add CMakeLists

vision_test/CMakeLists.txt

@@ -7,16 +7,18 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(nlohmann_json REQUIRED)
 
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(message_filters REQUIRED)
+
 find_package(interfaces REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 
-find_package()
+find_package(nlohmann_json REQUIRED)
+find_package(Open3D REQUIRED)
+find_package(OpenCV REQUIRED)
 
 
 add_executable(
@@ -39,19 +41,49 @@ target_include_directories(
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
   )
+
+ament_target_dependencies(
+  detect_node 
+  rclcpp 
+  sensor_msgs 
+  cv_bridge 
+  message_filters 
+  interfaces 
+  ament_index_cpp 
+  nlohmann_json 
+  Open3D 
+  OpenCV
+)
+
 target_compile_features(
   detect_node 
   PRIVATE c_std_99 cxx_std_17
   )  
 
 
-install(
-  TARGETS detect_node DESTINATION lib/${PROJECT_NAME}
-  DIRECTORY configs DESTINATION share/${PROJECT_NAME}/configs
-  DIRECTORY checkpoints DESTINATION share/${PROJECT_NAME}/checkpoints
-  DIRECTORY launch DESTINATION share/${PROJECT_NAME}/launch
-  DIRECTORY calibration_mats DESTINATION share/${PROJECT_NAME}/calibration_mats
-  )
 
+install(
+  TARGETS detect_node 
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY configs 
+  DESTINATION share/${PROJECT_NAME}/configs
+)
+
+install(
+  DIRECTORY checkpoints 
+  DESTINATION share/${PROJECT_NAME}/checkpoints
+)
+
+install(
+  DIRECTORY launch 
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+install(
+  DIRECTORY calibration_mats DESTINATION share/${PROJECT_NAME}/calibration_mats
+)
 
 ament_package()

vision_test/include/vision_test/config_base.hpp

@@ -54,7 +54,7 @@ class ConfigBase: public rclcpp::Node {
 
         std::array<int, 2> pattern_size;
         std::array<double, 9> k;
-        std::array<double, 5> k;
+        std::array<double, 5> d;
 
         Eigen::Matrix4d left_hand_mat, right_hand_mat, head_mat, hand_eye_mat;
 

vision_test/package.xml

@@ -8,8 +8,19 @@
   <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>nlohmann_json</buildtool_depend>
-  <buildtool_depend>rclcpp</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>cv_bridge</depend>
+  <depend>message_filters</depend>
+  <depend>ament_index_cpp</depend>
+
+  <depend>nlohmann_json</depend>
+  <depend>Open3D</depend>
+  <depend>OpenCV</depend>
+
+  <depend>interfaces</depend>
+
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

vision_test/src/init_base.cpp

@@ -3,6 +3,7 @@
 #include "vision_test/init_base.hpp"
 
 
+
 InitBase::InitBase(const std::string name): ConfigBase(name) {
 
 }