REPO: various changes for sub8 integration

* fix up namespaces in mil_vision

* move mil_msgs stuff that isnt messages to mil_tools

perception/mil_vision/CMakeLists.txt

@@ -24,6 +24,7 @@ find_package(catkin
     pcl_ros
     tf2_sensor_msgs
     tf2_geometry_msgs
+    mil_tools
 )
 
 find_package(PCL 1.7 REQUIRED)
@@ -83,7 +84,7 @@ add_library(
     src/mil_vision_lib/colorizer/color_observation.cpp
 )
 target_include_directories(mil_vision_lib PUBLIC include/mil_vision_lib)
-target_link_libraries(mil_vision_lib mil_tools_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PCL_COMMON_LIBRARIES} ${PCL_COMMON_LIBRARIES})
+target_link_libraries(mil_vision_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PCL_COMMON_LIBRARIES} ${PCL_COMMON_LIBRARIES})
 
 add_executable(camera_stream_demo nodes/camera_stream_demo.cpp)
 add_dependencies(camera_stream_demo mil_vision_lib ${catkin_EXPORTED_TARGETS})

perception/mil_vision/include/mil_vision_lib/active_contours.hpp

@@ -14,7 +14,7 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/highgui/highgui.hpp>
 
-namespace nav
+namespace mil_vision
 {
 
 class SegmentDescription;
@@ -65,4 +65,4 @@ class ActiveContour
   ActiveContour();
 };
 
-}  // namespace nav
+}  // namespace mil_vision

perception/mil_vision/include/mil_vision_lib/colorizer/camera_observer.hpp

@@ -6,7 +6,7 @@
 #include <image_geometry/pinhole_camera_model.h>
 #include <opencv2/core/eigen.hpp>
 
-namespace nav{
+namespace mil_vision{
 
 class CameraObserver
 {
@@ -42,4 +42,4 @@ class CameraObserver
 
 };
 
-}  // namespace nav
+}  // namespace mil_vision

perception/mil_vision/include/mil_vision_lib/colorizer/color_observation.hpp

@@ -6,7 +6,7 @@
 #include <Eigen/Core>
 
 
-namespace nav{
+namespace mil_vision{
 
 struct alignas(16) ColorObservation
 {
@@ -42,4 +42,4 @@ struct PointColorStats
   int n;
 };
 
-}  //namespace nav
+}  //namespace mil_vision

perception/mil_vision/include/mil_vision_lib/colorizer/common.hpp

@@ -20,11 +20,11 @@
 #include <future>
 #include <list>
 
-namespace nav{
+namespace mil_vision{
 
 template<typename T = pcl::PointXYZ> using PCD = pcl::PointCloud<T>;
 template<typename T = pcl::PointXYZ> using PCDPtr = std::shared_ptr<PCD<T>>;
 template<typename T> using SPtrVector = std::vector<std::shared_ptr<T>>;
 template<typename T> using UPtrVector = std::vector<std::unique_ptr<T>>;
 
-} // namespace nav
+} // namespace mil_vision

perception/mil_vision/include/mil_vision_lib/colorizer/pcd_colorizer.hpp

@@ -8,7 +8,7 @@
 #include <pcl_ros/transforms.h>
 #include <tf/transform_listener.h>
 
-namespace nav{
+namespace mil_vision{
 
 class PcdColorizer{
   /*
@@ -69,4 +69,4 @@ class PcdColorizer{
 
 }; // end class PcdColorizer
 
-} // namespace nav
+} // namespace mil_vision

perception/mil_vision/include/mil_vision_lib/colorizer/single_cloud_processor.hpp

@@ -7,7 +7,7 @@
 #include <pcl_ros/transforms.h>
 #include <tf/transform_listener.h>
 
-namespace nav {
+namespace mil_vision {
 
 class SingleCloudProcessor
 {
@@ -38,4 +38,4 @@ class SingleCloudProcessor
 
 };
 
