changed to catkin_simple, compiles with opencv3 on 16.04

davis_ros_driver/CMakeLists.txt

@@ -1,76 +1,26 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(davis_ros_driver)
 
-# search for everything we need to build the package
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  libcaer_catkin
-  dvs_msgs
-  std_msgs
-  sensor_msgs
-  dynamic_reconfigure
-  camera_info_manager
-  nodelet
-)
+find_package(catkin_simple REQUIRED)
 
-generate_dynamic_reconfigure_options(
-  cfg/DAVIS_ROS_Driver.cfg
-)
+catkin_simple()
 
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
 
-# since we need eigen and boost search them as well
-# find_package makes the ${..._INCLUDE_DIRS} ${..._LIBRARIES} variables we use later
 find_package(Boost REQUIRED COMPONENTS system thread)
 
-# export the dependencis of this package for who ever depends on us
-catkin_package(
-  INCLUDE_DIRS
-  	include
-  CATKIN_DEPENDS
-  	roscpp
-    libcaer_catkin
-  	dvs_msgs
-  	std_msgs
-    sensor_msgs
-  	dynamic_reconfigure
-  	camera_info_manager
-  	nodelet
-  DEPENDS
-  	boost
-)
-
-# tell catkin where to find the headers for this project
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${Boost_INCLUDE_DIRS}
-)
-
 # make the executable
-add_executable(davis_ros_driver
+cs_add_executable(davis_ros_driver
   src/driver_node.cpp
   src/driver.cpp
 )
 
 # make the nodelet into a library
-add_library(davis_ros_driver_nodelet
+cs_add_library(davis_ros_driver_nodelet
   src/driver_nodelet.cpp
   src/driver.cpp
 )
 
-# to build the executable we depend on other packets,
-# they need to be build beforehand, especially the messages
-add_dependencies(davis_ros_driver
-  ${catkin_EXPORTED_TARGETS}
-  ${PROJECT_NAME}_gencfg
-)
-
-add_dependencies(davis_ros_driver_nodelet
-  ${catkin_EXPORTED_TARGETS}
-  ${PROJECT_NAME}_gencfg
-)
-
 # link the executable to the necesarry libs
 target_link_libraries(davis_ros_driver
   ${catkin_LIBRARIES}
@@ -86,11 +36,7 @@ target_link_libraries(davis_ros_driver_nodelet
 )
 
 # Install the nodelet library
-install(TARGETS davis_ros_driver_nodelet
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+cs_install()
 
 # Install other support files for installation
 install(FILES davis_ros_driver_nodelet.xml

davis_ros_driver/package.xml

@@ -7,6 +7,7 @@
   <license>GNU GPL</license>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>catkin_simple</buildtool_depend>
 
   <build_depend>roscpp</build_depend>
   <build_depend>libcaer_catkin</build_depend>

dvs_calibration/CMakeLists.txt

@@ -1,64 +1,29 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(dvs_calibration)
 
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
-
-# search for everything we need to build the package
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  image_transport
-  cv_bridge
-  dvs_msgs
-  geometry_msgs
-  sensor_msgs
-  cmake_modules
-)
+find_package(catkin_simple REQUIRED)
 
-# since we need boost search it as well
-# find_package makes the ${..._INCLUDE_DIRS} ${..._LIBRARIES} variables we use later
-find_package(OpenCV 2 REQUIRED)
-find_package(Boost REQUIRED)
+catkin_simple()
 
-# export the dependencis of this package for who ever depends on us
-catkin_package(
-  INCLUDE_DIRS include
-  CATKIN_DEPENDS
-    roscpp
-    image_transport
-    cv_bridge
-    dvs_msgs
-    geometry_msgs
-    sensor_msgs
-  DEPENDS
-  	OpenCV
-  	boost
-)
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
 
-# tell catkin where to find the headers for this project
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${OpenCV_INCLUDE_DIRS}
-  ${Boost_INCLUDE_DIRS}
-)
+find_package(OpenCV REQUIRED)
+find_package(Boost REQUIRED)
 
 
 #########################
 # make the executable for MONO
 #########################
 
-add_executable(mono
+cs_add_executable(mono
   src/mono_node.cpp
   src/mono_dvs_calibration.cpp
   src/dvs_calibration.cpp
+  src/circlesgrid.cpp
   src/board_detection.cpp
   src/transition_map.cpp
 )
 
-# to build the executable we depend on other packets,
-# they need to be build beforehand, especially the messages
-add_dependencies(mono ${catkin_EXPORTED_TARGETS})
-
 # link the executable to the necesarry libs
 target_link_libraries(mono
    ${catkin_LIBRARIES}
@@ -70,18 +35,15 @@ target_link_libraries(mono
 # make the executable for STEREO
 #########################
 
