Compiling the SpireCV-ROS Interface

1. First, install the SpireCV SDK.

2. Install ROS. ROS is already installed if you installed Prometheus first.

3. Run the following commands.

git clone -b prometheus_gazebo https://gitee.com/amovlab1/spirecvkitros.git

# Rename the downloaded spirecvkitros folder to spirecv-ros.

Because CUDA 12 and TensorRT have changed, the corresponding CMakeLists.txt used for compilation must also be modified. The main changes are to link TensorRT using link_directories(/home/amov/TensorRT-8.6.1.6/targets/x86_64-linux-gnu/lib) and add nvinfer to the targets. We recommend replacing the entire contents of CMakeLists.txt with the following:

cmake_minimum_required(VERSION 2.8.3)
project(spirecv_ros)


find_package(catkin REQUIRED COMPONENTS
  message_generation  
  roscpp
  geometry_msgs
  actionlib_msgs
  sensor_msgs
  nav_msgs
  std_msgs
  std_srvs
  tf2_ros
  tf2_eigen
  spirecv_msgs
  image_transport
  cv_bridge
)


catkin_package(
  CATKIN_DEPENDS
  message_runtime
  actionlib_msgs
  geometry_msgs
  sensor_msgs
  message_runtime
  std_msgs
)

find_package(SpireCV REQUIRED)
find_package(OpenCV 4 REQUIRED)

message(STATUS "SpireCV library status:")
message(STATUS "    include path: ${SV_INCLUDE_DIRS}")

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${SV_INCLUDE_DIRS}
)

link_directories(/home/amov/TensorRT-8.6.1.6/targets/x86_64-linux-gnu/lib)

add_executable(web_cam
  samples/web_cam.cpp
)
target_link_libraries(web_cam ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer)

add_executable(saving_image_with_airborne_info
  samples/saving_image_with_airborne_info.cpp
)
target_link_libraries(saving_image_with_airborne_info ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer)



add_executable(common_object_detection
  samples/mipi/common_object_detection.cpp
)
target_link_libraries(common_object_detection ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer)

add_executable(common_object_detection_gimbal
  samples/g1/common_object_detection_with_gimbal.cpp
)
target_link_libraries(common_object_detection_gimbal ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer )

add_executable(ellipse_detection
  samples/mipi/ellipse_detection.cpp
)
target_link_libraries(ellipse_detection ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer )

add_executable(ellipse_detection_gimbal
  samples/g1/ellipse_detection_with_gimbal.cpp
)
target_link_libraries(ellipse_detection_gimbal ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer )

add_executable(landing_marker_detection
  samples/mipi/landing_marker_detection.cpp
)
target_link_libraries(landing_marker_detection ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer )

add_executable(landing_marker_detection_gimbal
  samples/g1/landing_marker_detection_with_gimbal.cpp
)
target_link_libraries(landing_marker_detection_gimbal ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer )


add_executable(single_object_tracking
  samples/mipi/single_object_tracking.cpp
)
target_link_libraries(single_object_tracking ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer)

add_executable(single_object_tracking_gimbal
  samples/g1/single_object_tracking_with_gimbal.cpp
)
target_link_libraries(single_object_tracking_gimbal ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer )


add_executable(aruco_detection
  samples/mipi/aruco_detection.cpp
)
target_link_libraries(aruco_detection ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer )

add_executable(aruco_detection_with_gimbal
  samples/g1/aruco_detection_with_gimbal.cpp
)
target_link_libraries(aruco_detection_with_gimbal ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer )

add_executable(common_detection_tracking_with_gimbal
  samples/g1/common_detection_tracking_with_gimbal.cpp
)
target_link_libraries(common_detection_tracking_with_gimbal ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer)

add_executable(common_detection_tracking
  samples/mipi/common_object_detection_tracking.cpp
)
target_link_libraries(common_detection_tracking ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer )

#add_executable(veri_with_gimbal
#  samples/g1/veri_with_gimbal.cpp
#)
#target_link_libraries(veri_with_gimbal ${catkin_LIBRARIES} ${SV_LIBRARIES})

#add_executable(veri
#  samples/mipi/veri.cpp
#)
#target_link_libraries(veri ${catkin_LIBRARIES} ${SV_LIBRARIES})

add_executable(sample_gimbal_node
  samples/sample_gimbal_node.cpp
)
target_link_libraries(sample_gimbal_node ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer)

add_executable(car_detection_with_d435i
  samples/gazebo/car_detection_tracking_with_d435i.cpp
)
target_link_libraries(car_detection_with_d435i ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer)

add_executable(aruco_detection_with_d435i
  samples/gazebo/aruco_detection_with_d435i.cpp
)
target_link_libraries(aruco_detection_with_d435i ${catkin_LIBRARIES} ${SV_LIBRARIES} nvinfer)

cd spirecv-ros
chmod +x build.sh
./build.sh

# Add it to the startup commands.
echo "source ~/spirecv-ros/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Its location should be similar to the following:

source /opt/ros/noetic/setup.bash
source /home/amov/prometheus_mavros/devel/setup.bash

source ~/Prometheus/devel/setup.bash

source ~/spirecv-ros/devel/setup.bash

export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/Prometheus/devel/lib

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/Prometheus/Simulator/gazebo_simulator/gazebo_models/uav_models

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/Prometheus/Simulator/gazebo_simulator/gazebo_models/ugv_models

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/Prometheus/Simulator/gazebo_simulator/gazebo_models/sensor_models

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/Prometheus/Simulator/gazebo_simulator/gazebo_models/scene_models

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/Prometheus/Simulator/gazebo_simulator/gazebo_models/texture