[WIP] comment out calibration from manager for now

camera_calibration_parsers/CMakeLists.txt

@@ -1,83 +1,86 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.5)
+
 project(camera_calibration_parsers)
 
-find_package(catkin REQUIRED sensor_msgs rosconsole roscpp roscpp_serialization)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_ros REQUIRED)
+
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
 find_package(PythonLibs REQUIRED)
 if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
   find_package(Boost REQUIRED COMPONENTS filesystem python)
 else()
   find_package(Boost REQUIRED COMPONENTS filesystem python3)
 endif()
-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${PYTHON_INCLUDE_DIRS})
 
-catkin_python_setup()
-
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS sensor_msgs
-)
-
-find_package(PkgConfig)
-
-
-if (ANDROID)
-    find_package(yaml-cpp)
-    add_definitions(-DHAVE_NEW_YAMLCPP)
-else()
-  pkg_check_modules(YAML_CPP yaml-cpp)
-  if(${YAML_CPP_VERSION} VERSION_GREATER 0.5)
-    add_definitions(-DHAVE_NEW_YAMLCPP)
-  endif()
-  link_directories(${YAML_CPP_LIBRARY_DIRS})
-endif()
-include_directories(${YAML_CPP_INCLUDE_DIRS})
+include_directories(include)
 
 # define the library
 add_library(${PROJECT_NAME}
   src/parse.cpp
   src/parse_ini.cpp
   src/parse_yml.cpp
 )
+ament_target_dependencies(${PROJECT_NAME}
+  "rclcpp"
+  "sensor_msgs"
+)
+target_link_libraries(${PROJECT_NAME} ${Boost_FILESYSTEM_LIBRARY} ${YAML_CPP_LIBRARIES})
+
+# TODO: Reenable Python Wrapper with new serialization technique.
+#add_library(${PROJECT_NAME}_wrapper
+#  src/parse_wrapper.cpp)
+#ament_target_dependencies(${PROJECT_NAME}_wrapper
+#  "rclcpp"
+#  "sensor_msgs"
+#)
+#target_include_directories(${PROJECT_NAME}_wrapper PUBLIC ${Boost_INCLUDE_DIRS} ${PYTHON_INCLUDE_DIRS})
+#target_link_libraries(${PROJECT_NAME}_wrapper ${PROJECT_NAME} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} ${YAML_CPP_LIBRARIES})
 
-add_library(${PROJECT_NAME}_wrapper
-  src/parse_wrapper.cpp)
-
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES} ${Boost_FILESYSTEM_LIBRARY})
-target_link_libraries(${PROJECT_NAME}_wrapper ${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES})
-
-# Don't prepend wrapper library name with lib and add to Python libs.
-set_target_properties(${PROJECT_NAME}_wrapper PROPERTIES
-        PREFIX ""
-        LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
-        )
-
-add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
+# define the exe to convert
+add_executable(convert src/convert.cpp)
+target_link_libraries(convert ${PROJECT_NAME})
 
 install(
   TARGETS ${PROJECT_NAME}
-  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  COMPONENT main
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
-install(
-  DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
-
-# define the exe to convert
-add_executable(convert src/convert.cpp)
-target_link_libraries(convert ${PROJECT_NAME} ${rosconsole_LIBRARIES})
 
 install(
   TARGETS convert
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
-install(TARGETS ${PROJECT_NAME}_wrapper
-  DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
+install(
+  DIRECTORY include/
+  DESTINATION include
 )
 
-if(CATKIN_ENABLE_TESTING)
-  add_subdirectory(test)
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(sensor_msgs)
+
+if(ENABLE_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  # TODO: Fix tests
+  #  add_subdirectory(test)
 endif()
+
+ament_package()
+

camera_calibration_parsers/include/camera_calibration_parsers/parse.h

@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  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
@@ -17,7 +17,7 @@
 *   * 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
@@ -36,10 +36,13 @@
 #define CAMERA_CALIBRATION_PARSERS_PARSE_H
 
 #include <string>
-#include <sensor_msgs/CameraInfo.h>
+#include <sensor_msgs/msg/camera_info.hpp>
 
 /// @todo: use stream-based API, so no read/parse distinction
-namespace camera_calibration_parsers {
+namespace camera_calibration_parsers
+{
+
+using CameraInfo = sensor_msgs::msg::CameraInfo;
 
 /**
  * \brief Write calibration parameters to a file.
@@ -50,8 +53,9 @@ namespace camera_calibration_parsers {
  * \param camera_name Name of the camera
  * \param cam_info Camera parameters
  */
-bool writeCalibration(const std::string& file_name, const std::string& camera_name,
-                      const sensor_msgs::CameraInfo& cam_info);
+bool writeCalibration(
+  const std::string & file_name, const std::string & camera_name,
+  const CameraInfo & cam_info);
 
