fixed build error

source/RobotAPI/libraries/aron/converter/eigen/CMakeLists.txt

@@ -5,9 +5,6 @@ armarx_set_target("Library: ${LIB_NAME}")
 
 find_package(Eigen3 QUIET)
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-if(Eigen3_FOUND)
-    include_directories(${Eigen3_INCLUDE_DIR})
-endif()
 
 set(LIBS
     aron
@@ -22,3 +19,7 @@ set(LIB_HEADERS
 )
 
 armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+if(Eigen3_FOUND)
+    include_directories(${Eigen3_INCLUDE_DIR})
+endif()

source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h

@@ -26,6 +26,7 @@
 #include <numeric>
 
 // Eigen
+#include <Eigen/Geometry>
 #include <Eigen/Core>
 
 // ArmarX
@@ -63,7 +64,7 @@ namespace armarx::aron::converter
             auto dims = nav->getDimensions();
 
             Eigen::Quaternion<T> ret;
-            memcpy(reinterpret_cast<unsigned char*>(ret.coeffs.data()), nav->getData(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
+            memcpy(reinterpret_cast<unsigned char*>(ret.coeffs().data()), nav->getData(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
             return ret;
         }
 

source/RobotAPI/libraries/aron/converter/ivt/CMakeLists.txt

@@ -5,12 +5,9 @@ armarx_set_target("Library: ${LIB_NAME}")
 
 find_package(IVT COMPONENTS ivt ivtopencv QUIET)
 armarx_build_if(IVT_FOUND "IVT not available")
-if(IVT_FOUND)
-    include_directories(${IVT_INCLUDE_DIRS})
-endif()
 
 set(LIBS
-    aron
+    aron ivt ivtopencv
 )
 
 set(LIB_FILES
@@ -22,3 +19,7 @@ set(LIB_HEADERS
 )
 
 armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+if(IVT_FOUND)
+    include_directories(${IVT_INCLUDE_DIRS})
+endif()

source/RobotAPI/libraries/aron/converter/ivt/IVTConverter.cpp

@@ -29,20 +29,19 @@
 
 namespace armarx::aron::converter
 {
-    CByteImage AronIVTConverter::ConvertToCByteImage(const datanavigator::NDArrayNavigatorPtr& nav)
+    std::shared_ptr<CByteImage> AronIVTConverter::ConvertToCByteImage(const datanavigator::NDArrayNavigatorPtr& nav)
     {
         ARMARX_CHECK_NOT_NULL(nav);
 
-        if(nav->getDimensions().size() != 3) // +1 for bytes per pixel
+        if (nav->getDimensions().size() != 3) // +1 for bytes per pixel
         {
             throw error::AronException("AronIVTConverter", "ConvertToCByteImage", "The size of an NDArray does not match.", nav->getPath());
         }
         auto dims = nav->getDimensions();
 
-        CByteImage ret;
-        ret.Set(dims[0], dims[1], static_cast<CByteImage::ImageType>(std::stoi(nav->getType())));
-        memcpy(reinterpret_cast<unsigned char*>(ret.pixels), nav->getData(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
+        auto ret = std::make_shared<CByteImage>();
+        ret->Set(dims[0], dims[1], static_cast<CByteImage::ImageType>(std::stoi(nav->getType())));
+        memcpy(reinterpret_cast<unsigned char*>(ret->pixels), nav->getData(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
         return ret;
     }
 }
-

source/RobotAPI/libraries/aron/converter/ivt/IVTConverter.h

@@ -24,7 +24,7 @@
 #include <memory>
 #include <string>
 
-// Eigen
+// IVT
 #include <ivt/Image/ByteImage.h>
 
 // ArmarX
@@ -40,8 +40,7 @@ namespace armarx::aron::converter
         AronIVTConverter() = delete;
 
     public:
-        static CByteImage ConvertToCByteImage(const datanavigator::NDArrayNavigatorPtr&);
+        static std::shared_ptr<CByteImage> ConvertToCByteImage(const datanavigator::NDArrayNavigatorPtr&);
 
     };
-
 }

source/RobotAPI/libraries/aron/converter/opencv/CMakeLists.txt

@@ -5,12 +5,9 @@ armarx_set_target("Library: ${LIB_NAME}")
 
 find_package(OpenCV QUIET)
 armarx_build_if(OpenCV_FOUND "OpenCV not available")
-if(OpenCV_FOUND)
-    include_directories(${OpenCV_INCLUDE_DIRS})
-endif()
 
 set(LIBS
-    aron
+    aron ${OpenCV_LIBRARIES}
 )
 
 set(LIB_FILES
@@ -22,3 +19,7 @@ set(LIB_HEADERS
 )
 
 armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+if(OpenCV_FOUND)
+    include_directories(${OpenCV_INCLUDE_DIRS})
+endif()

source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.h

@@ -25,7 +25,7 @@
 #include <string>
 
 // Eigen
-#include <opencv2/core.hpp>
+#include <opencv2/core/core.hpp>
 
 // ArmarX
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>

source/RobotAPI/libraries/aron/converter/pcl/CMakeLists.txt

@@ -5,12 +5,9 @@ armarx_set_target("Library: ${LIB_NAME}")
 
 find_package(PCL QUIET)
 armarx_build_if(PCL_FOUND "PCL not available")
-if(PCL_FOUND)
-    include_directories(${PCL_INCLUDE_DIRS})
-endif()
 
 set(LIBS
-    aron
+    aron ${PCL_COMMON_LIBRARIES}
 )
 
 set(LIB_FILES
@@ -22,3 +19,7 @@ set(LIB_HEADERS
 )
 
 armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+if(PCL_FOUND)
+    include_directories(${PCL_INCLUDE_DIRS})
+endif()

source/RobotAPI/libraries/aron/core/test/xmls/EigenQuaternionTest.xml

@@ -3,6 +3,7 @@
 <AronTypeDefinition>
     <CodeIncludes>
         <Include include="<Eigen/Core>" />
+        <Include include="<Eigen/Geometry>" />
     </CodeIncludes>
     <AronIncludes>
     </AronIncludes>

source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml

 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
+    <CodeIncludes>
+        <Include include="<ivt/Image/ByteImage.h>" />
+    </CodeIncludes>
     <GenerateTypes>
         <Object name='armarx::IVTCByteImageTest'>