Merge pull request #389 from knorth55/zdepth

add zdepth and zdepth_image_transport package

3rdparty/zdepth/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(zdepth)
+
+include(ExternalProject)
+
+if("$ENV{ROS_DISTRO}" STRGREATER "kinetic")
+  ExternalProject_Add(
+    zdepth
+    GIT_REPOSITORY  https://github.com/catid/Zdepth.git
+    GIT_TAG         ac7c6d8e944d07be2404e5a1eaa04562595f3756
+    GIT_SHALLOW     TRUE
+    PATCH_COMMAND cat ${PROJECT_SOURCE_DIR}/fix_cmakelists.patch | patch -p1
+    CMAKE_ARGS      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+    INSTALL_COMMAND echo "install"
+   )
+
+  install(CODE "execute_process(COMMAND make install WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/zdepth-prefix/src/zdepth-build)")
+else()
+  install(CODE "message(WARNING \"Skipping zdepth install because ROS is too old\")")
+endif()

3rdparty/zdepth/fix_cmakelists.patch

@@ -0,0 +1,50 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b22b2e7..a4251af 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -61,7 +61,7 @@ include_directories(include)
+
+ # zdepth library
+
+-add_library(zdepth STATIC ${SOURCE_FILES})
++add_library(zdepth SHARED ${SOURCE_FILES})
+ add_library(zdepth::zdepth ALIAS zdepth)
+
+ target_link_libraries(zdepth PUBLIC zstd)
+@@ -80,10 +80,13 @@ target_link_libraries(zdepth_test PRIVATE zdepth)
+ ################################################################################
+ # Install
+
+-install(FILES LICENSE DESTINATION ${CMAKE_INSTALL_PREFIX})
+-install(FILES README.md DESTINATION ${CMAKE_INSTALL_PREFIX})
+-install(DIRECTORY cmake include DESTINATION ${CMAKE_INSTALL_PREFIX})
+-install(TARGETS zdepth EXPORT zdepth LIBRARY DESTINATION lib)
++# install(FILES LICENSE DESTINATION ${CMAKE_INSTALL_PREFIX})
++# install(FILES README.md DESTINATION ${CMAKE_INSTALL_PREFIX})
++install(FILES include/zdepth.hpp DESTINATION ${CMAKE_INSTALL_PREFIX}/include/zdepth)
++install(FILES tests/test_vectors.inl DESTINATION ${CMAKE_INSTALL_PREFIX}/include/zdepth/tests)
++install(TARGETS zdepth EXPORT zdepth
++        ARCHIVE DESTINATION lib
++        LIBRARY DESTINATION lib)
+
+ ################################################################################
+ # Generate zdepthConfig.cmake and zdepthConfigVersion.cmake for cmake projects
+diff --git a/zstd/CMakeLists.txt b/zstd/CMakeLists.txt
+index 5869d4d..f9339a3 100644
+--- a/zstd/CMakeLists.txt
++++ b/zstd/CMakeLists.txt
+@@ -19,10 +19,12 @@ include_directories(include src)
+ ################################################################################
+ # Targets
+
+-add_library(zstd ${ZSTD_SOURCE_FILES})
++add_library(zstd SHARED ${ZSTD_SOURCE_FILES})
+ target_include_directories(zstd PUBLIC
+     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+     "$<INSTALL_INTERFACE:include>"
+ )
+
+-install(TARGETS zstd EXPORT zdepth LIBRARY DESTINATION lib)
++install(TARGETS zstd EXPORT zdepth
++        ARCHIVE DESTINATION lib
++        LIBRARY DESTINATION lib)

3rdparty/zdepth/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>zdepth</name>
+  <version>0.0.0</version>
+  <description>The zdepth package</description>
+
+  <maintainer email="[email protected]">Shingo Kitagawa</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

jsk_3rdparty/package.xml

@@ -36,6 +36,7 @@
   <run_depend>sesame_ros</run_depend>
   <run_depend>switchbot_ros</run_depend>
   <run_depend>webrtcvad_ros</run_depend>
+  <run_depend>zdepth_image_transport</run_depend>
 
   <!-- 3rdparty/ dir -->
   <run_depend>aques_talk</run_depend>
@@ -56,6 +57,7 @@
   <run_depend>python_twoauth</run_depend>
   <run_depend>slic</run_depend>
   <run_depend>voice_text</run_depend>
+  <run_depend>zdepth</run_depend>
 