 /**
  * \brief Read calibration parameters from a file.
@@ -62,8 +66,9 @@ bool writeCalibration(const std::string& file_name, const std::string& camera_na
  * \param[out] camera_name Name of the camera
  * \param[out] cam_info Camera parameters
  */
-bool readCalibration(const std::string& file_name, std::string& camera_name,
-                     sensor_msgs::CameraInfo& cam_info);
+bool readCalibration(
+  const std::string & file_name, std::string & camera_name,
+  CameraInfo & cam_info);
 
 /**
  * \brief Parse calibration parameters from a string in memory.
@@ -73,8 +78,9 @@ bool readCalibration(const std::string& file_name, std::string& camera_name,
  * \param[out] camera_name Name of the camera
  * \param[out] cam_info Camera parameters
  */
-bool parseCalibration(const std::string& buffer, const std::string& format,
-                      std::string& camera_name, sensor_msgs::CameraInfo& cam_info);
+bool parseCalibration(
+  const std::string & buffer, const std::string & format,
+  std::string & camera_name, CameraInfo & cam_info);
 
 } //namespace camera_calibration_parsers
 

camera_calibration_parsers/include/camera_calibration_parsers/parse_ini.h

@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  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
@@ -17,7 +17,7 @@
 *   * 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
@@ -36,9 +36,12 @@
 #define CAMERA_CALIBRATION_PARSERS_PARSE_INI_H
 
 #include <string>
-#include <sensor_msgs/CameraInfo.h>
+#include <sensor_msgs/msg/camera_info.hpp>
 
-namespace camera_calibration_parsers {
+namespace camera_calibration_parsers
+{
+
+using CameraInfo = sensor_msgs::msg::CameraInfo;
 
 /**
  * \brief Write calibration parameters to a file in INI format.
@@ -47,8 +50,9 @@ namespace camera_calibration_parsers {
  * \param camera_name Name of the camera
  * \param cam_info Camera parameters
  */
-bool writeCalibrationIni(std::ostream& out, const std::string& camera_name,
-                         const sensor_msgs::CameraInfo& cam_info);
+bool writeCalibrationIni(
+  std::ostream & out, const std::string & camera_name,
+  const CameraInfo & cam_info);
 
 /**
  * \brief Read calibration parameters from an INI file.
@@ -57,7 +61,9 @@ bool writeCalibrationIni(std::ostream& out, const std::string& camera_name,
  * \param[out] camera_name Name of the camera
  * \param[out] cam_info Camera parameters
  */
-bool readCalibrationIni(std::istream& in, std::string& camera_name, sensor_msgs::CameraInfo& cam_info);
+bool readCalibrationIni(
+  std::istream & in, std::string & camera_name,
+  CameraInfo & cam_info);
 
 /**
  * \brief Write calibration parameters to a file in INI format.
@@ -66,8 +72,9 @@ bool readCalibrationIni(std::istream& in, std::string& camera_name, sensor_msgs:
  * \param camera_name Name of the camera
  * \param cam_info Camera parameters
  */
-bool writeCalibrationIni(const std::string& file_name, const std::string& camera_name,
-                         const sensor_msgs::CameraInfo& cam_info);
+bool writeCalibrationIni(
+  const std::string & file_name, const std::string & camera_name,
+  const CameraInfo & cam_info);
 
 /**
  * \brief Read calibration parameters from an INI file.
@@ -76,8 +83,9 @@ bool writeCalibrationIni(const std::string& file_name, const std::string& camera
  * \param[out] camera_name Name of the camera
  * \param[out] cam_info Camera parameters
  */
-bool readCalibrationIni(const std::string& file_name, std::string& camera_name,
-                        sensor_msgs::CameraInfo& cam_info);
+bool readCalibrationIni(
+  const std::string & file_name, std::string & camera_name,
+  CameraInfo & cam_info);
 
 /**
  * \brief Parse calibration parameters from a string in memory of INI format.
@@ -86,8 +94,9 @@ bool readCalibrationIni(const std::string& file_name, std::string& camera_name,
  * \param[out] camera_name Name of the camera
  * \param[out] cam_info Camera parameters
  */
-bool parseCalibrationIni(const std::string& buffer, std::string& camera_name,
-                         sensor_msgs::CameraInfo& cam_info);
+bool parseCalibrationIni(
+  const std::string & buffer, std::string & camera_name,
+  CameraInfo & cam_info);
 
 //bool readCalibrationIni
 

camera_calibration_parsers/include/camera_calibration_parsers/parse_wrapper.h

@@ -1,10 +1,10 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  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
@@ -14,7 +14,7 @@
 *   * 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
@@ -35,9 +35,10 @@
 #include <string>
 #include <boost/python.hpp>
 
-namespace camera_calibration_parsers {
+namespace camera_calibration_parsers
+{
 
-boost::python::tuple readCalibrationWrapper(const std::string& file_name);
+boost::python::tuple readCalibrationWrapper(const std::string & file_name);
 
 } //namespace camera_calibration_parsers