add blaser_ros & camera_model

blaser_ros/BlaserCommandsReadMe.md

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+
+# Blaser Commands Readme
+
+## -------Quick start Method--------
+
+	### Step 0: Plug in Blaser's USB3 and USB2 cable to NUC
+	You will see the LED and Blue laser pulse once, then Blue laser turns on, then the sensor is ready!
+
+	### Short-Step 1: Bring up Blaser sensor
+	`roslaunch blaser_ros bring_up_blaser.launch` 
+
+	### Short-Step 2: Start up Blaser SLAM backend and Mapping GUI
+	`roslaunch blaser_ros trl6_slam.launch`
+
+## -------Step-by-Step Method--------
+
+	### Step 0: Plug in Blaser's USB3 and USB2 cable to NUC
+	You will see the LED and Blue laser pulse once, then Blue laser turns on, then the sensor is ready!
+
+	### Step 1: open roscore at terminal #1
+	`roscore`
+
+	### Step 2: Allow port access for Blaser low-level control
+	`sudo chmod 666 /dev/ttyACM0`
+
+	### Step 3: Turn on Blaser Camera device driver
+	`rosrun blaser_pcl_core handheld_blaser_v30_node --lexp_val 50`
+
+	### Step 4: Start up Blaser Machine Vision frontend
+	`roslaunch blaser_ros trl6_sensor_proc.launch`
+
+	### Step 5: Start up Blaser SLAM backend and Mapping GUI
+	`roslaunch blaser_ros trl6_slam.launch`
+
+## -------How to stitch point cloud--------
+
+	### To use mapping GUI:
+	### You need to change the "Mapping status" Slider/Parameter:
+	###     - 0: Stop Map Generation
+	###     - 1: Start Stitching Point Cloud Map
+	###     - 2: Clear Map
+
+	### Always start from 0(stop) stage, when Blaser initialized, then trun on 1(start) to stitch point cloud, and end with move back to 0 to stop.
+	### you can also slide it to 2(Clear map).
+
+## -------How to Save point cloud--------
+
+	### Save pointcloud (colorized, accumulated)
+	`rosrun pcl_ros pointcloud_to_pcd input:=/slam_estimator/laser_pcd`
+	`rosrun pcl_ros pointcloud_to_pcd input:=/laser_detector/laser_points`

blaser_ros/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(blaser_ros)
+
+set(CMAKE_BUILD_TYPE Release)
+
+execute_process(COMMAND lsb_release -cs
+    OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT
+)
+
+if(${LSB_RELEASE_ID_SHORT} MATCHES "bionic")
+  set(CMAKE_CXX_STANDARD_REQUIRED 11)
+  message("-- Systemm version: ${LSB_RELEASE_ID_SHORT}, set to C++11")
+elseif(${LSB_RELEASE_ID_SHORT} MATCHES "focal")
+  set(CMAKE_CXX_STANDARD_REQUIRED 11)
+  message("-- Systemm version: ${LSB_RELEASE_ID_SHORT}, set to C++14")
+endif()
+
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
+
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  pcl_conversions
+  pcl_ros
+  roscpp
+  sensor_msgs
+  std_msgs
+  cv_bridge
+  camera_model
+  dynamic_reconfigure
+)
+
+find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(PythonLibs 2.7)
+
+generate_dynamic_reconfigure_options(
+  cfg/LaserDetector.cfg
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES laser_stripe
+  CATKIN_DEPENDS geometry_msgs pcl_conversions pcl_ros roscpp sensor_msgs std_msgs
+  dynamic_reconfigure
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
+  /usr/include/python3.8
+)
+
+## Declare a C++ library
+add_library(laser_stripe
+  src/laser_stripe_detector.cpp
+  src/laser_geometry_utils.cpp
+)
+target_link_libraries(laser_stripe ${catkin_LIBRARIES} ${OpenCV_LIBS})
+
+add_executable(laser_stripe_detector_test
+  src/test/laser_stripe_detector_test.cpp
+  src/laser_stripe_detector.cpp)
+target_link_libraries(laser_stripe_detector_test ${catkin_LIBRARIES} ${OpenCV_LIBS})
+
+add_executable(laser_calib
+  src/laser_calib.cpp
+  src/laser_calib_node.cpp
+  src/laser_stripe_detector.cpp
+  src/util/cv_click_handler.cpp)
+target_link_libraries(laser_calib ${catkin_LIBRARIES} ${OpenCV_LIBS}
+  ${PYTHON_LIBRARIES})
+
+
+add_executable(laser_detector
+  src/laser_detector.cpp
+  src/laser_detector_node.cpp
+  src/laser_geometry_utils.cpp
+  src/laser_stripe_detector.cpp
+  )
+add_dependencies(laser_detector ${PROJECT_NAME}_gencfg)
+target_link_libraries(laser_detector ${catkin_LIBRARIES} ${OpenCV_LIBS})
+
+add_executable(laser_rgb_estimator
+  src/laser_rgb_estimator.cpp
+  src/util/geometry_util.cpp
+  src/laser_rgb_estimator_node.cpp)
+target_link_libraries(laser_rgb_estimator ${catkin_LIBRARIES} ${OpenCV_LIBS})
+
+add_executable(resolution_analyser
+  src/resolution_analyser.cpp)
+target_link_libraries(resolution_analyser ${catkin_LIBRARIES} ${OpenCV_LIBS}
+  ${PYTHON_LIBRARIES})