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Vikrant Shah
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‎.gitignore‎

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$ cat .gitignore
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*.[oa]
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*~
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# no .a files
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#*.a
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# but do track lib.a, even though you're ignoring .a files above
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#!lib.a
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# only ignore the TODO file in the current directory, not subdir/TODO
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#/TODO
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# ignore all files in the build/ directory
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build/
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data/
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devel
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~devel/lib/datacollection_neu/*.xml
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.catkin_workspace
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# ignore doc/notes.txt, but not doc/server/arch.txt
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#doc/*.txt
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# ignore all .pdf files in the doc/ directory
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#doc/**/*.pdf
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# ignore all bag files
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*.bag
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# ignore pcd files
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*.pcd
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# ignore ply files
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*.ply
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# ignore mat files
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*.mat
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# ignore png files
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*.png
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# ignore avi
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*.avi

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(spinnaker_camera_driver)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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###
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# camera Acquisition specific
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###
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#SET("OpenCV_DIR" "~/apps/opencv-2.4.13/")
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set(PROJECT_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/include" CACHE PATH "Project Include Directory")
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set(SPINNAKER_INCLUDE_DIR "/usr/include/spinnaker" CACHE PATH "Spinnaker Include Directory")
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set(SPINNAKER_LIB_DIR "/usr/lib" CACHE PATH "Spinnaker Libs Directory")
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# set(yaml-cpp_DIR "~/apps/yaml-cpp" CACHE PATH "yaml-cpp Directory")
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set(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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message_generation
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cv_bridge
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image_transport
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sensor_msgs
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# tf
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)
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#find_package(PCL REQUIRED)
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###
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# Acquisition specific
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###
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# Find Packages
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find_package(OpenCV REQUIRED)
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find_package(Boost)
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if(Boost_FOUND)
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find_package ( Boost COMPONENTS filesystem system serialization REQUIRED )
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set(Boost_GENERAL ${Boost_LIBRARIES})
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elseif(NOT Boost_FOUND)
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message("Boost not found!")
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endif()
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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add_message_files(
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FILES
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spinnaker_image_names.msg
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)
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include
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#LIBRARIES datacollection_neu
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CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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# ${PCL_INCLUDE_DIRS}
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)
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include_directories( ${PROJECT_INCLUDE_DIR} )
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include_directories( ${SPINNAKER_INCLUDE_DIR} )
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include_directories( ${OpenCV_INCLUDE_DIRS} )
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include_directories( ${Boost_INCLUDE_DIR} )
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#include_directories( ${YAML_CPP_INCLUDE_DIR} )
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## Declare a C++ library
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add_library (acquilib SHARED
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# ${PROJECT_SOURCE_DIR}/src/utils.cpp
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src/capture.cpp
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src/camera.cpp)
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link_directories( ${SPINNAKER_LIB_DIR} )
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# Settings libraries to link to
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# set (ROS_LIBS ${cv_bridge_LIBRARIES} ${image_transport_LIBRARIES})
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#set (LIBS glog gflags gomp unwind Spinnaker yaml-cpp ${OpenCV_LIBS} ${Boost_GENERAL}) # ${ROS_LIBS} profiler
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set (LIBS gomp unwind Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL}) # ${ROS_LIBS} profiler
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# Custom compiler flags
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w -std=c++11")
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/datacollection_neu.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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#add_executable(${PROJECT_NAME}_node src/datacollection_neu_node.cpp)
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add_executable (acquisition_node src/acquisition_node.cpp)
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#target_link_libraries (multiAcq_node acquilib ${LIBS} )
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#target_link_libraries (acquisition_mt_node acquilib ${LIBS} ${catkin_LIBRARIES})
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#target_link_libraries (conversion_node acquilib ${LIBS} )
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target_link_libraries (acquisition_node acquilib ${LIBS} ${catkin_LIBRARIES})
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add_dependencies(acquisition_node spinnaker_camera_driver_generate_messages_cpp)
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#add_dependencies(acquisition_mt_node datacollection_neu_generate_messages_cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_dependencies(acquisition_node ${catkin_EXPORTED_TARGETS})
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#add_dependencies(acquisition_mt_node ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_datacollection_neu.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎LICENSE‎

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MIT License
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Copyright (c) 2018 NEU Field Robotics Lab
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

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