Add: Mono & Mono Inertial

.gitignore

@@ -64,10 +64,13 @@ Thirdparty/DBoW2/lib/
 Thirdparty/g2o/build/
 Thirdparty/g2o/config.h
 Thirdparty/g2o/lib/
+Thirdparty/Pangolin/lib/
+Thirdparty/Pangolin/build/
 Vocabulary/ORBvoc.txt
 build/
-
+install/
 lib/
+log/
 
 cmake_modules/
 cmake-build-debug/
@@ -91,3 +94,7 @@ my_settings.txt
 borrar/*
 
 */ExecMean.txt
+
+ROS2/ORB_SLAM3/.vscode/c_cpp_properties.json
+ROS2/ORB_SLAM3/.vscode/settings.json
+.gitignore

ROS2/ORB_SLAM3/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.4.6)
+cmake_minimum_required(VERSION 3.5.0)
 #include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 project(ORB_SLAM3)
 
@@ -7,12 +7,12 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")
 
 # Check C++11 or C++0x support
 include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
 CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-   add_definitions(-DCOMPILEDWITHC11)
-   message(STATUS "Using flag -std=c++11.")
+if(COMPILER_SUPPORTS_CXX17)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
+   add_definitions(-DCOMPILEDWITHC17)
+   message(STATUS "Using flag -std=c++17.")
 elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
    add_definitions(-DCOMPILEDWITHC0X)
@@ -24,23 +24,28 @@ endif()
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../cmake_modules)
 
 find_package(OpenCV 4.0 QUIET)
-#find_package(OpenCV 3.0 QUIET)
-if(NOT OpenCV_FOUND)
-   find_package(OpenCV 2.4.3 QUIET)
-   if(NOT OpenCV_FOUND)
-      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
-   endif()
-endif()
 
 find_package(Eigen3 3.1.0 REQUIRED)
-#find_package(Pangolin REQUIRED)
+find_package(Pangolin REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+set(ROS_DEPS
+      rclcpp
+      ament_cmake
+      cv_bridge
+      sensor_msgs
+      )
 
 include_directories(
 ${PROJECT_SOURCE_DIR}
 ${PROJECT_SOURCE_DIR}/../../
 ${PROJECT_SOURCE_DIR}/../../include
 ${PROJECT_SOURCE_DIR}/../../include/CameraModels
+${PROJECT_SOURCE_DIR}/../../Thirdparty/Sophus
 ${Pangolin_INCLUDE_DIRS}
+${EIGEN3_INCLUDE_DIR}
 )
 
 set(LIBS 
@@ -57,54 +62,12 @@ ${PROJECT_SOURCE_DIR}/../../lib/libORB_SLAM3.so
 add_executable(Mono
 src/ros_mono.cc
 )
+target_link_libraries(Mono ${LIBS} )
+ament_target_dependencies(Mono rclcpp ${ROS_DEPS})
 
-target_link_libraries(Mono
-${LIBS}
-)
-
-# Node for monocular camera (Augmented Reality Demo)
-add_executable(MonoAR
-src/AR/ros_mono_ar.cc
-src/AR/ViewerAR.h
-src/AR/ViewerAR.cc
-)
-
-target_link_libraries(MonoAR
-${LIBS}
-)
-
-# Node for stereo camera
-add_executable(Stereo
-src/ros_stereo.cc
-)
-
-target_link_libraries(Stereo
-${LIBS}
-)
-
-# Node for RGB-D camera
-add_executable(RGBD
-src/ros_rgbd.cc
-)
-
-target_link_libraries(RGBD
-${LIBS}
-)
-
-# Node for monocular-inertial camera
-add_executable(Mono_Inertial
+# Node for monocular inrtial camera
+add_executable(MonoInertial
 src/ros_mono_inertial.cc
 )
-
-target_link_libraries(Mono_Inertial
-${LIBS}
-)
-
-# Node for stereo-inertial camera
-add_executable(Stereo_Inertial
-src/ros_stereo_inertial.cc
-)
-
-target_link_libraries(Stereo_Inertial
-${LIBS}
-)
+target_link_libraries(MonoInertial ${LIBS} )
+ament_target_dependencies(MonoInertial rclcpp ${ROS_DEPS})