   <!-- jsk_ros_patch/ dir -->
   <run_depend>collada_urdf_jsk_patch</run_depend>

zdepth_image_transport/CMakeLists.txt

@@ -0,0 +1,75 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(zdepth_image_transport)
+
+find_package(catkin REQUIRED
+  COMPONENTS
+  image_transport
+  message_generation
+  pluginlib
+  roscpp
+  sensor_msgs
+  std_msgs
+)
+
+if("$ENV{ROS_DISTRO}" STRGREATER "kinetic")
+  find_library(zdepth_LIB zdepth PATH_SUFFIXES zdepth)
+  find_library(zstd_LIB zstd PATH_SUFFIXES zdepth)
+  set(zdepth_LIBRARIES ${zdepth_LIB} ${zstd_LIB})
+  find_file(zdepth_INCLUDE zdepth.hpp PATH_SUFFIXES zdepth)
+  get_filename_component(zdepth_PATH ${zdepth_INCLUDE} DIRECTORY)
+  get_filename_component(zdepth_INCLUDE_DIRS ${zdepth_PATH} DIRECTORY)
+endif()
+
+add_message_files(
+  DIRECTORY msg
+  FILES
+  ZDepthImage.msg
+)
+
+generate_messages(DEPENDENCIES std_msgs)
+
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS
+  message_runtime
+  image_transport
+  pluginlib
+  roscpp
+  sensor_msgs
+  std_msgs
+  DEPENDS
+  zdepth
+)
+
+if("$ENV{ROS_DISTRO}" STRGREATER "kinetic")
+  include_directories(include ${catkin_INCLUDE_DIRS} ${zdepth_INCLUDE_DIRS})
+
+  add_executable(zdepth_test src/test/zdepth_test.cpp)
+  target_link_libraries(zdepth_test ${catkin_LIBRARIES} ${zdepth_LIBRARIES})
+
+  add_library(${PROJECT_NAME} src/manifest.cpp src/zdepth_publisher.cpp src/zdepth_subscriber.cpp)
+  target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${zdepth_LIBRARIES})
+  add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp)
+
+  install(TARGETS zdepth_test
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+
+  install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
+endif()
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+install(FILES zdepth_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )

zdepth_image_transport/include/zdepth_image_transport/zdepth_publisher.h

@@ -0,0 +1,22 @@
+#include <image_transport/simple_publisher_plugin.h>
+#include "zdepth/zdepth.hpp"
+#include "zdepth_image_transport/ZDepthImage.h"
+
+
+namespace zdepth_image_transport
+{
+  class ZDepthPublisher : public image_transport::SimplePublisherPlugin<zdepth_image_transport::ZDepthImage>
+  {
+    public:
+      virtual ~ZDepthPublisher() {}
+      virtual std::string getTransportName() const
+      {
+        return "zdepth";
+      }
+
+    protected:
+      virtual void publish(const sensor_msgs::Image& img_msg,
+                           const PublishFn& publish_fn) const;
+  };
+
+} //namespace zdepth_image_transport

zdepth_image_transport/include/zdepth_image_transport/zdepth_subscriber.h

@@ -0,0 +1,22 @@
+#include <image_transport/simple_subscriber_plugin.h>
+#include "zdepth/zdepth.hpp"
+#include "zdepth_image_transport/ZDepthImage.h"
+
+
+namespace zdepth_image_transport
+{
+  class ZDepthSubscriber : public image_transport::SimpleSubscriberPlugin<zdepth_image_transport::ZDepthImage>
+  {
+    public:
+      virtual ~ZDepthSubscriber() {}
+      virtual std::string getTransportName() const
+      {
+        return "zdepth";
+      }
+
+    protected:
+      virtual void internalCallback(const zdepth_image_transport::ZDepthImageConstPtr& zdepth_msg,
+                                    const Callback& user_cb);
+  };
+
+} //namespace zdepth_image_transport

zdepth_image_transport/msg/ZDepthImage.msg

@@ -0,0 +1,15 @@
+# This message contains a compressed image
+
+Header header        # Header timestamp should be acquisition time of image
+                     # Header frame_id should be optical frame of camera
+                     # origin of frame should be optical center of camera
+                     # +x should point to the right in the image
+                     # +y should point down in the image
+                     # +z should point into to plane of the image
+
+string format        # Specifies the format of the data
+                     #   Acceptable values:
+                     #     jpeg, png
+uint8[] data         # Compressed image buffer
+int32 width
+int32 height

zdepth_image_transport/package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>zdepth_image_transport</name>
+  <version>0.0.0</version>
+  <description>The zdepth_image_transport package</description>
+
+  <maintainer email="[email protected]">Shingo Kitagawa</maintainer>
+
+  <license>BSD</license>
+
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>pluginlib</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>zdepth</build_depend>
+
+  <exec_depend>image_transport</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>pluginlib</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>zdepth</exec_depend>
+  <export>
+    <image_transport plugin="${prefix}/zdepth_plugins.xml"/>
+   </export>
+</package>

zdepth_image_transport/src/manifest.cpp

@@ -0,0 +1,6 @@
+#include <pluginlib/class_list_macros.h>
+#include <zdepth_image_transport/zdepth_publisher.h>
+#include <zdepth_image_transport/zdepth_subscriber.h>
+
+PLUGINLIB_EXPORT_CLASS(zdepth_image_transport::ZDepthPublisher, image_transport::PublisherPlugin)
+PLUGINLIB_EXPORT_CLASS(zdepth_image_transport::ZDepthSubscriber, image_transport::SubscriberPlugin)