Update mynteye_image_pipeline

wrappers/ros/src/mynteye_image_pipeline/CMakeLists.txt

@@ -158,19 +158,23 @@ catkin_package(
 ###########
 ## Build ##
 ###########
-set (EIGEN_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/third_party/extend_install/eigen_extend/include/eigen3)
+#set (EIGEN_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/third_party/extend_install/eigen_extend/include/eigen3)
+set (EIGEN_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/include/eigen3)
 set(Ceres_DIR ${PROJECT_SOURCE_DIR}/third_party/extend_install/ceres_extend/share/Ceres)
 MESSAGE(STATUS "+++${Ceres_DIR}")
 find_package(Ceres REQUIRED)
 include_directories(${CERES_INCLUDE_DIRS})
 MESSAGE(STATUS "+++++${CERES_INCLUDE_DIRS}")
 MESSAGE(STATUS "+++++${CERES_LIBRARIES}")
+MESSAGE(STATUS "++eigen_include: +++${EIGEN_INCLUDE_DIRS}")
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
   include
+  include/eigen3
   ${catkin_INCLUDE_DIRS}
+  ${EIGEN_INCLUDE_DIRS}
 )
 
 
@@ -194,6 +198,7 @@ add_library(${PROJECT_NAME}
   src/nodelets/disparity_to_depth.cc
   src/nodelets/point_cloud_xyz.cc
   src/nodelets/pub_camera.cc
+  src/nodelets/check_rectify.cc
   ${TOOLS}
 )
 target_link_libraries(${PROJECT_NAME}
@@ -213,7 +218,7 @@ add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
 # Add cmake target dependencies of the library
 # as an example, code may need to be generated before libraries
 # either from message generation or dynamic reconfigure
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_message_cpp)
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context

wrappers/ros/src/mynteye_image_pipeline/README.md

@@ -1,8 +1,8 @@
 ## install dependency
 
 ```
-chmod a+x build.sh
+chmod a+x ceres.sh
-./build.sh
+./ceres.sh
 ```
 ## compile wrapper
 
@@ -23,3 +23,9 @@ roslaunch mynteye_image_pipeline stereo_img_sub_pro.launch
 ```
 roslaunch mynteye_image_pipeline view.launch
 ```
+
+## check rectify image result
+
+```
+roslaunch mynteye_image_pipeline check_rectify.launch
+```

wrappers/ros/src/mynteye_image_pipeline/ceres.sh

@@ -1,19 +1,10 @@
-echo "Configure and building third party/eigen 3.2.10"
-cd third_party
-mkdir -p extend_install/eigen_extend
-cd eigen-eigen-b9cd8366d4e8
-mkdir -p build
-cd build
-cmake .. -DCMAKE_INSTALL_PREFIX=../../extend_install/eigen_extend
-make install
-rm -r ../build
 echo "==========Configure and build ceres 1.11.0========"
-cd ../../
+cd third_party
 mkdir -p extend_install/ceres_extend
 cd ceres-solver-1.11.0
 mkdir -p build
 cd build
-cmake .. -DCMAKE_INSTALL_PREFIX=../../extend_install/ceres_extend
+cmake .. -DCMAKE_INSTALL_PREFIX=../../extend_install/ceres_extend -DGFLAGS_LIBRARY_DIR_HINTS=usr/lib/x86_64-linux-gnu -DGFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION=OFF -DMINIGLOG=ON
 make -j4
 make install
 rm -r ../build

wrappers/ros/src/mynteye_image_pipeline/include/camodocal/EigenUtils.h

@@ -14,7 +14,7 @@
 #ifndef EIGENUTILS_H
 #define EIGENUTILS_H
 
-#include <Eigen/Dense>
+#include "Eigen/Dense"
 #include <iostream>
 
 #include "ceres/rotation.h"

wrappers/ros/src/mynteye_image_pipeline/include/camodocal/camera_models/Camera.h

@@ -15,7 +15,7 @@
 #define CAMERA_H
 
 #include <boost/shared_ptr.hpp>
-#include <eigen3/Eigen/Dense>
+#include "eigen3/Eigen/Dense"
 #include <opencv2/core/core.hpp>
 #include <vector>
 

wrappers/ros/src/mynteye_image_pipeline/include/camodocal/gpl/EigenUtils.h

@@ -14,7 +14,7 @@
 #ifndef EIGENUTILS_H
 #define EIGENUTILS_H
 
-#include <eigen3/Eigen/Dense>
+#include "eigen3/Eigen/Dense"
 
 #include "camodocal/gpl/gpl.h"
 #include "ceres/rotation.h"

wrappers/ros/src/mynteye_image_pipeline/include/camodocal/sparse_graph/Transform.h

@@ -15,7 +15,7 @@
 #define TRANSFORM_H
 
 #include <boost/shared_ptr.hpp>
-#include <eigen3/Eigen/Dense>
+#include "eigen3/Eigen/Dense"
 #include <stdint.h>
 
 namespace camodocal {