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add Marvin FCN, update Realsense ROS, update README
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| cmake_minimum_required(VERSION 3.1.0) | ||
| set(CMAKE_CXX_STANDARD 11) | ||
| project(marvin_fcn) | ||
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| ## Find catkin macros and libraries | ||
| ## IF COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) | ||
| ## is used, also find other catkin packages | ||
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| ## System dependencies are found with CMake's conventions | ||
| find_package(catkin REQUIRED COMPONENTS | ||
| roscpp | ||
| message_generation | ||
| geometry_msgs | ||
| std_msgs | ||
| ) | ||
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| find_package(OpenCV REQUIRED) | ||
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| # CUDA and CUDNN | ||
| find_package(CUDA REQUIRED) | ||
| set(CUDA_HOST_COMPILER "c++") | ||
| set(CUDA_NVCC_FLAGS "-std=c++11") | ||
| set(CUDNN_INCLUDE_DIR /usr/local/cudnn/v5/include CACHE PATH "Path to cudnn header file") | ||
| set(CUDNN_LIB_DIR /usr/local/cudnn/v5/lib64) | ||
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| ## Uncomment this IF the package has a setup.py. This macro ensures | ||
| ## modules and global scripts declared therein get installed | ||
| ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html | ||
| # catkin_python_setup() | ||
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| ################################################ | ||
| ## Declare ROS messages, services and actions ## | ||
| ################################################ | ||
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| ## To declare and build messages, services or actions from within this | ||
| ## package, follow these steps: | ||
| ## * Let MSG_DEP_SET be the set of packages whose message types you use in | ||
| ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). | ||
| ## * In the file package.xml: | ||
| ## * add a build_depend tag for "message_generation" | ||
| ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET | ||
| ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in | ||
| ## but can be declared for certainty nonetheless: | ||
| ## * add a run_depend tag for "message_runtime" | ||
| ## * In this file (CMakeLists.txt): | ||
| ## * add "message_generation" and every package in MSG_DEP_SET to | ||
| ## find_package(catkin REQUIRED COMPONENTS ...) | ||
| ## * add "message_runtime" and every package in MSG_DEP_SET to | ||
| ## catkin_package(CATKIN_DEPENDS ...) | ||
| ## * uncomment the add_*_files sections below as needed | ||
| ## and list every .msg/.srv/.action file to be processed | ||
| ## * uncomment the generate_messages entry below | ||
| ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) | ||
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| ## Generate messages in the 'msg' folder | ||
| add_message_files( | ||
| FILES | ||
| # ObjectHypothesis.msg | ||
| ) | ||
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| ## Generate services in the 'srv' folder | ||
| add_service_files( | ||
| FILES | ||
| DetectObjects.srv | ||
| ) | ||
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| ## Generate actions in the 'action' folder | ||
| # add_action_files( | ||
| # FILES | ||
| # Action1.action | ||
| # Action2.action | ||
| # ) | ||
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| ## Generate added messages and services with any dependencies listed here | ||
| generate_messages( | ||
| DEPENDENCIES | ||
| std_msgs # Or other packages containing msgs | ||
| geometry_msgs | ||
| ) | ||
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| ################################################ | ||
| ## Declare ROS dynamic reconfigure parameters ## | ||
| ################################################ | ||
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| ## To declare and build dynamic reconfigure parameters within this | ||
| ## package, follow these steps: | ||
| ## * In the file package.xml: | ||
| ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" | ||
| ## * In this file (CMakeLists.txt): | ||
| ## * add "dynamic_reconfigure" to | ||
| ## find_package(catkin REQUIRED COMPONENTS ...) | ||
| ## * uncomment the "generate_dynamic_reconfigure_options" section below | ||
| ## and list every .cfg file to be processed | ||
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| ## Generate dynamic reconfigure parameters in the 'cfg' folder | ||
| # generate_dynamic_reconfigure_options( | ||
| # cfg/DynReconf1.cfg | ||
| # cfg/DynReconf2.cfg | ||
| # ) | ||
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| ################################### | ||
| ## catkin specific configuration ## | ||
| ################################### | ||
| ## The catkin_package macro generates cmake config files for your package | ||
| ## Declare things to be passed to dependent projects | ||
| ## INCLUDE_DIRS: uncomment this IF you package contains header files | ||
| ## LIBRARIES: libraries you create in this project that dependent projects also need | ||
| ## CATKIN_DEPENDS: catkin_packages dependent projects also need | ||
| ## DEPENDS: system dependencies of this project that dependent projects also need | ||
| # catkin_package( | ||
| # INCLUDE_DIRS include | ||
| # LIBRARIES apc_vision | ||
| # CATKIN_DEPENDS other_catkin_pkg | ||
| # DEPENDS system_lib | ||
| # ) | ||
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| ########### | ||
| ## Build ## | ||
| ########### | ||
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| ## Specify additional locations of header files | ||
| ## Your package locations should be listed before other locations | ||
| # include_directories(include) | ||
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| ## Declare a C++ library | ||
| # add_library(apc_vision | ||
| # src/${PROJECT_NAME}/apc_vision.cpp | ||
| # ) | ||
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| ## Add cmake target dependencies of the library | ||
| ## as an example, code may need to be generated before libraries | ||
| ## either from message generation or dynamic reconfigure | ||
