port of image_projection to ros-jazzy

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "cmake.sourceDirectory": "/home/marek/hector/src/image_projection/image_projection"
+}

image_projection/CMakeLists.txt

@@ -1,58 +1,74 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(image_projection)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
+# Default to C++17
+if (NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif ()
+#set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-find_package(catkin REQUIRED COMPONENTS
-  kalibr_camera_loader
-  nodelet
-  roscpp
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif ()
+
+find_package(ament_cmake REQUIRED)
+set(DEPENDENCIES
+  rclcpp
+  rclcpp_components
+  hector_ros2_utils
+  extended_camera_loader
   sensor_msgs
   tf2_ros
-  eigen_conversions
+  tf2_eigen
   image_transport
   image_projection_msgs
   image_projection_plugin_interface
-  dynamic_reconfigure
+  OpenCV
+  pluginlib
+  #dynamic_reconfigure
 )
+foreach(Dependency IN ITEMS ${DEPENDENCIES})
+    find_package(${Dependency} REQUIRED)
+endforeach()
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
 ################################################
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
- generate_dynamic_reconfigure_options(
-   cfg/Projection.cfg
- )
+
+#generate_dynamic_reconfigure_options(
+#  cfg/Projection.cfg
+#)
 
 ###################################
 ## catkin specific configuration ##
 ###################################
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES image_projection
-  CATKIN_DEPENDS
-    kalibr_camera_loader
-    nodelet
-    roscpp
-    sensor_msgs
-    tf2_ros
-    eigen_conversions
-    image_projection_msgs
-    image_projection_plugin_interface
-    dynamic_reconfigure
-    image_transport
+#catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES image_projection
+#  CATKIN_DEPENDS
+#    kalibr_camera_loader
+#    nodelet
+#    roscpp
+#    sensor_msgs
+#    tf2_ros
+#    eigen_conversions
+#    image_projection_msgs
+#    image_projection_plugin_interface
+#    dynamic_reconfigure
+#    image_transport
 #  DEPENDS system_lib
-)
+#)
 
 ###########
 ## Build ##
 ###########
 
-include_directories(
- include
-  ${catkin_INCLUDE_DIRS}
-)
+#include_directories(
+# include
+#  ${catkin_INCLUDE_DIRS}
+#)
 
 set(HEADERS
   include/${PROJECT_NAME}/image_projection.h
@@ -66,41 +82,82 @@ set(SOURCES
   src/image_projection.cpp
   src/periodic_image_projection.cpp
   src/image_projection_server.cpp
-  src/periodic_image_projection_nodelet.cpp
-  src/image_projection_server_nodelet.cpp
+  src/periodic_image_projection_node.cpp
+  #src/periodic_image_projection_nodelet.cpp
+  #src/image_projection_server_nodelet.cpp
   src/utils/utils.cpp
 )
 
-add_library(${PROJECT_NAME} ${HEADERS} ${SOURCES})
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
-add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg)
+add_library(${PROJECT_NAME} SHARED ${HEADERS} ${SOURCES})
+target_include_directories(${PROJECT_NAME}
+        PUBLIC
+        "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+        "$<INSTALL_INTERFACE:include>")
+#target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
+#add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg)
+ament_target_dependencies(${PROJECT_NAME} PUBLIC ${DEPENDENCIES})
 
-add_executable(periodic_image_projection_node src/periodic_image_projection_node.cpp)
-target_link_libraries(periodic_image_projection_node ${PROJECT_NAME})
+add_library(periodic_image_projection src/periodic_image_projection.cpp)
+ament_target_dependencies(periodic_image_projection
+  rclcpp
+  rclcpp_components
+)
+target_link_libraries(periodic_image_projection ${PROJECT_NAME})
 
-add_executable(image_projection_server_node src/image_projection_server_node.cpp)
-target_link_libraries(image_projection_server_node ${PROJECT_NAME})
 
-install(DIRECTORY 
-  config
-  cfg
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+rclcpp_components_register_node(periodic_image_projection
+  PLUGIN "image_projection::PeriodicImageProjection"
+  EXECUTABLE periodic_image_projection_node
+)
+
+add_library(image_projection_server src/image_projection_server.cpp)
+ament_target_dependencies(image_projection_server
+  rclcpp
+  rclcpp_components
 )
+target_link_libraries(image_projection_server ${PROJECT_NAME})
+
 
-install(TARGETS ${PROJECT_NAME} periodic_image_projection_node image_projection_server_node
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+rclcpp_components_register_node(image_projection_server
+  PLUGIN "image_projection::ImageProjectionServer"
+  EXECUTABLE image_projection_server_node
 )
 