-}  // namespace nav
+}  // namespace mil_vision

perception/mil_vision/include/mil_vision_lib/cv_tools.hpp

@@ -23,7 +23,7 @@
 
 // #define SEGMENTATION_DEBUG
 
-namespace nav {
+namespace mil_vision {
 
 /// UTILS
 

perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame.hpp

@@ -11,7 +11,7 @@
 #include <exception>
 
 
-namespace nav
+namespace mil_vision
 {
 
 enum class PixelType
@@ -139,7 +139,7 @@ class CameraFrame
     float_t _img_scale = 1.0f;
 
     // Stores the pixel data type
-    nav::PixelType TYPE = nav::PixelType::_UNKNOWN;
+    mil_vision::PixelType TYPE = mil_vision::PixelType::_UNKNOWN;
 
 
     ///////////////////////////////////////////////////////////////////////////////////////////////
@@ -198,5 +198,5 @@ catch(const std::exception &e)
     ROS_WARN(e.what());
 }
 
-}  // namespace nav
+}  // namespace mil_vision
 

perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame_sequence.hpp

@@ -6,7 +6,7 @@
 #include <vector>
 #include <memory>
 
-namespace nav
+namespace mil_vision
 {
 
 template<typename cam_model_ptr_t, typename img_scalar_t, typename time_t_,typename float_t = float>
@@ -68,4 +68,4 @@ class CameraFrameSequence
 
 };
 
-}  // namespace nav
+}  // namespace mil_vision

perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_model.hpp

@@ -3,7 +3,7 @@
 #include <Eigen/Core>
 #include <ros/ros.h>
 
-namespace nav{
+namespace mil_vision{
 
 template<typename T = float>
 class CameraModel{
@@ -59,4 +59,4 @@ Eigen::Matrix<T, 3, 4> CameraModel<T>::get_projection_matrix()
     return K * R * aug; 
 }
 
-} // namespace nav
+} // namespace mil_vision

perception/mil_vision/include/mil_vision_lib/image_acquisition/ros_camera_stream.hpp

@@ -18,7 +18,7 @@
 #include <iostream>
 
 
-namespace nav
+namespace mil_vision
 {
 
 template<typename img_scalar_t = uint8_t, typename float_t = float>
@@ -130,7 +130,7 @@ class ROSCameraStream : public CameraFrameSequence<std::shared_ptr<image_geometr
   // Shared CameraFrame properties if camera geometry is constant
   int COLS = -1;
   int ROWS = -1;
-  nav::PixelType TYPE = nav::PixelType::_UNKNOWN;
+  mil_vision::PixelType TYPE = mil_vision::PixelType::_UNKNOWN;
 
   // Mutex for multithreaded access to camera frame data
   std::mutex _mtx;
@@ -168,7 +168,7 @@ class ROSCameraStream : public CameraFrameSequence<std::shared_ptr<image_geometr
 template<typename img_scalar_t, typename float_t>
 bool ROSCameraStream<img_scalar_t, float_t>::init(std::string &camera_topic)
 {
-  using mil::tools::operator "" _s;  // convert raw string literal to std::string
+  using mil_tools::operator "" _s;  // convert raw string literal to std::string
   _img_topic = camera_topic;
   bool success = false;
   image_transport::CameraSubscriber cam_sub;
@@ -237,7 +237,7 @@ template<typename img_scalar_t, typename float_t>
 typename ROSCameraStream<img_scalar_t, float_t>::CamFrameConstPtr
 ROSCameraStream<img_scalar_t, float_t>::getFrameFromTime(ros::Time desired_time)
 {
-  using mil::tools::operator "" _s;
+  using mil_tools::operator "" _s;
 
   // Check bounds on time
   if(desired_time < this->_start_time || desired_time > this->_end_time)
@@ -269,7 +269,7 @@ template<typename img_scalar_t, typename float_t>
 typename ROSCameraStream<img_scalar_t, float_t>::CamFrameConstPtr 
 ROSCameraStream<img_scalar_t, float_t>::operator[](int i)
 {
-  using mil::tools::operator "" _s;
+  using mil_tools::operator "" _s;
 
