Merge pull request #3 from pankhurivanjani/master

First release of camViz tool

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(camviz)
+set(CMAKE_BUILD_TYPE Debug)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wunused-parameter)
+endif()
+
+SET(rosversion "1" CACHE STRING "Some user-specified option")
+message("THIS IS ROS1")
+SET( SOURCE_FILES camViz.cpp viewer.cpp)
+add_definitions(-DGLADE_DIR="${gladedir}")
+
+find_package(roscpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(yaml-cpp REQUIRED)
+
+find_package(PkgConfig)
+pkg_check_modules(GTKMM gtkmm-3.0)
+
+#pkg_check_modules(libglademm libglademm-2.4)
+
+if(roscpp_FOUND) 
+	message("ROS1 found")
+	add_definitions(-DROS1_H) 
+	add_definitions(-DROS1S_H)
+	SET(ROS1_H ON) 
+ELSE()
+	message("ROS1 not found")
+	SET(ROS1_H OFF) 
+	SET(ROS1S_H OFF)
+endif()
+SET( LIBS_EXTRA resourcelocator )
+
+include_directories(${GTKMM_INCLUDE_DIRS}
+    ${resourcelocator_INCLUDE_DIRS}
+  # ${libglademm_INCLUDE_DIRS}
+  # ${gtkglextmm_INCLUDE_DIRS}
+    ${ZLIB_INCLUDE_DIRS}
+)
+
+include_directories(${roscpp_INCLUDE_DIRS} ${image_transport_INCLUDE_DIRS} ${sensor_msgs_INCLUDE_DIRS} )
+include_directories(
+  ${std_msgs_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+  ${cv_bridge_INCLUDE_DIRS}
+  #${libglademm_INCLUDE_DIRS}
+${resourcelocator_INCLUDE_DIRS})
+
+link_directories(
+    ${resourcelocator_LIBRARY_DIRS}
+    ${GTKMM_LIBRARY_DIRS}
+    ${resourcelocator_LIBRARY_DIRS}
+
+)
+
+add_executable (camViz ${SOURCE_FILES})
+
+target_link_libraries(camViz
+${roscpp_LIBRARIES}
+  ${std_msgs_LIBRARIES}
+  ${image_transport_LIBRARIES}
+    ${OpenCV_LIBRARIES} 
+    ${cv_bridge_LIBRARIES}
+      ${sensor_msgs_LIBRARIES} 
+      ${YAML_CPP_LIBRARIES})
+
+TARGET_LINK_LIBRARIES(camViz
+    ${GTKMM_LIBRARIES}
+  # ${libglademm_LIBRARIES}
+    ${ZLIB_LIBRARIES}
+    ${CMAKE_THREAD_LIBS_INIT}
+    ${resourcelocator_LIBRARIES}
+    ${catkin_LIBRARIES}
+    ${GLOG_LIBRARIES}
+
+    )
+install(TARGETS camViz
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+    COMPONENT camviz
+    )
+
+
+INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/camViz.glade DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/glade COMPONENT camviz)
+INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/camViz.yml DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf COMPONENT camviz)

build/.built_by

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+colcon

build/camviz/camViz.glade

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+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE glade-interface SYSTEM "glade-2.0.dtd">
+<!--*- mode: xml -*-->
+<interface>
+  <object class="GtkWindow" id="mainwindow">
+    <property name="visible">True</property>
+    <property name="title" translatable="yes">CamViz</property>
+    <child>
+      <object class="GtkTable" id="table1">
+        <property name="visible">True</property>
+        <property name="n_rows">2</property>
+        <property name="n_columns">1</property>
+        <child>
+          <object class="GtkLabel" id="fpslabel">
+            <property name="visible">True</property>
+            <property name="xalign">0</property>
+            <property name="label" translatable="yes">0 fps</property>
+          </object>
+          <packing>
+            <property name="top_attach">1</property>
+            <property name="bottom_attach">2</property>
+            <property name="x_options">GTK_FILL</property>
+            <property name="y_options"></property>
+          </packing>
+        </child>
+        <child>
+          <object class="GtkImage" id="image">
+            <property name="visible">True</property>
+            <property name="xalign">0.68999999761581421</property>
+            <property name="stock">gtk-missing-image</property>
+          </object>
+          <packing>
+            <property name="x_options">GTK_FILL</property>
+            <property name="y_options">GTK_FILL</property>
+          </packing>
+        </child>
+      </object>
+    </child>
+  </object>
+</interface>

build/camviz/camViz.yml

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+Server: 1 # Deactivate, ROS , ROS2
+Proxy: "cameraA:tcp -h localhost -p 9999"
+Format: RGB8
+Topic: "/usb_cam/image_raw"
+Name: cameraA
+Fps: 30
+NodeName: camViz

