Update to use Aruco library 3.1 loaded dynamically

.gitignore

@@ -6,3 +6,5 @@
 
 # Changelogs
 *CHANGELOG.rst
+
+*.idea*

README.md

@@ -1,6 +1,9 @@
 # aruco_eye
 This is the repository of the aruco_eye metapackage. It is a ROS wrapper of the ArUco library (ArUco: a minimal library for Augmented Reality applications based on OpenCV [http://www.uco.es/investiga/grupos/ava/node/26](http://www.uco.es/investiga/grupos/ava/node/26)), adding extra functionalities very useful for Robotics.
 
+# Changelog
++ added compatibility with aruco dictionaries an custom dictionaries
++ removed unnecessary dependencies
 
 # Table of contents
 + [Disclaimer](#disclaimer)
@@ -48,9 +51,8 @@ You are using this software at your own risk. The authors decline any responsibi
 # Repository information
 
 ## Packages
-This repository is formed by a five ROS packages: 
-
-+ aruco_lib: original ArUco library (see [http://sourceforge.net/projects/aruco/](http://sourceforge.net/projects/aruco/) and [http://www.uco.es/investiga/grupos/ava/node/26](http://www.uco.es/investiga/grupos/ava/node/26) ) with catkin elements (CMakeLists.txt and package.xml)
+This repository is formed by a two ROS packages: 
+
 + aruco_eye_core: C++ (and ROS-independent) wrapper of the ArUco library with additional functionalities.
 + aruco_eye_ros: ROS-dependent wrapper of the ArUco library with additional functionalities.
 
@@ -81,13 +83,13 @@ This repository has the following branches:
 
 This package is running under:
 
-+ Ubuntu: 14.04 and above
-+ ROS: Indigo and above with Catkin
++ Ubuntu: 16.04 and above
++ ROS: Kinetic and built with  catkin tools
 
 This package has been tested under:
 
-+ Ubuntu: 14.04
-+ ROS: Indigo and Jade with Catkin
++ Ubuntu: 16.04
++ ROS: Kinetic and built with catkin tools
 
 
 
@@ -97,10 +99,12 @@ This package has been tested under:
 
 This metapackage requires:
 
-+ OpenCV 2.0 and above
++ ArUco library (see [http://sourceforge.net/projects/aruco/](http://sourceforge.net/projects/aruco/) and [http://www.uco.es/investiga/grupos/ava/node/26](http://www.uco.es/investiga/grupos/ava/node/26) ) 
++ OpenCV 3.3 and above
 + Boosts
 
 
+
 ### ROS Dependencies
 
 This metapackage depends on the following ROS packages:
@@ -123,15 +127,11 @@ This metapackage depends on the following ROS packages:
 
 This metapackage depends on the following extra ROS packages:
 
-+ pugixml: [https://github.com/joselusl/pugixml](https://github.com/joselusl/pugixml)
 + perception_msgs: [https://github.com/joselusl/perception_msgs](https://github.com/joselusl/perception_msgs)
 + robot_component_srvs: [https://github.com/joselusl/robot_component_srvs](https://github.com/joselusl/robot_component_srvs)
 
-
-
 # Installation Instructions
 
-
 ## Pre-requirements
 Install all the system and ROS dependencies (for example, using rosdep install, or apt-get, or directly from source).
 
@@ -149,81 +149,69 @@ Install all the system and ROS dependencies (for example, using rosdep install,
 # Running Instructions
 
 The package aruco_eye_ros included in this repository generates two ROS nodes that can be executed:
-
++ [aruco_eye_ros_detector](#aruco_eye_ros_detector)
++ [aruco_eye_ros_display](#aruco_eye_ros_display)
 
 ## aruco_eye_ros_detector
 This node processes the given images searching for ArUco visual markers, publishing them in a ROS topic.
 
 ### ROS Launcher
 The package aruco_eye_ros includes a launcher called aruco_eye_ros_detector.launch.
 
-### ROS Topics
-Subscribed topics:
-
-+ camera/image_raw [sensor_msgs/Image]: The images where the ArUco visual markers are going to be detected.
-+ camera/camera_info [sensor_msgs/CameraInfo]: The calibration info of the camera.
-
-
-Published topics:
+Configurable ROS launch parameters:
 
