added content

.gitignore

@@ -0,0 +1,38 @@
+# Nerf models
+outputs/
+
+# Nerf exports
+exports/
+
+# Data
+data/
+
+# vscode
+.vscode/
+
+# Build artifacts
+build/
+devel/
+
+# Compiled binaries
+bin/
+lib/
+
+# ROS workspace
+install/
+
+# ROS logs
+log/
+
+# ROS generated files
+build_isolated/
+install_isolated/
+
+# Python
+*.pyc
+__pycache__/
+venv/
+env/
+dist/
+build/
+*.egg-info/

nerf_teleoperation/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(nerf_teleoperation)
+
+
+find_package(catkin REQUIRED COMPONENTS nerf_teleoperation_msgs nerf_view_controller)
+
+catkin_package(
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS nerf_teleoperation_msgs nerf_view_controller
+)

nerf_teleoperation/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>nerf_teleoperation</name>
+  <version>0.1.0</version>
+  <description>The Nerf teleoperation meta package to compile both msg and RViz plugin plus hold launch files</description>
+
+  <license>MIT</license>
+  <author email="[email protected]">Maximum Wilder-Smith</author>
+  <maintainer email="[email protected]">Maximum Wilder-Smith</maintainer>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>std_msgs</depend>
+  <depend>nerf_teleoperation_msgs</depend>
+  <depend>nerf_view_controller</depend>
+
+</package>

nerf_teleoperation/setup.py

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+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+if __name__ == "__main__":
+    setup()
+    exit()
+
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    package_dir={'': 'src'}
+)
+
+setup(**d)

nerf_teleoperation_msgs/CMakeLists.txt

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+# Minimum cmake version
+cmake_minimum_required(VERSION 2.8.3)
+
+# Create the project
+project(nerf_teleoperation_msgs)
+
+# 
+find_package(catkin REQUIRED COMPONENTS
+    message_generation
+    std_msgs
+    geometry_msgs
+    sensor_msgs
+    actionlib_msgs
+)
+
+add_action_files(
+    DIRECTORY action
+    FILES
+    NerfRenderRequest.action
+)
+
+generate_messages(
+    DEPENDENCIES
+    std_msgs
+    geometry_msgs
+    sensor_msgs
+    actionlib_msgs
+)
+
+catkin_package(
+    CATKIN_DEPENDS 
+    geometry_msgs
+    sensor_msgs
+)

nerf_teleoperation_msgs/action/NerfRenderRequest.action

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+# Goal
+int16 width
+int16 height
+uint8 mode
+float32 resolution
+float32 fov_factor
+float32 focal_length_x
+float32 focal_length_y
+float32 principal_point_x
+float32 principal_point_y
+float32 k1
+float32 k2
+float32 p1
+float32 p2
+float32 box_size
+geometry_msgs/Pose pose
+string frame_id
+int32 client_id
+
+---
+# Result
+sensor_msgs/CompressedImage rgb_image
+sensor_msgs/Image depth_image
+float32 resolution
+float32 render_time
+int32 client_id
+uint16 seq
+
+---
+# Feedback
+sensor_msgs/CompressedImage rgb_image
+sensor_msgs/Image depth_image
+float32 resolution
+float32 render_time
+int32 client_id
+uint16 seq

nerf_teleoperation_msgs/package.xml

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+<?xml version="1.0"?>
+
+<package format="2">
+  <name>nerf_teleoperation_msgs</name>
+  <version>0.1.0</version>
+  <description>Messages and services for Nerf ROS Package</description>
+
+  <license>MIT</license>
+  <author email="[email protected]">Maximum Wilder-Smith</author>
+  <maintainer email="[email protected]">Maximum Wilder-Smith</maintainer>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>std_msgs</depend>
+  <depend>message_generation</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>actionlib_msgs</depend>
+
+</package>

nerf_view_controller/CMakeLists.txt

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+# Minimum cmake version
+cmake_minimum_required(VERSION 3.0.2)
+
+# Create the project
+project(nerf_view_controller)
+
+# Load RViz and check version compile options
+find_package(catkin REQUIRED 
+    COMPONENTS 
+    jsk_rviz_plugins
+    rviz
+    nerf_teleoperation_msgs
+)
+
+set(CMAKE_AUTOMOC ON)
+
+find_package(OpenCV REQUIRED)
+
+include_directories(${catkin_INCLUDE_DIRS})
+link_directories(${catkin_LIBRARY_DIRS})
+
+if(rviz_QT_VERSION VERSION_LESS "5")
+    message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+    find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
+    include(${QT_USE_FILE})
+else()
+    message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+    find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
+    set(QT_LIBRARIES Qt5::Widgets)
+endif()
+
+include_directories(${QT_INCLUDE_DIR})
+add_definitions(-DQT_NO_KEYWORDS)
+
+
+set(${PROJECT_NAME}_SRCS
+    src/${PROJECT_NAME}/nerf_cam.cpp
+)
+
+set(${PROJECT_NAME}_HDRS
+    include/${PROJECT_NAME}/nerf_cam.hpp
+)
+
+set(${PROJECT_NAME}_INCLUDE_DIRECTORIES
+    include
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+
+catkin_package(
+    INCLUDE_DIRS
+    include
+    LIBRARIES
+    ${PROJECT_NAME}
+    CATKIN_DEPENDS 
+    rviz
+    nerf_teleoperation_msgs
+)
+
+add_definitions("-D${PROJECT_NAME}_VERSION=\"${${PROJECT_NAME}_VERSION}\"")
+
+include_directories(
+    ${${PROJECT_NAME}_INCLUDE_DIRECTORIES}
+    ${catkin_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+    include
+)
+
+add_library(
+    ${PROJECT_NAME}
+    ${${PROJECT_NAME}_SRCS}
+    ${${PROJECT_NAME}_HDRS}
+)
+
+
+add_dependencies(
+    ${PROJECT_NAME}
+    ${catkin_EXPORTED_TARGETS}
+)
+
+target_link_libraries(
+    ${PROJECT_NAME}
+    ${QT_LIBRARIES}
+    ${catkin_LIBRARIES}
+)
+
+install(
+    FILES
+    plugin_description.xml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(
+    TARGETS
+    ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(
+    DIRECTORY
+    include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)