+add_executable(periodic_image_projection_standalone_node src/periodic_image_projection_standalone_node.cpp)
+target_link_libraries(periodic_image_projection_standalone_node ${PROJECT_NAME})
+
+add_executable(image_projection_server_standalone_node src/image_projection_server_standalone_node.cpp)
+target_link_libraries(image_projection_server_standalone_node ${PROJECT_NAME})
+
+# Install
+ament_export_targets(export_image_projection)
+install(TARGETS ${PROJECT_NAME}
+  periodic_image_projection
+  image_projection_server
+  periodic_image_projection_standalone_node
+  image_projection_server_standalone_node
+  EXPORT export_${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME})
+install(DIRECTORY include/ DESTINATION include)
+
+install(DIRECTORY
+  config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+# install(TARGETS ${PROJECT_NAME}  
+#   ARCHIVE DESTINATION lib/${PROJECT_NAME}
+#   LIBRARY DESTINATION lib/${PROJECT_NAME}
+#   RUNTIME DESTINATION lib/${PROJECT_NAME}
+# )
+
 # Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  DESTINATION share/${PROJECT_NAME}
   FILES_MATCHING PATTERN "*.h"
   PATTERN ".svn" EXCLUDE
 )
 
-install(FILES 
-  nodelet_plugins.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+ament_package()

image_projection/include/image_projection/image_projection.h

@@ -6,17 +6,17 @@
 #include <ctime>
 #include <sstream>
 
-#include <ros/ros.h>
+#include <rclcpp/rclcpp.hpp>
 #include <Eigen/Eigen>
 #include <opencv2/opencv.hpp>
 
-#include <kalibr_camera_loader/camera_loader.h>
+#include <extended_camera_loader/camera_loader.h>
 
 #include <tf2_ros/transform_listener.h>
 
-#include <eigen_conversions/eigen_msg.h>
+#include <tf2_eigen/tf2_eigen.hpp>
 
-#include <pluginlib/class_loader.h>
+#include <pluginlib/class_loader.hpp>
 #include <image_projection_plugin_interface/projection_base.h>
 
 namespace image_projection {
@@ -25,24 +25,29 @@ typedef std::unordered_map<std::string, std::pair<cv::UMat, cv::UMat>> PixelMapp
 typedef std::shared_ptr<image_projection_plugin_interface::ProjectionBase> ProjectionPtr;
 typedef pluginlib::ClassLoader<image_projection_plugin_interface::ProjectionBase> ProjectionClassLoader;
 
-class ImageProjection {
+class ImageProjection
+{
 public:
-  ImageProjection(const ros::NodeHandle &nh, const ros::NodeHandle &pnh);
+  using CvImageMap = std::unordered_map<std::string, cv_bridge::CvImageConstPtr>;
+  explicit ImageProjection(const rclcpp::Node::SharedPtr& node);
   ~ImageProjection();
 
   ProjectionPtr loadProjectionPlugin(const std::string& projection_name);
-  PixelMapping createMapping(const ProjectionPtr& projection, const std::string& base_frame, const ros::Time& stamp=ros::Time::now(),
-                             const Eigen::Isometry3d& sensor_pose=Eigen::Isometry3d::Identity()) const;
-  std::map<std::string, cv_bridge::CvImageConstPtr> getLatestImages(ros::Time& stamp, std::string& encoding) const;
-  bool projectImages(const std::map<std::string, cv_bridge::CvImageConstPtr>& images, const PixelMapping& pixel_mapping, cv::UMat& projection) const;
-  bool projectLatestImages(const PixelMapping& pixel_mapping, cv::UMat& projection, ros::Time& stamp, std::string& encoding) const;
+  [[nodiscard]] PixelMapping createMapping(const ProjectionPtr& projection, const std::string& base_frame,
+                                           const rclcpp::Time& stamp = rclcpp::Clock().now(),
+                                           const Eigen::Isometry3d& sensor_pose = Eigen::Isometry3d::Identity()) const;
+  CvImageMap getLatestImages(rclcpp::Time& stamp, std::string& encoding) const;
+  bool projectImages(const CvImageMap& images, const PixelMapping& pixel_mapping, cv::UMat& projection) const;
+  bool projectLatestImages(const PixelMapping& pixel_mapping, cv::UMat& projection, rclcpp::Time& stamp,
+                           std::string& encoding) const;
+
+  extended_image_geometry::CameraLoader& getCameraLoader();
 
-  kalibr_image_geometry::CameraLoader& getCameraLoader();
 private:
-  ros::NodeHandle nh_;
+  rclcpp::Node::SharedPtr node_;
 
   ProjectionClassLoader projection_loader_;
-  kalibr_image_geometry::CameraLoader camera_loader_;
+  extended_image_geometry::CameraLoader camera_loader_;
 
   std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
   std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
@@ -52,6 +57,6 @@ class ImageProjection {
   std::string save_folder_;
 };
 
-}
+}  // namespace image_projection
 
 #endif

image_projection/include/image_projection/image_projection_server.h

@@ -1,18 +1,16 @@
 #ifndef IMAGE_PROJECTION_IMAGE_PROJECTION_SERVER_H
 #define IMAGE_PROJECTION_IMAGE_PROJECTION_SERVER_H
 
-#include <ros/ros.h>
+#include <rclcpp/rclcpp.hpp>
 
 namespace image_projection {
 
-class ImageProjectionServer {
+class ImageProjectionServer : public rclcpp::Node {
 public:
-  ImageProjectionServer(const ros::NodeHandle& nh, const ros::NodeHandle& pnh);
+  ImageProjectionServer(const rclcpp::NodeOptions& options);
 private:
-  ros::NodeHandle nh_;
-  ros::NodeHandle pnh_;
 
-  ros::ServiceServer projection_srv_;
+  //rclcpp::Service<>::SharedPtr projection_srv_;
 
 };