├── application_control ├── CMakeLists.txt ├── diagnostics │ └── diagnostics_main.yaml ├── halcon_external_procedures │ ├── close_active_window.hdvp │ └── find_area_pepper.hdvp ├── include │ ├── ColdBootState.h │ ├── MoveToHomeState.h │ ├── ReadyState.h │ ├── ScanPlantState.h │ ├── SimpleActionState.h │ ├── State.h │ ├── StateMachine.h │ ├── TransitionParser.h │ └── VisualServoState.h ├── msg │ ├── State.msg │ └── changeState.msg ├── package.xml ├── readme.txt ├── servo.launch ├── src │ ├── ColdBootState.cpp │ ├── Main.cpp │ ├── MoveToHomeState.cpp │ ├── ReadyState.cpp │ ├── ScanPlantState.cpp │ └── VisualServoState.cpp ├── srv │ ├── PauseRequest.srv │ └── request_camera_parameters.srv └── transitions │ ├── transitions.dot │ └── transitions.yaml ├── fruit_detection ├── CMakeLists.txt ├── halcon_external_procedures │ └── find_pepper_features.hdvp ├── include │ ├── fruit_detection_node.h │ └── window_handling.h ├── package.xml ├── src │ └── fruit_detection_node.cpp └── srv │ └── request_features.srv ├── image_acquisition ├── CMakeLists.txt ├── camera_parameters │ ├── calculate_camera_parameter_tis_camera.hdev │ ├── calibration_model_125.descr │ └── tis_camera_parameters.dat ├── halcon_external_procedures │ ├── close_frame_grabber.hdvp │ ├── display_grabbed_image.hdvp │ ├── grab_image_resized.hdvp │ ├── grab_rectified_image.hdvp │ ├── grab_rectified_image_640_480.hdvp │ ├── grab_rectified_image_640_480_COLORSPACE.hdvp │ ├── grab_rectified_image_640_480_GRAY.hdvp │ ├── initialize_camera_tis.hdvp │ ├── initialize_camera_tis_640_480.hdvp │ └── read_camera_parameters.hdvp ├── halcon_scripts │ ├── cake_test.hdev │ ├── image_analysis.hdev │ └── image_analysis_2.hdev ├── images │ └── cake.jpg ├── include │ ├── image_acquisition_node.h │ └── window_handling.h ├── package.xml ├── src │ └── image_acquisition_node.cpp └── srv │ ├── request_camera_parameters.srv │ └── request_image.srv ├── robot_control ├── CMakeLists.txt ├── action │ └── MoveArm.action ├── package.xml ├── src │ └── robot_control_action_server.cpp └── srv │ └── request_endpointstate.srv ├── slam_bridge ├── CMakeLists.txt ├── calibration_files │ ├── pre-rectified_images.cfg │ └── readme.txt ├── include │ └── lsd_slam_pointcloud_publisher.h ├── msg │ ├── keyframeGraphMsg.msg │ └── keyframeMsg.msg ├── package.xml ├── src │ └── lsd_slam_pointcloud_publisher.cpp └── thirdparty │ └── Sophus │ ├── CMakeLists.txt │ ├── FindEigen3.cmake │ ├── README │ ├── SophusConfig.cmake.in │ ├── cmake_modules │ └── FindEigen3.cmake │ └── sophus │ ├── rxso3.hpp │ ├── se2.hpp │ ├── se3.hpp │ ├── sim3.hpp │ ├── so2.hpp │ ├── so3.hpp │ ├── sophus.hpp │ ├── test_rxso3.cpp │ ├── test_se2.cpp │ ├── test_se3.cpp │ ├── test_sim3.cpp │ ├── test_so2.cpp │ ├── test_so3.cpp │ └── tests.hpp └── visual_servo_control ├── CMakeLists.txt ├── include └── visual_servo_control_node.h ├── package.xml ├── readme ├── src ├── cycle_node.cpp └── visual_servo_control_node.cpp └── srv └── request_servo_velocity_vector.srv 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