Feat threading

CMakeLists.txt

@@ -35,9 +35,6 @@ checkPackage("OPENCV_IMGPROC" "OpenCV imgproc not found, install it from the tut
 find_package(CUDA)
 checkPackage("CUDA" "CUDA not found, install it from:\n https://developer.nvidia.com/cuda-downloads")
 
-find_package(PCL)
-checkPackage("PCL" "PCL not found, try to install it with:\n sudo apt-get install libpcl1 ros-$(rosversion -d)-pcl-ros")
-
 find_package(OpenMP)
 checkPackage("OpenMP" "OpenMP not found, please install it to improve performances: 'sudo apt install libomp-dev'")
 if (OPENMP_FOUND)
@@ -54,7 +51,6 @@ find_package(catkin COMPONENTS
   stereo_msgs
   dynamic_reconfigure
   tf2_ros
-  pcl_conversions
   nodelet
   tf2_geometry_msgs
   message_generation
@@ -67,7 +63,6 @@ checkPackage("sensor_msgs" "")
 checkPackage("stereo_msgs" "")
 checkPackage("dynamic_reconfigure" "")
 checkPackage("tf2_ros" "")
-checkPackage("pcl_conversions" "")
 checkPackage("nodelet" "")
 checkPackage("tf2_geometry_msgs" "")
 checkPackage("message_generation" "")
@@ -95,14 +90,14 @@ catkin_package(
     dynamic_reconfigure
     tf2_ros
     tf2_geometry_msgs
-    pcl_conversions    
     message_runtime
 )
 
 ###############################################################################
 # SOURCES
 
-set(TOOLS_SRC ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/src/sl_tools.cpp)
+set(TOOLS_SRC
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/src/sl_tools.cpp )
 set(NODE_SRC ${CMAKE_CURRENT_SOURCE_DIR}/src/zed_wrapper_node.cpp)
 set(NODELET_SRC ${CMAKE_CURRENT_SOURCE_DIR}/src/nodelet/src/zed_wrapper_nodelet.cpp)
 
@@ -117,15 +112,13 @@ include_directories(
         ${CUDA_INCLUDE_DIRS}
         ${ZED_INCLUDE_DIRS}
         ${OpenCV_INCLUDE_DIRS}
-        ${PCL_INCLUDE_DIRS}
         ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/include
         ${CMAKE_CURRENT_SOURCE_DIR}/src/nodelet/include
 )
 
 link_directories(${ZED_LIBRARY_DIR})
 link_directories(${CUDA_LIBRARY_DIRS})
 link_directories(${OpenCV_LIBRARY_DIRS})
-link_directories(${PCL_LIBRARY_DIRS})
 
 ###############################################################################
 
@@ -139,13 +132,12 @@ endif()
 
 
 add_definitions(-std=c++11)
-list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4") ## if using from pcl package (pcl/vtk bug)
 set(LINK_LIBRARIES
   ${catkin_LIBRARIES}
   ${ZED_LIBRARIES}
   ${CUDA_LIBRARIES} ${CUDA_NPP_LIBRARIES_ZED}
   ${OpenCV_LIBS}
-  ${PCL_LIBRARIES})
+  )
 
 add_library(ZEDWrapper ${TOOLS_SRC} ${NODELET_SRC})
 target_link_libraries(ZEDWrapper ${LINK_LIBRARIES})

README.md

@@ -13,7 +13,6 @@ This package lets you use the ZED stereo camera with ROS. It outputs the camera
 - Ubuntu 16.04
 - [ZED SDK **≥ 2.3**](https://www.stereolabs.com/developers/) and its dependency [CUDA](https://developer.nvidia.com/cuda-downloads)
 - [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu)
-- [Point Cloud Library (PCL)](https://github.com/PointCloudLibrary/pcl)
 
 ### Build the program
 

launch/zed_camera.launch

@@ -65,6 +65,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
         <!-- flip camera -->
         <param name="camera_flip"           value="$(arg camera_flip)" />
+
         <!-- Configuration frame camera -->    
         <param name="pose_frame"                    value="$(arg pose_frame)" />
         <param name="odometry_frame"                value="$(arg odometry_frame)" />

launch/zed_camera_nodelet.launch

@@ -50,6 +50,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     <!-- Publish urdf zed -->
     <arg name="publish_urdf"          default="true" />
 
+    <!-- to flip or not to flip -->
+    <arg name="camera_flip"         default="false" />
     <arg name="rgb_topic"           default="rgb/image_rect_color" />
     <arg name="rgb_info_topic"      default="rgb/camera_info" />
     <arg name="depth_topic"         default="depth/depth_registered" />
@@ -61,6 +63,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
         <!-- publish pose frame -->
         <param name="publish_tf"            value="$(arg publish_tf)" />
 
+        <!-- flip camera -->
+        <param name="camera_flip"           value="$(arg camera_flip)" />
+
         <!-- Configuration frame camera -->
         <param name="pose_frame"                    value="$(arg pose_frame)" />
         <param name="odometry_frame"                value="$(arg odometry_frame)" />

package.xml

@@ -20,7 +20,6 @@
   <depend>opencv3</depend>
   <depend>image_transport</depend>
   <depend>dynamic_reconfigure</depend>
-  <depend>pcl_conversions</depend>
   <depend>nodelet</depend>
 
   <build_depend>urdf</build_depend>

rviz/zedm.rviz

@@ -10,7 +10,7 @@ Panels:
         - /DepthCloud1/Occlusion Compensation1
         - /Odometry1/Covariance1/Position1
       Splitter Ratio: 0.5
-    Tree Height: 773
+    Tree Height: 451
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -171,15 +171,15 @@ Visualization Manager:
       Use rainbow: true
       Value: true
     - Class: rviz/Camera
-      Enabled: false
+      Enabled: true
       Image Rendering: background and overlay
       Image Topic: /zed/rgb/image_rect_color
       Name: Camera
       Overlay Alpha: 0.5
       Queue Size: 2
       Transport Hint: raw
       Unreliable: true
-      Value: false
+      Value: true
       Visibility:
         DepthCloud: true
         Grid: true
@@ -217,7 +217,7 @@ Visualization Manager:
       Size (m): 0.00999999978
       Style: Points
       Topic: /zed/point_cloud/cloud_registered
-      Unreliable: false
+      Unreliable: true
       Use Fixed Frame: true
       Use rainbow: true
       Value: false
@@ -346,7 +346,7 @@ Window Geometry:
   Height: 1056
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000394fc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000394000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002400000010f0000000000000000fb0000000a0049006d006100670065000000028b000000c40000000000000000fb0000000a0049006d006100670065010000028a000000c50000000000000000fb0000000a0049006d00610067006500000002b30000009c0000000000000000fb0000000a0049006d006100670065010000028b000000c40000000000000000fb0000000c00430061006d00650072006100000002800000013c0000001600ffffff000000010000010f00000394fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000394000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000040fc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000394fc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000252000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002400000010f0000000000000000fb0000000a0049006d006100670065000000028b000000c40000000000000000fb0000000a0049006d006100670065010000028a000000c50000000000000000fb0000000a0049006d00610067006500000002b30000009c0000000000000000fb0000000a0049006d006100670065010000028b000000c40000000000000000fb0000000c00430061006d00650072006101000002800000013c0000001600ffffff000000010000010f00000394fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000394000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000040fc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time: