Totally removed OpenCV dependency

zed_wrapper/CMakeLists.txt

@@ -27,11 +27,6 @@ if ( CMAKE_SYSTEM_NAME2 MATCHES "aarch64" ) # Jetson TX
     SET(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
 endif()
 
-find_package(OpenCV 3 COMPONENTS core highgui imgproc)
-checkPackage("OPENCV_CORE" "OpenCV core not found, install it from the tutorial at:\n https://www.stereolabs.com/documentation/overview/getting-started/getting-started.html")
-checkPackage("OPENCV_HIGHGUI" "OpenCV highgui not found, install it from the tutorial at:\n https://www.stereolabs.com/documentation/overview/getting-started/getting-started.html")
-checkPackage("OPENCV_IMGPROC" "OpenCV imgproc not found, install it from the tutorial at:\n https://www.stereolabs.com/documentation/overview/getting-started/getting-started.html")
-
 find_package(CUDA)
 checkPackage("CUDA" "CUDA not found, install it from:\n https://developer.nvidia.com/cuda-downloads")
 
@@ -85,7 +80,6 @@ catkin_package(
     rosconsole
     sensor_msgs
     stereo_msgs
-    opencv3
     image_transport
     dynamic_reconfigure
     tf2_ros
@@ -111,14 +105,12 @@ include_directories(
         ${catkin_INCLUDE_DIRS}
         ${CUDA_INCLUDE_DIRS}
         ${ZED_INCLUDE_DIRS}
-        ${OpenCV_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})
 
 ###############################################################################
 
@@ -136,7 +128,6 @@ set(LINK_LIBRARIES
   ${catkin_LIBRARIES}
   ${ZED_LIBRARIES}
   ${CUDA_LIBRARIES} ${CUDA_NPP_LIBRARIES_ZED}
-  ${OpenCV_LIBS}
   )
 
 add_library(ZEDWrapper ${TOOLS_SRC} ${NODELET_SRC})

zed_wrapper/README.md

@@ -25,12 +25,10 @@ The zed_ros_wrapper is a catkin package. It depends on the following ROS package
    - rosconsole
    - sensor_msgs
    - stereo_msgs
-   - opencv3
    - image_transport
    - dynamic_reconfigure
    - urdf
 
-
 Open a terminal and build the package:
 
     cd ~/catkin_ws/src

zed_wrapper/package.xml

@@ -17,7 +17,6 @@
   <depend>rosconsole</depend>
   <depend>sensor_msgs</depend>
   <depend>stereo_msgs</depend>
-  <depend>opencv3</depend>
   <depend>image_transport</depend>
   <depend>dynamic_reconfigure</depend>
   <depend>nodelet</depend>

zed_wrapper/src/nodelet/include/zed_wrapper_nodelet.hpp

@@ -42,8 +42,6 @@
 #include <zed_wrapper/set_initial_pose.h>
 #include <zed_wrapper/reset_odometry.h>
 
-#include <opencv2/core/core.hpp>
-
 #include <mutex>
 #include <thread>
 #include <condition_variable>
@@ -69,7 +67,7 @@ namespace zed_wrapper {
          * \param frameId : the id of the reference frame of the image
          * \param t : the ros::Time to stamp the image
          */
-        static sensor_msgs::ImagePtr imageToROSmsg(cv::Mat img, const std::string encodingType, std::string frameId, ros::Time t);
+        static sensor_msgs::ImagePtr imageToROSmsg(sl::Mat img, std::string frameId, ros::Time t);
 
       private:
         /* \brief Initialization function called by the Nodelet base class
@@ -116,25 +114,25 @@ namespace zed_wrapper {
          */
         void publishImuFrame(tf2::Transform baseTransform);
 
-        /* \brief Publish a cv::Mat image with a ros Publisher
+        /* \brief Publish a sl::Mat image with a ros Publisher
          * \param img : the image to publish
          * \param pub_img : the publisher object to use (different image publishers exist)
          * \param img_frame_id : the id of the reference frame of the image (different image frames exist)
          * \param t : the ros::Time to stamp the image
          */
-        void publishImage(cv::Mat img, image_transport::Publisher& pubImg, string imgFrameId, ros::Time t);
+        void publishImage(sl::Mat img, image_transport::Publisher& pubImg, string imgFrameId, ros::Time t);
 
-        /* \brief Publish a cv::Mat depth image with a ros Publisher
+        /* \brief Publish a sl::Mat depth image with a ros Publisher
          * \param depth : the depth image to publish
          * \param t : the ros::Time to stamp the depth image
          */
-        void publishDepth(cv::Mat depth, ros::Time t);
+        void publishDepth(sl::Mat depth, ros::Time t);
 
-        /* \brief Publish a cv::Mat confidence image with a ros Publisher
+        /* \brief Publish a sl::Mat confidence image with a ros Publisher
          * \param conf : the confidence image to publish
          * \param t : the ros::Time to stamp the depth image
          */
-        void publishConf(cv::Mat conf, ros::Time t);
+        void publishConf(sl::Mat conf, ros::Time t);
 
         /* \brief Publish a pointCloud with a ros Publisher
          * \param width : the width of the point cloud
@@ -149,11 +147,11 @@ namespace zed_wrapper {
          */
         void publishCamInfo(sensor_msgs::CameraInfoPtr camInfoMsg, ros::Publisher pubCamInfo, ros::Time t);
 
-        /* \brief Publish a cv::Mat disparity image with a ros Publisher
+        /* \brief Publish a sl::Mat disparity image with a ros Publisher
          * \param disparity : the disparity image to publish
          * \param t : the ros::Time to stamp the depth image
          */
-        void publishDisparity(cv::Mat disparity, ros::Time t);
+        void publishDisparity(sl::Mat disparity, ros::Time t);
 
         /* \brief Get the information of the ZED cameras and store them in an information message
          * \param zed : the sl::zed::Camera* pointer to an instance
@@ -344,10 +342,6 @@ namespace zed_wrapper {
         int camHeight;
         int matWidth;
         int matHeight;
-        cv::Mat leftImRGB;
-        cv::Mat rightImRGB;
-        cv::Mat confImRGB;
-        cv::Mat confMapFloat;
 
         // Mutex
         std::mutex dataMutex;