Merge pull request #94 from cpaxton/fix-sp-segmenter-error

Fix sp segmenter error and add to travis

Author: cpaxton

.travis.yml

@@ -68,9 +68,11 @@ before_install:
   - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
   - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
   # Do not build/test costar-perception: it requires OpenCV-nonfree, which is not automatically installed.
-  - touch $CI_SOURCE_PATH/costar_perception/CATKIN_IGNORE
   - sudo apt-get update -qq
   - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool python-catkin-tools ros-$ROS_DISTRO-catkin
+  - sudo add-apt-repository --yes ppa:xqms/opencv-nonfree
+  - sudo apt-get update 
+  - sudo apt-get install libopencv-nonfree-dev
   # - sudo apt-get install -y ros-$ROS_DISTRO-fcl ros-$ROS_DISTRO-soem ros-$ROS_DISTRO-moveit-full liburdfdom-headers-dev ros-$ROS_DISTRO-control-msgs ros-$ROS_DISTRO-gazebo-ros-control ros-$ROS_DISTRO-python-orocos-kdl xdot ros-$ROS_DISTRO-ros-control ros-$ROS_DISTRO-universal-robot ros-$ROS_DISTRO-ur-msgs ros-$ROS_DISTRO-octomap-msgs ros-$ROS_DISTRO-object-recognition-msgs ros-$ROS_DISTRO-realtime-tools ros-$ROS_DISTRO-soem ros-$ROS_DISTRO-gazebo-plugins ros-$ROS_DISTRO-pcl-ros ros-$ROS_DISTRO-socketcan-interface ros-$ROS_DISTRO-rqt-gui ros-$ROS_DISTRO-rqt-gui-py ros-$ROS_DISTRO-position-controllers ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-joint-state-controller ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-joint-trajectory-controller ros-$ROS_DISTRO-openni2-launch
   - source /opt/ros/$ROS_DISTRO/setup.bash
   # Prepare rosdep to install dependencies.
@@ -85,6 +87,7 @@ install:
   - cd ~/costar_ws/src
   - git clone https://github.com/SalvoVirga/iiwa_stack.git  
   - git clone https://github.com/ros-industrial/robotiq.git  
+  - git clone https://github.com/jhu-lcsr/ObjRecRANSAC.git  
   - git clone https://github.com/jbohren/rqt_dot.git  
   - git clone https://github.com/sniekum/ar_track_alvar.git  
   - git clone https://github.com/sniekum/ar_track_alvar_msgs.git  

costar_perception/sp_segmenter/CMakeLists.txt

@@ -8,7 +8,8 @@ OPTION(BUILD_USE_OBJRECRANSAC "Use ObjRecRANSAC" ON)
 OPTION(BUILD_PYTHON_BINDING "Build Python Binding" OFF)
 OPTION(BUILD_ENABLE_TRACKING "Build Enable Tracking Keypoints (EXPERIMENTAL)" OFF)
 
-OPTION(BUILD_SCENE_PARSING_SUPPORT "Build with Scene Parsing Hypothesis Message (EXPERIMENTAL)" ON)
+OPTION(BUILD_SCENE_PARSING_SUPPORT
+  "Build with Scene Parsing Hypothesis Message (EXPERIMENTAL)" OFF)
 
 # Enable C++11
 include(CheckCXXCompilerFlag)

costar_perception/sp_segmenter/include/sp_segmenter/ros_semantic_segmentation.h

@@ -70,10 +70,10 @@ class RosSemanticSegmentation : public SemanticSegmentation
     void initializeSemanticSegmentationFromRosParam();
     void populateTFMap(std::vector<objectTransformInformation> all_poses);
 
-#ifdef SCENE_PARSING
-    objrec_hypothesis_msgs::AllModelHypothesis generateAllModelHypothesis() const;
     costar_objrec_msgs::DetectedObjectList last_object_list_;
     sensor_msgs::PointCloud2 last_segmented_cloud_;
+#ifdef SCENE_PARSING
+    objrec_hypothesis_msgs::AllModelHypothesis generateAllModelHypothesis() const;
     bool getLastHypotheses (std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
 #endif
 

costar_perception/sp_segmenter/package.xml

@@ -42,7 +42,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>costar_objrec_msgs</build_depend>
-  <build_depend>objrecransac</build_depend>
+  <build_depend>ObjRecRANSAC</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>pcl_ros</build_depend>

install_indigo.sh

@@ -6,19 +6,26 @@ mkdir -p costar_ws/src
 cd ~/costar_ws
 source /opt/ros/indigo/setup.bash
 sudo apt-get update -qq
+
+# Set up your basic deps
 sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool python-catkin-tools ros-$ROS_DISTRO-catkin
+
+# Set up Opencv-nonfree
+sudo add-apt-repository --yes ppa:xqms/opencv-nonfree
+sudo apt-get update 
+sudo apt-get install libopencv-nonfree-dev
+
 catkin init
 cd ~/costar_ws/src
 git clone https://github.com/cpaxton/costar_stack.git  
 git clone https://github.com/SalvoVirga/iiwa_stack.git  
 git clone https://github.com/ros-industrial/robotiq.git  
+git clone https://github.com/jhu-lcsr/ObjRecRANSAC.git  
 git clone https://github.com/jbohren/rqt_dot.git  
 git clone https://github.com/sniekum/ar_track_alvar.git  
 git clone https://github.com/sniekum/ar_track_alvar_msgs.git  
 git clone https://github.com/gt-ros-pkg/hrl-kdl.git
 git clone https://github.com/xqms/ur_modern_driver.git --branch thread_safety
 rosdep install -y --from-paths ./ --ignore-src --rosdistro $ROS_DISTRO
-echo "Ignore COSTAR_PERCEPTION until you have installed its dependencies."
-touch costar_stack/costar_perception/CATKIN_IGNORE
 catkin build --continue
 source ../devel/setup.bash