-add_executable(stereo
+cs_add_executable(stereo
   src/stereo_node.cpp
   src/stereo_dvs_calibration.cpp
   src/dvs_calibration.cpp
+  src/circlesgrid.cpp
   src/board_detection.cpp
   src/transition_map.cpp
 )
 
-# to build the executable we depend on other packets,
-# they need to be build beforehand, especially the messages
-add_dependencies(stereo ${catkin_EXPORTED_TARGETS})
-
 # link the executable to the necesarry libs
 target_link_libraries(stereo
    ${catkin_LIBRARIES}
@@ -93,18 +55,15 @@ target_link_libraries(stereo
 # make the executable for Camera-DVS
 #########################
 
-add_executable(camera_dvs
+cs_add_executable(camera_dvs
   src/camera_dvs_node.cpp
   src/camera_dvs_calibration.cpp
   src/dvs_calibration.cpp
+  src/circlesgrid.cpp
   src/board_detection.cpp
   src/transition_map.cpp
 )
 
-# to build the executable we depend on other packets,
-# they need to be build beforehand, especially the messages
-add_dependencies(camera_dvs ${catkin_EXPORTED_TARGETS})
-
 # link the executable to the necesarry libs
 target_link_libraries(camera_dvs
    ${catkin_LIBRARIES}

dvs_calibration/include/dvs_calibration/camera_dvs_calibration.h

@@ -30,6 +30,7 @@
 #include <sensor_msgs/SetCameraInfo.h>
 #include <sensor_msgs/image_encodings.h>
 
+#include <opencv2/core/version.hpp>
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 

dvs_calibration/include/dvs_calibration/circlesgrid.hpp

@@ -65,10 +65,10 @@ class CirclesGridClusterFinder
     squareSize = 1.0f;
     maxRectifiedDistance = (float)(squareSize / 2.0);
   }
-  void findGrid(const std::vector<cv::Point2f> points, cv::Size patternSize, std::vector<cv::Point2f>& centers);
+  void findGrid(const std::vector<cv::Point2f> &points, cv::Size patternSize, std::vector<cv::Point2f>& centers);
 
   //cluster 2d points by geometric coordinates
-  void hierarchicalClustering(const std::vector<cv::Point2f> points, const cv::Size &patternSize, std::vector<cv::Point2f> &patternPoints);
+  void hierarchicalClustering(const std::vector<cv::Point2f> &points, const cv::Size &patternSize, std::vector<cv::Point2f> &patternPoints);
 private:
   void findCorners(const std::vector<cv::Point2f> &hull2f, std::vector<cv::Point2f> &corners);
   void findOutsideCorners(const std::vector<cv::Point2f> &corners, std::vector<cv::Point2f> &outsideCorners);

dvs_calibration/package.xml

@@ -7,6 +7,7 @@
   <license>GNU GPL</license>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>catkin_simple</buildtool_depend>
 
   <build_depend>roscpp</build_depend>
   <build_depend>image_transport</build_depend>
@@ -15,14 +16,14 @@
   <build_depend>geometry_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>cmake_modules</build_depend>
-  
+
   <run_depend>roscpp</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>cv_bridge</run_depend>
   <run_depend>dvs_msgs</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>sensor_msgs</run_depend>
-  
+
   <export>
   </export>
 </package>

dvs_calibration/src/camera_dvs_calibration.cpp

@@ -83,11 +83,17 @@ void CameraDvsCalibration::calibrate()
   int flags = fix_intrinsics_ ? CV_CALIB_FIX_INTRINSIC : CV_CALIB_USE_INTRINSIC_GUESS;
 
   cv::TermCriteria term_crit = cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 30, 1e-6);
+#if CV_MAJOR_VERSION == 2
   double reproj_error = cv::stereoCalibrate(object_points_, image_points_camera_, image_points_dvs_,
                                             camera_matrix_camera, dist_coeffs_camera, camera_matrix_dvs, dist_coeffs_dvs,
                                             cv::Size(standard_camera_info_.width, standard_camera_info_.height),
                                             R, T, E, F, term_crit, flags);
-
+#elif CV_MAJOR_VERSION == 3
+double reproj_error = cv::stereoCalibrate(object_points_, image_points_camera_, image_points_dvs_,
+                                          camera_matrix_camera, dist_coeffs_camera, camera_matrix_dvs, dist_coeffs_dvs,
+                                          cv::Size(standard_camera_info_.width, standard_camera_info_.height),
+                                          R, T, E, F, flags, term_crit);
+#endif
   cv::Mat R1, R2, P1, P2, Q;
   cv::stereoRectify(camera_matrix_camera, dist_coeffs_camera, camera_matrix_dvs, dist_coeffs_dvs,
                     cv::Size(standard_camera_info_.width, standard_camera_info_.height), R, T, R1, R2, P1, P2, Q);