Ps: AR needs checking

HVKHVK · Jun 25, 2023 · 54714f3 · 54714f3
1 parent d258f7f
commit 54714f3
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Showing 9 changed files with 1,528 additions and 10 deletions.
diff --git a/ROS2/ORB_SLAM3/CMakeLists.txt b/ROS2/ORB_SLAM3/CMakeLists.txt
@@ -30,12 +30,14 @@ find_package(Pangolin REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(message_filters REQUIRED)
 
 set(ROS_DEPS
       rclcpp
       ament_cmake
       cv_bridge
       sensor_msgs
+      message_filters
       )
 
 include_directories(
@@ -59,15 +61,31 @@ ${PROJECT_SOURCE_DIR}/../../lib/libORB_SLAM3.so
 )
 
 # Node for monocular camera
-add_executable(Mono
-src/ros_mono.cc
-)
-target_link_libraries(Mono ${LIBS} )
+add_executable(Mono src/ros_mono.cc)
+target_link_libraries(Mono ${LIBS})
 ament_target_dependencies(Mono rclcpp ${ROS_DEPS})
 
 # Node for monocular inrtial camera
-add_executable(MonoInertial
-src/ros_mono_inertial.cc
-)
+add_executable(MonoInertial src/ros_mono_inertial.cc)
 target_link_libraries(MonoInertial ${LIBS} )
 ament_target_dependencies(MonoInertial rclcpp ${ROS_DEPS})
+
+# Node for monocular inrtial camera
+add_executable(RGBD src/ros_rgbd.cc)
+target_link_libraries(RGBD ${LIBS} )
+ament_target_dependencies(RGBD rclcpp ${ROS_DEPS})
+
+# Node for monocular inrtial camera
+add_executable(Stereo src/ros_stereo.cc)
+target_link_libraries(Stereo ${LIBS} )
+ament_target_dependencies(Stereo rclcpp ${ROS_DEPS})
+
+# Node for monocular inrtial camera
+add_executable(StereoInertial src/ros_stereo_inertial.cc)
+target_link_libraries(StereoInertial ${LIBS} )
+ament_target_dependencies(StereoInertial rclcpp ${ROS_DEPS})
+
+# # Node for monocular camera
+# add_executable(AR src/AR/ros_mono_ar.cc  src/AR/ViewerAR.cc  src/AR/ViewerAR.h)
+# target_link_libraries(AR ${LIBS})
+# ament_target_dependencies(AR rclcpp ${ROS_DEPS})
diff --git a/ROS2/ORB_SLAM3/package.xml b/ROS2/ORB_SLAM3/package.xml
@@ -16,5 +16,6 @@
   <depend>tf</depend>
   <depend>image_transport</depend>
   <depend>cv_bridge</depend>
+  <depend>message_filters</depend>
 
 </package>