| # add_dependencies(apc_vision ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
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| # Add C++ header/source files | ||
| SET(HEADERS | ||
| include/depth_utils.h | ||
| ) | ||
| SET(SOURCES | ||
| src/detect.cu | ||
| src/marvin.hpp | ||
| ) | ||
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| ## Declare a C++ executable | ||
| include_directories(include /usr/local/include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIR} ${CUDNN_INCLUDE_DIR}) | ||
| link_directories(${CUDNN_LIB_DIR} ${OpenCV_LIB_DIR}) | ||
| cuda_add_executable(detect ${SOURCES} ${HEADERS}) | ||
| target_link_libraries(detect ${catkin_LIBRARIES} realsense ${OpenCV_LIBS} | ||
| pthread cudnn ${CUDA_CUBLAS_LIBRARIES} ${CUDA_LIBRARIES} ${CUDA_curand_LIBRARY}) | ||
| add_dependencies(detect ${PROJECT_NAME}_gencpp) | ||
| add_dependencies(detect ${PROJECT_NAME}_generate_messages_cpp) | ||
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| ############# | ||
| ## Install ## | ||
| ############# | ||
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| # all install targets should use catkin DESTINATION variables | ||
| # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html | ||
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| ## Mark executable scripts (Python etc.) for installation | ||
| ## in contrast to setup.py, you can choose the destination | ||
| # install(PROGRAMS | ||
| # scripts/my_python_script | ||
| # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # ) | ||
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| ## Mark executables and/or libraries for installation | ||
| # install(TARGETS apc_vision apc_vision | ||
| # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # ) | ||
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| ## Mark cpp header files for installation | ||
| # install(DIRECTORY include/${PROJECT_NAME}/ | ||
| # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
| # FILES_MATCHING PATTERN "*.h" | ||
| # PATTERN ".svn" EXCLUDE | ||
| # ) | ||
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| ## Mark other files for installation (e.g. launch and bag files, etc.) | ||
| # install(FILES | ||
| # # myfile1 | ||
| # # myfile2 | ||
| # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| # ) | ||
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| ############# | ||
| ## Testing ## | ||
| ############# | ||
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| ## Add gtest based cpp test target and link libraries | ||
| # catkin_add_gtest(${PROJECT_NAME}-test test/test_apc_vision.cpp) | ||
| # IF(TARGET ${PROJECT_NAME}-test) | ||
| # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) | ||
| # ENDIF() | ||
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| ## Add folders to be run by python nosetests | ||
| # catkin_add_nosetests(test) |
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| #include <opencv2/opencv.hpp> | ||
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| // Depth images are read and written as 16-bit PNG files, with | ||
| // depth in decimillimeters (10^-4 meters) and circularly | ||
| // bitshifted to the right by 3 bits. | ||
| // | ||
| // WriteDepth takes a row-major order float array of depth | ||
| // values and saves it as a depth image using OpenCV. | ||
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| // ReadDepth reads a depth image and returns a row-major order | ||
| // float array of depth values. | ||
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| void WriteDepth(const std::string &depth_file, float * depth_values, int frame_height, int frame_width) { | ||
| cv::Mat depth_mat(frame_height, frame_width, CV_16UC1); | ||
| for (size_t y = 0; y < frame_height; y++) | ||
| for (size_t x = 0; x < frame_width; x++) { | ||
| unsigned short depth_short = (unsigned short)(depth_values[y * frame_width + x] * 10000); | ||
| depth_short = (depth_short >> 13 | depth_short << 3); | ||
| depth_mat.at<unsigned short>(y, x) = depth_short; | ||
| } | ||
| std::vector<int> compression_params; | ||
| compression_params.push_back(CV_IMWRITE_PNG_COMPRESSION); | ||
| compression_params.push_back(9); | ||
| cv::imwrite(depth_file, depth_mat, compression_params); | ||
| } |
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| <?xml version="1.0.0"?> | ||
| <package> | ||
| <name>marvin_fcn</name> | ||
| <version>1.0.0</version> | ||
| <description>The marvin_fcn package</description> | ||
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| <!-- One maintainer tag required, multiple allowed, one person per tag --> | ||
| <!-- Example: --> | ||
| <!-- <maintainer email="[email protected]">Jane Doe</maintainer> --> | ||
| <maintainer email="[email protected]">Andy Zeng</maintainer> | ||
| <maintainer email="[email protected]">Jianxiong Xiao</maintainer> | ||
| <maintainer email="[email protected]">Peter K.T. Yu</maintainer> | ||
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| <!-- 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>MIT</license> | ||
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| <!-- 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/apc_vision</url> --> | ||
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| <!-- Author tags are optional, mutiple are allowed, one per tag --> | ||
| <!-- Authors do not have to be maintianers, but could be --> | ||
| <!-- Example: --> | ||
| <!-- <author email="[email protected]">Jane Doe</author> --> | ||
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| <!-- 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> | ||
| <build_depend>std_msgs</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> --> | ||
| <buildtool_depend>catkin</buildtool_depend> | ||
| <build_depend>roscpp</build_depend> | ||
| <run_depend>roscpp</run_depend> | ||
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| <!-- The export tag contains other, unspecified, tags --> | ||
| <export> | ||
| <!-- Other tools can request additional information be placed here --> | ||
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| </export> | ||
| </package> |
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