From cd516d470fed232d1313367b3bd8aa9ce6408d9f Mon Sep 17 00:00:00 2001
From: Daisuke Sato <daisuke.sato@rt-net.jp>
Date: Tue, 21 Dec 2021 18:11:51 +0900
Subject: [PATCH] Update ROS package configuration (#6)

---
 CMakeLists.txt                                | 26 +++++++++++++------
 ...x219-jetson-nano-160deg-fov-csi_cam_1.yaml | 26 +++++++++++++++++++
 package.xml                                   |  4 ++-
 3 files changed, 47 insertions(+), 9 deletions(-)
 create mode 100644 config/sainsmart-imx219-jetson-nano-160deg-fov-csi_cam_1.yaml

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b15763a..f40db7d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,6 @@ project(jetson_nano_cuda_csi_cam)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp
-  std_msgs
   sensor_msgs
 )
 
@@ -16,7 +15,7 @@ message("-- CUDA version: ${CUDA_VERSION}")
 ###################################
 
 catkin_package(
-  CATKIN_DEPENDS roscpp std_msgs sensor_msgs
+  CATKIN_DEPENDS roscpp sensor_msgs
 )
 
 ###########
@@ -31,6 +30,7 @@ include_directories(
 
 include_directories(${PROJECT_INCLUDE_DIR} ${PROJECT_INCLUDE_DIR}/jetson-utils)
 include_directories(/usr/include/gstreamer-1.0 /usr/include/glib-2.0 /usr/include/libxml2 /usr/lib/aarch64-linux-gnu/gstreamer-1.0/include /usr/lib/x86_64-linux-gnu/gstreamer-1.0/include/ /usr/lib/aarch64-linux-gnu/glib-2.0/include/ /usr/lib/x86_64-linux-gnu/glib-2.0/include/)
+link_directories(/usr/lib/aarch64-linux-gnu/tegra)
 
 add_executable(video_stream src/video_stream_node.cpp src/image_converter.cpp)
 target_link_libraries(video_stream ${catkin_LIBRARIES} jetson-utils)
@@ -40,13 +40,23 @@ target_link_libraries(video_stream ${catkin_LIBRARIES} jetson-utils)
 ## Install ##
 #############
 
-foreach(dir launch config)
-  install(DIRECTORY ${dir}/ 
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}
-  )
-endforeach(dir)
+# Mark executables and/or libraries for installation
+install(TARGETS video_stream
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+# Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY config launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 
 #############
 ## Testing ##
 #############
-
diff --git a/config/sainsmart-imx219-jetson-nano-160deg-fov-csi_cam_1.yaml b/config/sainsmart-imx219-jetson-nano-160deg-fov-csi_cam_1.yaml
new file mode 100644
index 0000000..3d98bb2
--- /dev/null
+++ b/config/sainsmart-imx219-jetson-nano-160deg-fov-csi_cam_1.yaml
@@ -0,0 +1,26 @@
+image_width: 480
+image_height: 270
+camera_name: csi_cam_1
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 420.01343,    0.     ,  254.07253,
+            0.     ,  422.67127,  123.39681,
+            0.     ,    0.     ,    1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.400270, 0.195073, 0.008603, -0.003068, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1.,  0.,  0.,
+          0.,  1.,  0.,
+          0.,  0.,  1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 362.20416,    0.     ,  256.10214,    0.     ,
+            0.     ,  405.09357,  123.67604,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
diff --git a/package.xml b/package.xml
index 456462c..6763c48 100644
--- a/package.xml
+++ b/package.xml
@@ -14,8 +14,10 @@
   <url type="repository">https://github.com/rt-net/jetson_nano_cuda_csi_cam_ros</url>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <depend>camera_info_manager</depend>
+  <depend>image_transport</depend>
+  <depend>image_transport_plugins</depend>
   <depend>roscpp</depend>
   <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
 
 </package>
\ No newline at end of file