   // Prevent adding new frames while frames are being accessed
   _mtx.lock();
@@ -337,4 +337,4 @@ ROSCameraStream<img_scalar_t, float_t>::~ROSCameraStream()
   _cb_queue.disable();
 }
 
-} // namespace nav
+} // namespace mil_vision

perception/mil_vision/include/mil_vision_lib/image_filtering.hpp

@@ -7,7 +7,7 @@
 
 #include <mil_tools/mil_tools.hpp>
 
-namespace nav
+namespace mil_vision
 {
 
 /*
@@ -39,4 +39,4 @@ cv::Mat makeRotInvariant(const cv::Mat &kernel, int rotations=8);
 */
 float getRadialSymmetryAngle(const cv::Mat &kernel, float ang_res=0.1, bool deg=false);
 
-} // namespace nav
+} // namespace mil_vision

perception/mil_vision/include/mil_vision_lib/pcd_sub_pub_algorithm.hpp

@@ -7,7 +7,7 @@
 #include <functional>
 
 
-namespace nav{
+namespace mil_vision{
 
 template <typename output_T = pcl::PointXYZ, typename input_T = pcl::PointXYZ>
 class PcdSubPubAlgorithm{
@@ -78,4 +78,4 @@ class PcdSubPubAlgorithm{
   std::string _err_msg;
 };
 
-}  //namespace nav
+}  //namespace mil_vision

perception/mil_vision/include/mil_vision_lib/point_cloud_algorithms.hpp

@@ -8,7 +8,7 @@
 #include <pcl_ros/point_cloud.h>
 #include <pcl_ros/transforms.h>
 
-namespace nav{
+namespace mil_vision {
 
 class PcdSubPubAlgorithm{
   /*
@@ -67,4 +67,4 @@ class PcdColorizer : public PcdSubPubAlgorithm{
   sensor_msgs::CameraInfoConstPtr latest_frame_info_msg;
 };
 
-} // namwspace nav
+} // namwspace nav

perception/mil_vision/include/mil_vision_lib/visualization.hpp

@@ -8,7 +8,7 @@
 #include "ros/ros.h"
 #include "geometry_msgs/Pose.h"
 
-namespace nav {
+namespace mil_vision {
 
 // ******* 3D Visualization *******
 class RvizVisualizer {

perception/mil_vision/nodes/camera_stream_demo.cpp

@@ -15,7 +15,7 @@ int main(int argc, char **argv)
 
   // Template argument should be cv::Vec3b for color images or uint8_t 
   // For grayscale images
-  nav::ROSCameraStream<cv::Vec3b> left_cam_stream(nh, history_length);  // Constructs empty inactive
+  mil_vision::ROSCameraStream<cv::Vec3b> left_cam_stream(nh, history_length);  // Constructs empty inactive
                                                                         // camera stream object
   if(!left_cam_stream.init(cam_topic)) // Initializes object, if sucessful, object will automatically 
     return -1;                         // store a history of images published to cam_topic in its buffer

perception/mil_vision/src/mil_vision_lib/active_contours.cpp

@@ -3,7 +3,7 @@
 using namespace std;
 using namespace cv;
 