camViz.cpp

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+#include <iostream>
+#include <chrono>
+#include </opt/jderobot/include/jderobot/visionlib/colorspaces/colorspacesmm.h>
+#include "viewer.h"
+#include "comm/getCameraClientdef.hpp"
+#include </opt/jderobot/include/jderobot/types/image.h>
+#include <yaml-cpp/yaml.h>
+
+
+using namespace std; 
+
+int main(int argc, char** argv){
+
+	camViz::Viewer viewer;
+
+
+    	std::string config_file_;
+        config_file_.assign(argv[1]);
+
+	YAML::Node config = YAML::LoadFile(config_file_); 
+        int server = config["Server"].as<int>();
+
+        std::string topic = config["Topic"].as<std::string>();
+        int fps = config["Fps"].as<int>();
+        std::string  nodeName = config["Name"].as<std::string>();
+
+
+// ***********Get from camera-interface*************
+	camViz::CameraClient* camRGB;
+
+	camRGB = camViz::getCameraClient(argc,argv,server,topic,nodeName);
+
+//////****************View in GUI******************************
+	JdeRobotTypes::Image rgb;
+	std::cout << viewer.isVisible();
+
+	while(viewer.isVisible()){
+		rgb = camRGB->getImage();
+		viewer.display(rgb.data);
+		viewer.displayFrameRate(1);
+
+	}
+
+	return 0;
+}

camViz.glade

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+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE glade-interface SYSTEM "glade-2.0.dtd">
+<!--*- mode: xml -*-->
+<interface>
+  <object class="GtkWindow" id="mainwindow">
+    <property name="visible">True</property>
+    <property name="title" translatable="yes">CamViz</property>
+    <child>
+      <object class="GtkTable" id="table1">
+        <property name="visible">True</property>
+        <property name="n_rows">2</property>
+        <property name="n_columns">1</property>
+        <child>
+          <object class="GtkLabel" id="fpslabel">
+            <property name="visible">True</property>
+            <property name="xalign">0</property>
+            <property name="label" translatable="yes">0 fps</property>
+          </object>
+          <packing>
+            <property name="top_attach">1</property>
+            <property name="bottom_attach">2</property>
+            <property name="x_options">GTK_FILL</property>
+            <property name="y_options"></property>
+          </packing>
+        </child>
+        <child>
+          <object class="GtkImage" id="image">
+            <property name="visible">True</property>
+            <property name="xalign">0.68999999761581421</property>
+            <property name="stock">gtk-missing-image</property>
+          </object>
+          <packing>
+            <property name="x_options">GTK_FILL</property>
+            <property name="y_options">GTK_FILL</property>
+          </packing>
+        </child>
+      </object>
+    </child>
+  </object>
+</interface>

camViz.yml

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+Server: 1 # Deactivate, ROS , ROS2
+Proxy: "cameraA:tcp -h localhost -p 9999"
+Format: RGB8
+Topic: "/usb_cam/image_raw"
+Name: cameraA
+Fps: 30
+NodeName: camViz

comm/CameraClient.hpp

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+#pragma once
+#include <iostream>
+#include </opt/jderobot/include/jderobot/types/image.h>
+
+namespace camViz {
+	class CameraClient {
+	public:
+		virtual JdeRobotTypes::Image getImage() = 0;
+		virtual int getRefreshRate() = 0;
+		bool on = false;
+	protected:
+		JdeRobotTypes::Image image;
+		int refreshRate;
+	};
+}
+

comm/getCameraClient.hpp

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+#include </opt/jderobot/include/jderobot/types/image.h>
+
+#include "CameraClient.hpp"
+
+namespace camViz {
+	CameraClient* getCameraClient(int argc, char** argv, int server, std::string topic,std::string nodeName);
+
+}

comm/getCameraClientdef.hpp

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+#include <iostream>
+#include "sstream"
+#include <chrono>
+#include <memory>
+
+#include "mainsub.hpp"
+#include "getCameraClient.hpp"
+
+
+namespace camViz{
+
+	CameraClient* 
+	getCameraClient(int argc, char** argv, int server, std::string topic,std::string  nodeName){
+		CameraClient* client = NULL;		
+		switch (server){
+			case 1:
+			{
+				#ifdef ROS1S_H
+				std::cout << "Receiving ROS1 messages" << std::endl;
+
+				ListenerCamera* lc;
+				lc = new ListenerCamera(0, nullptr, nodeName, topic);
+				lc->start();
+
+				client = (camViz::CameraClient*) lc;
+				//cv::destroyWindow("view");
+
+				#else
+					throw "ERROR: ROS1 is not available";
+				#endif
+				break;
+			}
+			case 2:
+			{
+				std::cout << "This version supports only ROS1 messages" << std::endl;
+
+				break;
+			}
+			default:
+			{
+				printf("Select right distro of ROS");
+				break;
+			}
+
+		}
+
+		return client;
+
+
+	}
+
+}

comm/mainsub.hpp

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+#ifdef ROS1S_H
+   #include "ros/ros.h"
+   #include "std_msgs/String.h"   
+   #include <image_transport/image_transport.h>
+   #include <opencv2/highgui/highgui.hpp>
+   #include <cv_bridge/cv_bridge.h>
+   #include "ros/listenercameraros.hpp"
+
+#endif
+
+