depthDSR agent for Monocular depth estimation from RGB signals

components/depthDSR/CMakeLists.txt

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+cmake_minimum_required( VERSION 2.8 )
+PROJECT( depthDSR )
+
+SET(RC_COMPONENT_PATH ${CMAKE_CURRENT_SOURCE_DIR} CACHE STRING "component base path" FORCE)
+SET(RC_COMPONENT_DEVEL_PATH "${CMAKE_CURRENT_SOURCE_DIR}" CACHE STRING "component binary path" FORCE)
+#SET(RC_COMPONENT_DEVEL_PATH "${WORKSPACE_PATH}/devel"  CACHE STRING "component binary path")
+SET(RC_COMPONENT_INSTALL_PATH "/opt/robocomp" CACHE STRING "component install path")
+
+#commented as now devel is merged into source space
+#get_filename_component( COMPONENT_NAME ${CMAKE_CURRENT_SOURCE_DIR} DIRECTORY)
+#STRING(REPLACE "${COMPONENT_NAME}/" " " COMPONENT_NAME  ${RC_COMPONENT_PATH})
+#STRING(STRIP ${COMPONENT_NAME} COMPONENT_NAME)
+#SET(COMPONENT_NAME ${COMPONENT_NAME} CACHE STRING "component name" FORCE)
+
+SUBDIRS( src )
+
+INSTALL(FILES etc/config DESTINATION ${RC_COMPONENT_INSTALL_PATH}/etc-default/ RENAME depthDSR.conf )
+
+#ADD_CUSTOM_TARGET(doc doxygen Doxyfile)
+#ADD_CUSTOM_TARGET(installdoc mkdir -p ${RC_COMPONENT_INSTALL_PATH}/doc COMMAND cp -R doc/html ${RC_COMPONENT_INSTALL_PATH}/doc/graspDSR )

components/depthDSR/README.md

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+# depthDSR
+The agent is responsible for estimating depths in real-time from RGBD data in Graph(G). Depth is estimated using `depthEstimation`, which is a DNN component.
+## Configuration Parameters
+depthDSR needs a configuration file to start. In etc/config, you can change the ports and other parameters in the configuration file, according to your setting.<br/>
+
+## Starting the Component
+To run graspDSR component, navigate to the component directory :<br/>
+
+`cd <depthDSR's path>`<br/>
+
+Compile the component :<br/>
+
+`cmake .` <br/>
+`make`<br/>
+
+Now run the component :<br/>
+
+`./bin/depthDSR etc/config`
+
+
+

components/depthDSR/depthDSR.cdsl

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+import "DepthEstimation.idsl";
+
+Component depthDSR
+{
+    Communications
+    {
+     requires DepthEstimation;
+    };
+    language Cpp11;
+    gui Qt(QMainWindow);
+    options dsr;
+};

components/depthDSR/etc/config

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+CommonBehavior.Endpoints=tcp -p 10000
+
+# Proxies for required interfaces
+DSRGetIDProxy = dsrgetid:tcp -h localhost -p 11000
+DepthEstimationProxy = depthestimation:tcp -h localhost -p 10100
+
+# Agent configuration
+agent_id = 71
+agent_name = depthDSR
+tree_view = false
+graph_view = true
+2d_view = false
+3d_view = false
+
+InnerModelPath = innermodel.xml
+
+# Ice configuration
+Ice.MessageSizeMax=20004800
+
+Ice.Warn.Connections=0
+Ice.Trace.Network=0
+Ice.Trace.Protocol=0

components/depthDSR/src/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.11)
+
+
+IF ( "$ENV{ROBOCOMP}" STREQUAL "")
+  MESSAGE(WARNING "ROBOCOMP variable not set. Using the default value: /opt/robocomp")
+  SET (ENV{ROBOCOMP} "/opt/robocomp/")
+ENDIF ( "$ENV{ROBOCOMP}" STREQUAL "")
+
+IF(NOT EXISTS $ENV{ROBOCOMP}/cmake)
+  MESSAGE(FATAL_ERROR "Couldn't find RoboComp in $ENV{ROBOCOMP}! Exiting...")
+ENDIF(NOT EXISTS $ENV{ROBOCOMP}/cmake)
+
+INCLUDE( $ENV{ROBOCOMP}/cmake/robocomp.cmake )
+INCLUDE( $ENV{ROBOCOMP}/cmake/modules/qt.cmake )
+INCLUDE ( CMakeListsSpecific.txt)
+
+# Sources set
+SET ( SOURCES
+  ${SOURCES}
+  $ENV{ROBOCOMP}/classes/rapplication/rapplication.cpp
+  $ENV{ROBOCOMP}/classes/sigwatch/sigwatch.cpp
+  $ENV{ROBOCOMP}/classes/qlog/qlog.cpp
+  main.cpp
+  genericmonitor.cpp
+  commonbehaviorI.cpp
+  genericworker.cpp
+)
+
+
+
+ADD_DEFINITIONS ("-DICE_CPP11_MAPPING")
+FIND_PACKAGE( Ice REQUIRED COMPONENTS Ice++11 IceStorm++11)
+
+
+#ROBOCOMP
+ROBOCOMP_INITIALIZE( $ENV{ROBOCOMP}/ )
+ROBOCOMP_IDSL_TO_ICE( CommonBehavior CameraRGBDSimple DepthEstimation)
+ROBOCOMP_ICE_TO_SRC( CommonBehavior CameraRGBDSimple DepthEstimation)
+SET (EXECUTABLE_OUTPUT_PATH ${RC_COMPONENT_DEVEL_PATH}/bin)
+
+QT_WRAP_UI( UI_HEADERS mainUI.ui )
+
+# Specify construction and link process
+ADD_EXECUTABLE( depthDSR ${SOURCES} ${MOC_SOURCES} ${RC_SOURCES} ${UI_HEADERS} )
+TARGET_LINK_LIBRARIES( depthDSR ${LIBS} ${STATIC_LIBS} ${SPECIFIC_LIBS} ${QT_LIBRARIES} ${Ice_LIBRARIES})
+INSTALL(FILES ${EXECUTABLE_OUTPUT_PATH}/depthDSR DESTINATION ${RC_COMPONENT_INSTALL_PATH}/bin/ PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE )

components/depthDSR/src/CMakeListsSpecific.txt

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+find_package (Eigen3 3.3 REQUIRED NO_MODULE)
+INCLUDE( $ENV{ROBOCOMP}/cmake/modules/opencv4.cmake )
+
+
+# Sources set
+SET ( SOURCES
+  specificworker.cpp
+  specificmonitor.cpp
+  custom_widget.h
+)
+
+# Headers set
+SET ( HEADERS
+  specificworker.h
+  specificmonitor.h
+)
+
+set(CMAKE_CXX_STANDARD 20)
+
+SET(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-fmax-errors=5" )
+add_definitions(-Og  -fmax-errors=1 -std=c++20 -fno-char8_t )
+SET(SPECIFIC_LIBS dsr_core dsr_gui dsr_api fastcdr fastrtps osgDB fcl OpenThreads opencv_imgproc tbb Eigen3::Eigen)