From aa023b803c520ccd9823e97fae1e7029223f39ee Mon Sep 17 00:00:00 2001
From: Adi Sujiwo <sujiwo@gmail.com>
Date: Tue, 8 Nov 2016 18:10:14 +0900
Subject: [PATCH] Initial integration of ORB-SLAM2

---
 .../packages/orb_localizer/CMakeLists.txt     |  7 +++++++
 .../orb-slam2.yaml.in}                        |  0
 .../rviz-ORB_Coordinate.rviz                  |  0
 .../{Examples => config}/rviz.rviz            |  0
 .../packages/orb_localizer/package.xml        | 21 +------------------
 .../orb_localizer/src/nodes/mapper.cc         |  1 -
 6 files changed, 8 insertions(+), 21 deletions(-)
 rename ros/src/computing/perception/localization/packages/orb_localizer/{Examples/road-800x600.yaml => config/orb-slam2.yaml.in} (100%)
 rename ros/src/computing/perception/localization/packages/orb_localizer/{Examples => config}/rviz-ORB_Coordinate.rviz (100%)
 rename ros/src/computing/perception/localization/packages/orb_localizer/{Examples => config}/rviz.rviz (100%)

diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt
index 8e8c5e5c999..84fdec48fcd 100644
--- a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt
+++ b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt
@@ -67,6 +67,13 @@ catkin_package(
 	CATKIN_DEPENDS message_runtime
 )
 
+ 
+configure_file (
+	config/orb-slam2.yaml.in
+	${CATKIN_PACKAGE_ETC_DESTINATION}/orb-slam2.yaml
+)
+
+
 include_directories (
 	
 # my own
diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/Examples/road-800x600.yaml b/ros/src/computing/perception/localization/packages/orb_localizer/config/orb-slam2.yaml.in
similarity index 100%
rename from ros/src/computing/perception/localization/packages/orb_localizer/Examples/road-800x600.yaml
rename to ros/src/computing/perception/localization/packages/orb_localizer/config/orb-slam2.yaml.in
diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/Examples/rviz-ORB_Coordinate.rviz b/ros/src/computing/perception/localization/packages/orb_localizer/config/rviz-ORB_Coordinate.rviz
similarity index 100%
rename from ros/src/computing/perception/localization/packages/orb_localizer/Examples/rviz-ORB_Coordinate.rviz
rename to ros/src/computing/perception/localization/packages/orb_localizer/config/rviz-ORB_Coordinate.rviz
diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/Examples/rviz.rviz b/ros/src/computing/perception/localization/packages/orb_localizer/config/rviz.rviz
similarity index 100%
rename from ros/src/computing/perception/localization/packages/orb_localizer/Examples/rviz.rviz
rename to ros/src/computing/perception/localization/packages/orb_localizer/config/rviz.rviz
diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/package.xml b/ros/src/computing/perception/localization/packages/orb_localizer/package.xml
index 249d3ef738e..dcdaa00235f 100644
--- a/ros/src/computing/perception/localization/packages/orb_localizer/package.xml
+++ b/ros/src/computing/perception/localization/packages/orb_localizer/package.xml
@@ -6,31 +6,12 @@
 
   <maintainer email="sujiwo@ertl.jp">Adi Sujiwo</maintainer>
 
-  <license>TODO</license>
-
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
+  <license>GPL</license>
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend> message_generation </build_depend>
   <run_depend> message_runtime </run_depend>
   <run_depend> std_msgs </run_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- Other tools can request additional information be placed here -->
 
   </export>
 </package>
\ No newline at end of file
diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/src/nodes/mapper.cc b/ros/src/computing/perception/localization/packages/orb_localizer/src/nodes/mapper.cc
index 24ba9806336..f66dc1c63aa 100644
--- a/ros/src/computing/perception/localization/packages/orb_localizer/src/nodes/mapper.cc
+++ b/ros/src/computing/perception/localization/packages/orb_localizer/src/nodes/mapper.cc
@@ -19,7 +19,6 @@
 */
 
 
-#include <libgen.h>
 #include <iostream>
 #include <string>
 #include "ImageGrabber.h"