-+ aruco_eye/aruco_observation [perception_msgs/MarkerList]: The list of the detected visual markers with all its information.
-+ tf [tf2_msgs/TFMessage]: The tf information of the detected and reconstructed visual markers.
-
-
-### ROS Parameters
-Configurable ROS parameters:
-
-+ aruco_list_file [type=string, default=$(find aruco_eye_ros)/config/arUcoList.xml]: the path to the ArUco list configuration file. See below for more information.
-+ camera_calibration_file [type=string, default=]: the path to the camera calibration file. If nothing is used here, it uses the information given by the camera/camera_info topic.
++ camera_name[type=string, default="camera"]: name of the camera
++ aruco_dictionary[type=string, default="ARUCO_MIP_36h12"]: name of the aruco dictionary or the path to a custom dictionary
++ marker_size[type=string, default="0.16"]: size of the marker in meters
++ camera_calibration_file [type=string, default="${env HOME}/.ros/camera_info/$(arg camera_name).yml"]: the path to the camera calibration file. If nothing is used here, it uses the information given by the camera/camera_info topic.
 + aruco_detector_frame_name [type=string, default=aruco_detector]: the name of the aruco detector frame.
 + aruco_marker_child_base_name [type=string, default=aruco_marker_]: the base name for the visual markers frame.
-+ image_topic_name [type=string, default=camera/image_raw]: the topic name of the images.
-+ camera_info_topic_name [type=string, default=camera/camera_info]: the topic name of the camera calibration.
++ image_topic_name [type=string, default=${arg camera_name}/image_raw]: the topic name of the images.
++ camera_info_topic_name [type=string, default=${arg camera_name}/camera_info]: the topic name of the camera calibration.
 + aruco_list_topic_name [type=string, default=aruco_eye/aruco_observation]: the topic name for the list of detected visual markers.
 
-### ROS Services
-None.
+### ROS Topics
+Subscribed topics:
 
-### Additional Configurations in files
-There are two configuration files. An example can be find in  aruco_eye_ros/config:
++ ${arg image_topic_name} [sensor_msgs/Image]: The images where the ArUco visual markers are going to be detected.
++ ${arg camera_info_topic_name} [sensor_msgs/CameraInfo]: The calibration info of the camera.
 
-+ camera.yml: camera configuration file in YAML format. File type generated by OpenCV. For more information, please refer to: [http://www.uco.es/investiga/grupos/ava/node/26](http://www.uco.es/investiga/grupos/ava/node/26)
 
-+ arUcoList.xml: ArUco list configuration file in XML format. It has the information of the ArUco visual markers that want to be detected. Please open the example file in aruco_eye_core/config/arUcoList.xml for basic information. Please, be sure that the format is correct, otherwise the node will not work.
+Published topics:
 
++ ${arg aruco_list_topic_name} [perception_msgs/MarkerList]: The list of the detected visual markers with all its information.
++ tf [tf2_msgs/TFMessage]: The tf information of the detected and reconstructed visual markers.
 
 ## aruco_eye_ros_display
 This node allows the visualization of the detected ArUco visual markers by the node aruco_eye_ros_detector.
 
 ### ROS Launcher
 The package aruco_eye_ros includes a launcher called aruco_eye_ros_display.launch.
 
+Configurable ROS launch Parameters:
+
++ display_output_image_window_name [type=string, default=arUco_display_window]: the name of the OpenCV local window to display the visual markers.
++ flag_display_output_image [type=boolean, default=True]: flag to enable or disable the display of the drawed markers using an OpenCV local window
++ display_output_image_service_name [type=string, default=aruco_eye/enable_display_output_image]: service name to enable or disable the display of the drawed markers using an OpenCV local window.
++ camera_calibration_file [type=string, default="${env HOME}/.ros/camera_info/$(arg camera_name).yml"]: the path to the camera calibration file. If nothing is used here, it uses the information given by the camera/camera_info topic.
++ image_topic_name [type=string, default=${arg camera_name}/image_raw]: the topic name of the images.
++ camera_info_topic_name [type=string, default=${arg camera_name}/camera_info]: the topic name of the camera calibration.
++ aruco_list_topic_name [type=string, default=aruco_eye/aruco_observation]: See above.
++ output_image_topic_name [type=string, default=aruco_eye/aruco_observation_image/image_raw]: topic name of the image with the drawed ArUco Visual Markers.
+
+
 ### ROS Topics
 Subscribed topics:
 
-+ camera/image_raw [sensor_msgs/Image]: The images where the ArUco visual markers are going to be detected.
-+ camera/camera_info [sensor_msgs/CameraInfo]: The calibration info of the camera.
-+ aruco_eye/aruco_observation [perception_msgs/MarkerList]: The list of the detected visual markers with all its information.
++ ${arg image_topic_name} [sensor_msgs/Image]: The images where the ArUco visual markers are going to be detected.
++ ${arg camera_info_topic_name} [sensor_msgs/CameraInfo]: The calibration info of the camera.
++ ${arg aruco_list_topic_name} [perception_msgs/MarkerList]: The list of the detected visual markers with all its information.
 
