From f2b50aa02389f075b3be9d59fcf25921845d0a16 Mon Sep 17 00:00:00 2001
From: ntonci <tonci.novkovic@mavt.ethz.ch>
Date: Tue, 7 Jan 2020 08:49:14 +0100
Subject: [PATCH 1/2] Update readme, ignore packages depending on brisk

---
 README.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/README.md b/README.md
index 8224410..e5d1f4b 100644
--- a/README.md
+++ b/README.md
@@ -65,6 +65,11 @@ wstool init
 wstool merge hand_eye_calibration/all_dependencies.rosinstall
 wstool update -j 8
 
+# Ignore packages depending on brisk
+touch aslam_cv2/aslam_cv_tracker/CATKIN_IGNORE
+touch aslam_cv2/aslam_cv_detector/CATKIN_IGNORE
+touch aslam_cv2/aslam_cv_pipeline/CATKIN_IGNORE
+
 # Build hand_eye_calibration_package
 catkin build hand_eye_calibration hand_eye_calibration_target_extractor hand_eye_calibration_batch_estimation
 ```

From 024882b05f92eba249fd8af7b9ee6d50493a3f17 Mon Sep 17 00:00:00 2001
From: ntonci <tonci.novkovic@mavt.ethz.ch>
Date: Tue, 7 Jan 2020 09:29:17 +0100
Subject: [PATCH 2/2] Switch to new camera creator in aslam

---
 .../src/target_extractor.cc                                 | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/hand_eye_calibration_target_extractor/src/target_extractor.cc b/hand_eye_calibration_target_extractor/src/target_extractor.cc
index b46907a..0238a0b 100644
--- a/hand_eye_calibration_target_extractor/src/target_extractor.cc
+++ b/hand_eye_calibration_target_extractor/src/target_extractor.cc
@@ -2,6 +2,7 @@
 #include <limits>
 
 #include <aslam/calibration/target-aprilgrid.h>
+#include <aslam/cameras/camera-factory.h>
 #include <aslam/cameras/camera.h>
 #include <aslam/common/pose-types.h>
 #include <aslam/geometric-vision/pnp-pose-estimator.h>
@@ -232,9 +233,8 @@ int main(int argc, char** argv) {
       }
     }
 
-    aslam::Camera::ConstPtr camera =
-        aslam::Camera::loadFromYaml(FLAGS_eval_camera_yaml);
-    CHECK(camera);
+    YAML::Node yaml_node = YAML::LoadFile(FLAGS_eval_camera_yaml.c_str());
+    aslam::Camera::ConstPtr camera = aslam::createCamera(yaml_node);
 
     constexpr bool kRunNonlinearRefinement = true;
     const double kPixelSigma = 0.5;