From 4453119410969431a5d67e7ecb64cb02cbda9891 Mon Sep 17 00:00:00 2001
From: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Date: Mon, 25 Nov 2024 11:19:54 +0900
Subject: [PATCH 1/3] fix: removed unnecessary dependencies

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
---
 .../package.xml                               | 20 +------------------
 .../src/ceres_camera_intrinsics_optimizer.cpp |  1 -
 2 files changed, 1 insertion(+), 20 deletions(-)

diff --git a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/package.xml b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/package.xml
index 2c960333..b65d8d9c 100644
--- a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/package.xml
+++ b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/package.xml
@@ -4,7 +4,7 @@
   <name>ceres_intrinsic_camera_calibrator</name>
   <version>0.0.1</version>
   <description>The ceres_intrinsic_camera_calibrator package</description>
-  <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos Tsunekawa</maintainer>
+  <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos-Tsunekawa</maintainer>
 
   <license>BSD</license>
 
@@ -13,29 +13,11 @@
 
   <build_depend>autoware_cmake</build_depend>
 
-  <depend>autoware_universe_utils</depend>
-  <depend>cv_bridge</depend>
   <depend>eigen</depend>
-  <depend>geometry_msgs</depend>
-  <depend>image_geometry</depend>
-  <depend>image_transport</depend>
-  <depend>libboost-filesystem</depend>
-  <depend>libboost-serialization</depend>
   <depend>libceres-dev</depend>
   <depend>libgoogle-glog-dev</depend>
-  <depend>lidartag_msgs</depend>
   <depend>pybind11-dev</depend>
   <depend>rclcpp</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>std_srvs</depend>
-  <depend>tf2</depend>
-  <depend>tf2_eigen</depend>
-  <depend>tf2_geometry_msgs</depend>
-  <depend>tf2_ros</depend>
-  <depend>tier4_calibration_msgs</depend>
-  <depend>tier4_tag_utils</depend>
-  <depend>visualization_msgs</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
diff --git a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp
index 673211a2..f332da6d 100644
--- a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp
+++ b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp
@@ -26,7 +26,6 @@
 
 #include <ceres/ceres.h>
 #include <ceres/loss_function.h>
-#include <cv_bridge/cv_bridge.h>
 
 #include <algorithm>
 #include <cstdio>

From 04ec6b04594e1cd3edf2e1fb9dc58fef124f9317 Mon Sep 17 00:00:00 2001
From: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Date: Fri, 20 Dec 2024 17:45:40 +0900
Subject: [PATCH 2/3] chore: we actually needed opencv

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
---
 .../ceres_intrinsic_camera_calibrator/package.xml                | 1 +
 1 file changed, 1 insertion(+)

diff --git a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/package.xml b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/package.xml
index b65d8d9c..fa851bc1 100644
--- a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/package.xml
+++ b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/package.xml
@@ -13,6 +13,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>cv_bridge</depend>
   <depend>eigen</depend>
   <depend>libceres-dev</depend>
   <depend>libgoogle-glog-dev</depend>

From 49b4ce528ae4b9592d9cfc611f0a1995c9f8e858 Mon Sep 17 00:00:00 2001
From: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Date: Mon, 23 Dec 2024 15:12:34 +0900
Subject: [PATCH 3/3] fix: deleted boost from the cmakelist

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
---
 .../ceres_intrinsic_camera_calibrator/CMakeLists.txt         | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/CMakeLists.txt b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/CMakeLists.txt
index d6296082..21bb0cec 100644
--- a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/CMakeLists.txt
+++ b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/CMakeLists.txt
@@ -16,16 +16,12 @@ find_package(pybind11 REQUIRED)
 
 autoware_package()
 
-# These need to be called after autoware_package to avoid being overwritten
-find_package(Boost REQUIRED COMPONENTS system serialization filesystem)
-
 # Optimizer as a library
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/ceres_camera_intrinsics_optimizer.cpp
 )
 
 target_link_libraries(${PROJECT_NAME}
-  ${Boost_LIBRARIES}
   ${OpenCV_LIBS}
   ${CERES_LIBRARIES}
 )
@@ -47,7 +43,6 @@ ament_auto_add_executable(${PROJECT_NAME}_test
 )
 
 target_link_libraries(${PROJECT_NAME}_test
-  ${Boost_LIBRARIES}
   ${OpenCV_LIBS}
   ${CERES_LIBRARIES}
   ${PROJECT_NAME}