From f4027f365ab25aee82d36042b1d51b5233e66f86 Mon Sep 17 00:00:00 2001
From: Azmyin <azmyin12@gmail.com>
Date: Fri, 24 May 2024 11:01:24 -0500
Subject: [PATCH 1/2] fixes issue #199

---
 CMakeLists.txt | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3162672..e2daf5e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,7 +29,13 @@ find_package(catkin REQUIRED
 )
 find_package(OpenCV REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(Boost REQUIRED)
+#find_package(Boost REQUIRED) # Causes build error as discussed here https://github.com/orbbec/ros_astra_camera/issues/199
+find_package(Boost REQUIRED COMPONENTS filesystem)
+if(Boost_FOUND)
+    include_directories(${Boost_INCLUDE_DIRS})
+    link_directories(${Boost_LIBRARY_DIRS})
+    add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
+endif()
 find_package(PkgConfig REQUIRED)
 find_package(Threads REQUIRED)
 pkg_search_module(LIBUVC REQUIRED libuvc)
@@ -163,6 +169,7 @@ target_link_libraries(${PROJECT_NAME}
   ${LIBUVC_LIBRARIES}
   ${RK_MPP_LIBRARIES}
   ${RK_RGA_LIBRARIES}
+  ${Boost_LIBRARIES}  # Added 05/24/24
 )
 
 add_dependencies(${PROJECT_NAME}
@@ -194,6 +201,7 @@ target_link_libraries(${PROJECT_NAME}_node
   ${OpenCV_LIBS}
   ${LIBUVC_LIBRARIES}
   ${GLOG_LIBRARIES}
+  ${Boost_LIBRARIES} # Added 05/24/24
 )
 
 add_executable(list_devices_node
@@ -218,6 +226,7 @@ target_link_libraries(list_devices_node
   ${OpenCV_LIBS}
   ${GLOG_LIBRARIES}
   ${LIBUVC_LIBRARIES}
+  ${Boost_LIBRARIES} # Added 05/24/24
 )
 
 

From 9bc0d8257ab7e04aab4add4c6ee7ede327075cf9 Mon Sep 17 00:00:00 2001
From: Azmyin <azmyin12@gmail.com>
Date: Fri, 24 May 2024 12:49:19 -0500
Subject: [PATCH 2/2] added calib yaml files

---
 cfg/orbbec_astra_s_depth_camera_info.yaml | 20 ++++++++++++++++++++
 cfg/orbbec_astra_s_rgb_camera_info.yaml   | 20 ++++++++++++++++++++
 2 files changed, 40 insertions(+)
 create mode 100755 cfg/orbbec_astra_s_depth_camera_info.yaml
 create mode 100755 cfg/orbbec_astra_s_rgb_camera_info.yaml

diff --git a/cfg/orbbec_astra_s_depth_camera_info.yaml b/cfg/orbbec_astra_s_depth_camera_info.yaml
new file mode 100755
index 0000000..d75701d
--- /dev/null
+++ b/cfg/orbbec_astra_s_depth_camera_info.yaml
@@ -0,0 +1,20 @@
+image_width: 640
+image_height: 480
+camera_name: depth_Astra_Orbbec
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [498.90349, 0.0, 314.5, 0.0, 498.90349, 235.5, 0.0, 0.0, 1.0]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.0, 0.0, 0.0, 0.0, 0.0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [498.90349, 0.0, 314.5, 0.0, 0.0, 498.90349, 235.5, 0.0, 0.0, 0.0, 1.0, 0.0]
\ No newline at end of file
diff --git a/cfg/orbbec_astra_s_rgb_camera_info.yaml b/cfg/orbbec_astra_s_rgb_camera_info.yaml
new file mode 100755
index 0000000..a03b907
--- /dev/null
+++ b/cfg/orbbec_astra_s_rgb_camera_info.yaml
@@ -0,0 +1,20 @@
+image_width: 640
+image_height: 480
+camera_name: rgb_Astra_Orbbec #front_rgbd_camera
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [498.90349, 0.0, 319.5, 0.0, 498.90349, 239.5, 0.0, 0.0, 1.0]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.0, 0.0, 0.0, 0.0, 0.0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [498.90349, 0.0, 319.5, 0.0, 0.0, 498.90349, 239.5, 0.0, 0.0, 0.0, 1.0, 0.0]
\ No newline at end of file