
diff --git a/include/constants.hpp b/include/OpticalFlow/constants.hpp
similarity index 100%
rename from include/constants.hpp
rename to include/OpticalFlow/constants.hpp
diff --git a/include/flow_opencv.hpp b/include/OpticalFlow/flow_opencv.hpp
similarity index 97%
rename from include/flow_opencv.hpp
rename to include/OpticalFlow/flow_opencv.hpp
index df33915..85b6cd4 100644
--- a/include/flow_opencv.hpp
+++ b/include/OpticalFlow/flow_opencv.hpp
@@ -44,8 +44,8 @@
 #include <opencv2/opencv.hpp>
 #include <cmath>
 
-#include "optical_flow.hpp"
-#include "trackFeatures.h"
+#include "OpticalFlow/optical_flow.hpp"
+#include "klt_feature_tracker/trackFeatures.h"
 
 #define DEFAULT_NUMBER_OF_FEATURES 20
 #define DEFAULT_CONFIDENCE_MULTIPLIER 1.645f //90% confidence interval
diff --git a/include/flow_px4.hpp b/include/OpticalFlow/flow_px4.hpp
similarity index 95%
rename from include/flow_px4.hpp
rename to include/OpticalFlow/flow_px4.hpp
index 961ef03..0d9d805 100644
--- a/include/flow_px4.hpp
+++ b/include/OpticalFlow/flow_px4.hpp
@@ -40,10 +40,10 @@
 
 #pragma once
 
-#include "optical_flow.hpp"
-#include "px4flow.hpp"
+#include "OpticalFlow/optical_flow.hpp"
+#include "OpticalFlow/px4flow.hpp"
 #include <memory.h>
-#include "constants.hpp"
+#include "OpticalFlow/constants.hpp"
 
 class OpticalFlowPX4 : public OpticalFlow
 {
diff --git a/include/optical_flow.hpp b/include/OpticalFlow/optical_flow.hpp
similarity index 98%
rename from include/optical_flow.hpp
rename to include/OpticalFlow/optical_flow.hpp
index cac25d7..6437347 100644
--- a/include/optical_flow.hpp
+++ b/include/OpticalFlow/optical_flow.hpp
@@ -43,7 +43,7 @@
 #include <stdint.h>
 #include <iostream>
 #include <cmath>
-#include "constants.hpp"
+#include "OpticalFlow/constants.hpp"
 
 class OpticalFlow
 {
diff --git a/include/px4flow.hpp b/include/OpticalFlow/px4flow.hpp
similarity index 100%
rename from include/px4flow.hpp
rename to include/OpticalFlow/px4flow.hpp
diff --git a/package.xml b/package.xml
index 102b0b5..5d40fc8 100644
--- a/package.xml
+++ b/package.xml
@@ -31,57 +31,21 @@
  - POSSIBILITY OF SUCH DAMAGE.
  -
 -->
-<package>
+<package format="2">
   <name>OpticalFlow</name>
   <version>0.0.0</version>
   <description>Optical flow package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="christoph@px4.io">christoph</maintainer>
 
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
   <license>BSD</license>
 
+  <buildtool_depend>catkin</buildtool_depend>
 
-  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/snap_cam_publisher</url> -->
-
-
-  <!-- Author tags are optional, mutiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintianers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-
-  <build_depend>libopencv-dev</build_depend>
-  <run_depend>libopencv-dev</run_depend>
-
-  <build_depend>klt_feature_tracker</build_depend>
-  <run_depend>klt_feature_tracker</run_depend>
-
+  <depend>libopencv-dev</depend>
+  <depend>klt_feature_tracker</depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- Other tools can request additional information be placed here -->
 
   </export>
 </package>
diff --git a/src/flow_opencv.cpp b/src/flow_opencv.cpp
index 9f3c8e0..1521aff 100644
--- a/src/flow_opencv.cpp
+++ b/src/flow_opencv.cpp
@@ -38,7 +38,7 @@
 *      Author: Christoph
 */
 
-#include "flow_opencv.hpp"
+#include "OpticalFlow/flow_opencv.hpp"
 
 /****************************************************************************
  * OpenCV optical flow calculation
diff --git a/src/flow_px4.cpp b/src/flow_px4.cpp
index 452064d..cb15b97 100644
--- a/src/flow_px4.cpp
+++ b/src/flow_px4.cpp
@@ -41,7 +41,7 @@
 * PX4Flow flow calculation
 ****************************************************************************/
 
-#include "flow_px4.hpp"
+#include "OpticalFlow/flow_px4.hpp"
 #include <iostream>
 
 OpticalFlowPX4::OpticalFlowPX4(float f_length_x, float f_length_y, int ouput_rate, int img_width, int img_height,
diff --git a/src/optical_flow.cpp b/src/optical_flow.cpp
index 4167836..e3b8874 100644
--- a/src/optical_flow.cpp
+++ b/src/optical_flow.cpp
@@ -38,7 +38,7 @@
 *      Author: Christoph
 */
 
-#include "optical_flow.hpp"
+#include "OpticalFlow/optical_flow.hpp"
 
 void OpticalFlow::initLimitRate()
 {
diff --git a/src/px4flow.cpp b/src/px4flow.cpp
index fe75049..f495c0d 100644
--- a/src/px4flow.cpp
+++ b/src/px4flow.cpp
@@ -41,7 +41,7 @@
 #include <stdbool.h>
 #include <math.h>
 #include <iostream>
-#include "px4flow.hpp"
+#include "OpticalFlow/px4flow.hpp"
 
 PX4Flow::PX4Flow(uint32_t image_width_, uint32_t search_size_,
 		 uint32_t flow_feature_threshold_, uint32_t flow_value_threshold_,

From dbb7514ff9ff7e2089d1e8c91b1368679322c8f8 Mon Sep 17 00:00:00 2001
From: Austin Deric <Austin.Deric@gmail.com>
Date: Mon, 8 Jun 2020 14:03:42 -0500
Subject: [PATCH 2/2] remove duplicate catkin_INCLUDE_DIRS

---
 CMakeLists.txt | 2 --
 1 file changed, 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5634cad..bc75d23 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -73,8 +73,6 @@ if(OpenCV_FOUND AND OPENCV)
     message(STATUS "Building ${PROJECT_NAME} with OpenCV")
 
     set(OpticalFlow_INCLUDE_DIRS
-      ${catkin_INCLUDE_DIRS}
-      ${CMAKE_CURRENT_SOURCE_DIR}/include
       ${catkin_INCLUDE_DIRS}
       ${OpenCV_INCLUDE_DIRS}
     )