-namespace nav
+namespace mil_vision
 {
 
 namespace Perturbations
@@ -226,7 +226,7 @@ bool ClosedCurve::validateCurve(std::vector<cv::Point2i>& curve)
       if(count > 1)
       {
         auto conflict_pt = find_if(forbidden_neighbors.begin(), forbidden_neighbors.end(),
-          [pt](Point2i test_pt){ return nav::Perturbations::isNeighborPoint(pt, test_pt); });
+          [pt](Point2i test_pt){ return mil_vision::Perturbations::isNeighborPoint(pt, test_pt); });
         cout << "failure pts: " << curve[1] << "\t" << (conflict_pt != forbidden_neighbors.end()? Point2i(0,0) : *conflict_pt) << endl;
         return false;
       }
@@ -236,7 +236,7 @@ bool ClosedCurve::validateCurve(std::vector<cv::Point2i>& curve)
       if(count > 0)
       {
         auto conflict_pt = find_if(forbidden_neighbors.begin(), forbidden_neighbors.end(),
-          [pt](Point2i test_pt){ return nav::Perturbations::isNeighborPoint(pt, test_pt); });
+          [pt](Point2i test_pt){ return mil_vision::Perturbations::isNeighborPoint(pt, test_pt); });
         cout << "failure pts: " << curve[1] << "\t" << (conflict_pt != forbidden_neighbors.end()? Point2i(0,0) : *conflict_pt) << endl;
         return false;
       }
@@ -250,4 +250,4 @@ vector<float> calcCosts(const Mat& img, vector<ClosedCurve::Perturbation> candid
 
 }
 
-}  // namespace nav
+}  // namespace mil_vision

perception/mil_vision/src/mil_vision_lib/colorizer/camera_observer.cpp

@@ -1,8 +1,8 @@
 #include <colorizer/camera_observer.hpp>
 
-namespace nav{
+namespace mil_vision{
 
-using mil::tools::operator "" _s; // converts to std::string
+using mil_tools::operator "" _s; // converts to std::string
 
 CameraObserver::CameraObserver(ros::NodeHandle &nh, std::string &pcd_in_topic, std::string &cam_topic, size_t hist_size)
 : _nh{nh}, _cam_stream{nh, hist_size}
@@ -70,4 +70,4 @@ ColorObservation::VecImg CameraObserver::get_color_observations(const PCD<pcl::P
 
 }
 
-}  // namespace nav
+}  // namespace mil_vision

perception/mil_vision/src/mil_vision_lib/colorizer/color_observation.cpp

@@ -1,7 +1,7 @@
 #include <colorizer/color_observation.hpp>
 
 
-namespace nav{
+namespace mil_vision{
 
 UnoccludedPointsImg::UnoccludedPointsImg()
 // : frame_ptr(frame_ptr),
@@ -12,4 +12,4 @@ UnoccludedPointsImg::UnoccludedPointsImg()
 
 }
 
-} // namespace nav
+} // namespace mil_vision

perception/mil_vision/src/mil_vision_lib/colorizer/pcd_colorizer.cpp

@@ -3,13 +3,13 @@
 using namespace std;
 using namespace cv;
 
-namespace nav{
+namespace mil_vision{
 
 PcdColorizer::PcdColorizer(ros::NodeHandle nh, string input_pcd_topic)
   : _nh(nh), _img_hist_size{10}, _cloud_processor{nh, input_pcd_topic, _img_hist_size},
   _input_pcd_topic{input_pcd_topic}, _output_pcd_topic{input_pcd_topic + "_colored"}  
 {
-  using mil::tools::operator "" _s; // converts to std::string
+  using mil_tools::operator "" _s; // converts to std::string
 
   try
   {
@@ -52,7 +52,7 @@ void PcdColorizer::_cloud_cb(const PCD<>::ConstPtr &cloud_in)
 // {
 //   cout << "img hist size: " << _img_hist_size << endl;
 //   // Subscribe to all rectified color img topics
-//   auto rect_color_topics = mil::tools::getRectifiedImageTopics(true);
+//   auto rect_color_topics = mil_tools::getRectifiedImageTopics(true);
 //   if(rect_color_topics.size() == 0)
 //   {
 //     _err_msg += "COLORIZER: There are no rectified color camera topics currently publishing on this ROS master (";
@@ -170,4 +170,4 @@ void PcdColorizer::_cloud_cb(const PCD<>::ConstPtr &cloud_in)
 
 // }
 
-} // namespace nav
+} // namespace mil_vision