OpenCV3 support added

kinect2_bridge/src/kinect2_bridge.cpp

@@ -239,7 +239,7 @@ class Kinect2Bridge
     priv_nh.param("queue_size", queueSize, 2);
     priv_nh.param("bilateral_filter", bilateral_filter, true);
     priv_nh.param("edge_aware_filter", edge_aware_filter, true);
-    priv_nh.param("publish_tf", publishTF, false);
+    priv_nh.param("publish_tf", publishTF, true);
     priv_nh.param("base_name_tf", baseNameTF, base_name);
     priv_nh.param("worker_threads", worker_threads, 4);
 

kinect2_calibration/src/kinect2_calibration.cpp

@@ -29,6 +29,7 @@
 #include <sys/stat.h>
 
 #include <opencv2/opencv.hpp>
+#include "opencv2/core/version.hpp"
 
 #include <ros/ros.h>
 #include <ros/spinner.h>
@@ -715,9 +716,17 @@ class CameraCalibration
     OUT_INFO("Distortion Coeeficients Ir:" << std::endl << distortionIr << std::endl);
 
     OUT_INFO("calibrating Color and Ir extrinsics...");
+
+#if CV_VERSION_EPOCH == 2 || (!defined CV_VERSION_EPOCH && CV_VERSION_MAJOR == 2)
     error = cv::stereoCalibrate(pointsBoard, pointsIr, pointsColor, cameraMatrixIr, distortionIr, cameraMatrixColor, distortionColor, sizeColor,
                                 rotation, translation, essential, fundamental, termCriteria,
                                 cv::CALIB_FIX_INTRINSIC);
+#elif CV_VERSION_MAJOR == 3
+    error = cv::stereoCalibrate(pointsBoard, pointsIr, pointsColor, cameraMatrixIr, distortionIr, cameraMatrixColor, distortionColor, sizeColor,
+                                rotation, translation, essential, fundamental,
+                                cv::CALIB_FIX_INTRINSIC,termCriteria);
+#endif
+
     OUT_INFO("re-projection error: " << error << std::endl);
 
     OUT_INFO("Rotation:" << std::endl << rotation);
@@ -1047,7 +1056,12 @@ class DepthCalibration
   {
     cv::Mat rvec, rotation, translation;
     //cv::solvePnP(board, points[index], cameraMatrix, distortion, rvec, translation, false, cv::EPNP);
+
+#if CV_VERSION_EPOCH == 2 || (!defined CV_VERSION_EPOCH && CV_VERSION_MAJOR == 2)
     cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, board.size(), cv::noArray(), cv::ITERATIVE);
+#elif CV_VERSION_MAJOR == 3
+    cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, board.size(), cv::noArray(), cv::SOLVEPNP_ITERATIVE);
+#endif
     cv::Rodrigues(rvec, rotation);
 
     normal = cv::Mat(3, 1, CV_64F);

kinect2_registration/CMakeLists.txt

@@ -27,6 +27,13 @@ find_package(cmake_modules QUIET)
 
 ## System dependencies are found with CMake's conventions
 find_package(OpenCV REQUIRED)
+if(OpenCV_FOUND)
+    message(STATUS "OpenCV version: ${OpenCV_VERSION}")
+   if(NOT OpenCV_VERSION VERSION_LESS "3.0.0")
+       add_definitions(-DHAVE_OPENCV3)
+        message(STATUS "defined HAVE_OPENCV3")
+   endif()
+endif()
 find_package(OpenMP)
 find_package(Eigen)
 find_package(OpenCL)

kinect2_viewer/README.md

@@ -10,6 +10,9 @@ This is a simple viewer for the combined color an depth image provided by Kinect
 
 It just listens to two ROS topics and displays a the color with the overlayed colored depth image or a registered point cloud.
 
+Update:
+It can disable the visualization and just publish pointcloud2 now with publish_cloud option with changes in lock and unlock to assert that the color corresponded to the depth image in the same timeframe. Change pcl RGBA point cloud to RGB
+
 ## Dependencies
 
 - ROS Hydro/Indigo
@@ -24,8 +27,9 @@ It just listens to two ROS topics and displays a the color with the overlayed co
 kinect2_viewer [options]
   name: 'any string' equals to the kinect2_bridge topic base name
   mode: 'qhd', 'hd', 'sd' or 'ir'
-  visualization: 'image', 'cloud' or 'both'
+  visualization: 'none', 'image', 'cloud' or 'both'
   options:
+    'publish_cloud' publish PointXYZRGBA cloud topic
     'compressed' use compressed instead of raw topics
     'approx' use approximate time synchronization
 ```