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fixes issue #199 #203

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fixes issue #199 #203

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f4027f3
fixes issue #199
Mechazo11 May 24, 2024
9bc0d82
added calib yaml files
Mechazo11 May 24, 2024
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11 changes: 10 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
endif()
find_package(PkgConfig REQUIRED)
find_package(Threads REQUIRED)
pkg_search_module(LIBUVC REQUIRED libuvc)
Expand Down Expand Up @@ -163,6 +169,7 @@ target_link_libraries(${PROJECT_NAME}
${LIBUVC_LIBRARIES}
${RK_MPP_LIBRARIES}
${RK_RGA_LIBRARIES}
${Boost_LIBRARIES} # Added 05/24/24
)

add_dependencies(${PROJECT_NAME}
Expand Down Expand Up @@ -194,6 +201,7 @@ target_link_libraries(${PROJECT_NAME}_node
${OpenCV_LIBS}
${LIBUVC_LIBRARIES}
${GLOG_LIBRARIES}
${Boost_LIBRARIES} # Added 05/24/24
)

add_executable(list_devices_node
Expand All @@ -218,6 +226,7 @@ target_link_libraries(list_devices_node
${OpenCV_LIBS}
${GLOG_LIBRARIES}
${LIBUVC_LIBRARIES}
${Boost_LIBRARIES} # Added 05/24/24
)


Expand Down
20 changes: 20 additions & 0 deletions cfg/orbbec_astra_s_depth_camera_info.yaml
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Original file line number Diff line number Diff line change
@@ -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]
20 changes: 20 additions & 0 deletions cfg/orbbec_astra_s_rgb_camera_info.yaml
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Original file line number Diff line number Diff line change
@@ -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]