 Published topics:
 
 + aruco_eye/aruco_observation_image/image_raw [sensor_msgs/Image]: The image with the drawed ArUco Visual Markers.
 
 
-### ROS Parameters
-
-Configurable ROS Parameters:
-
-+ display_output_image_window_name [type=string, default=arUco_display_window]: the name of the OpenCV local window to display the visual markers.
-+ flag_display_output_image [type=boolean, default=True]: flag to enable or disable the display of the drawed markers using an OpenCV local window
-+ display_output_image_service_name [type=string, default=aruco_eye/enable_display_output_image]: service name to enable or disable the display of the drawed markers using an OpenCV local window.
-+ camera_calibration_file [type=string, default=]: See above.
-+ camera_info_topic_name [type=string, default=camera/camera_info]: See above.
-+ image_topic_name [type=string, default=camera/image_raw]: See above.
-+ aruco_list_topic_name [type=string, default=aruco_eye/aruco_observation]: See above.
-+ output_image_topic_name [type=string, default=aruco_eye/aruco_observation_image/image_raw]: topic name of the image with the drawed ArUco Visual Markers.
-
-
 ### ROS Services
 
 Services served:
@@ -270,28 +258,14 @@ Please, refer to  [http://www.uco.es/investiga/grupos/ava/node/26](http://www.uc
 
 
 
-
 # Contributors
 
 ## Authors / Maintainers / Past contributors
 List of people that have contributed:
 
 + Jose Luis Sanchez-Lopez ([email protected]): Main Author, Maintainaince, Debugging, Testing and Documentation.
 
-
-## Contact information
-Questions, suggestions, requests, ... whatever. Feel free to contact me (Jose Luis Sanchez-Lopez - [email protected]).
-
-
 ## New contributors
-You are very welcome to contribute to this repository by opening a pull request via Github.
++ Claudio Cimarelli ([email protected])
 
 
-# Acknowledgments
-Special thanks to:
-
-+ Computer Vision Group (CVG): [www.vision4uav.eu](www.vision4uav.eu)
-+ Centre for Automation and Robotics (CAR): [http://www.car.upm-csic.es/](http://www.car.upm-csic.es/)
-+ Consejo Superior de Investigaciones Cientificas (CSIC): [http://www.csic.es](http://www.csic.es)
-+ Universidad Politecnica de Madrid (UPM): [http://www.upm.es](http://www.upm.es)
-

aruco_eye/package.xml

@@ -12,7 +12,6 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <exec_depend>aruco_lib</exec_depend>
   <exec_depend>aruco_eye_core</exec_depend>
   <exec_depend>aruco_eye_ros</exec_depend>
 

aruco_eye_core/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5.1)
 
 project(aruco_eye_core)
 
@@ -47,24 +47,25 @@ set(ARUCO_EYE_CORE_HEADER_FILES
 
 
 
-find_package(catkin REQUIRED
-		COMPONENTS pugixml aruco_lib)
+find_package(catkin REQUIRED)
 
-find_package(OpenCV REQUIRED)
+find_package(OpenCV 3 REQUIRED)
+
+find_package(aruco REQUIRED)
 
 find_package(Boost REQUIRED COMPONENTS filesystem)
 
 
 catkin_package(
         INCLUDE_DIRS ${ARUCO_EYE_CORE_INCLUDE_DIR}
         LIBRARIES ${PROJECT_NAME}
-        DEPENDS OpenCV Boost
-        CATKIN_DEPENDS pugixml aruco_lib
-  )
+        DEPENDS OpenCV Boost aruco
+)
 
 
 include_directories(${ARUCO_EYE_CORE_INCLUDE_DIR})
 include_directories(${OpenCV_INCLUDE_DIRS})
+include_directories(${aruco_INCLUDE_DIRS})
 include_directories(${Boost_INCLUDE_DIRS})
 include_directories(${catkin_INCLUDE_DIRS})
 
@@ -73,5 +74,6 @@ include_directories(${catkin_INCLUDE_DIRS})
 add_library(${PROJECT_NAME} ${ARUCO_EYE_CORE_SOURCE_FILES} ${ARUCO_EYE_CORE_HEADER_FILES})
 add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
+target_link_libraries(${PROJECT_NAME} ${aruco_LIBS})
 target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES})
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

aruco_eye_core/package.xml

@@ -12,8 +12,7 @@
 
 	<buildtool_depend>catkin</buildtool_depend>
 
-  <depend>pugixml</depend>
-  <depend>aruco_lib</depend>
+    <depend>aruco_lib</depend>
 
 
 </package>