moved headers to include dir

ctu-mrs · Dec 20, 2024 · 3e5776c · 3e5776c
1 parent f81cbca
commit 3e5776c
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Showing 34 changed files with 116 additions and 122 deletions.
diff --git a/vins_estimator/CMakeLists.txt b/vins_estimator/CMakeLists.txt
@@ -1,8 +1,11 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.3)
 project(vins_estimator)
 
-set(CMAKE_CXX_FLAGS "-std=c++11")
-#-DEIGEN_USE_MKL_ALL")
+# Enable compile optimizations
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
+
+# Enable debug flags (use if you want to debug in gdb)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -Wmaybe-uninitialized -fno-omit-frame-pointer")
 
 find_package(catkin REQUIRED COMPONENTS
     roscpp
@@ -15,20 +18,22 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(OpenCV REQUIRED)
 
-# message(WARNING "OpenCV_VERSION: ${OpenCV_VERSION}")
-
 find_package(Ceres REQUIRED)
 
-include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS})
-
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 find_package(Eigen3)
+
 include_directories(
+  include
   ${catkin_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
+  ${CERES_INCLUDE_DIRS}
 )
 
-catkin_package()
+catkin_package( 
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS ${CATKIN_DEPENDENCIES}
+)
 
 add_executable(vins_estimator
     src/estimator_node.cpp
@@ -48,7 +53,23 @@ add_executable(vins_estimator
     src/initial/initial_ex_rotation.cpp
     )
 
+add_dependencies(vins_estimator
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
 
 target_link_libraries(vins_estimator ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) 
 
+## --------------------------------------------------------------
+## |                           Install                          |
+## --------------------------------------------------------------
+
+install(TARGETS vins_estimator
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
 
+install(DIRECTORY include
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  )
diff --git a/vins_estimator/src/estimator.h → ...imator/include/vins_estimator/estimator.h b/vins_estimator/src/estimator.h → ...imator/include/vins_estimator/estimator.h
@@ -1,27 +1,27 @@
 #pragma once
 
-#include "parameters.h"
-#include "feature_manager.h"
-#include "utility/utility.h"
-#include "utility/tic_toc.h"
-#include "initial/solve_5pts.h"
-#include "initial/initial_sfm.h"
-#include "initial/initial_alignment.h"
-#include "initial/initial_ex_rotation.h"
 #include <std_msgs/Header.h>
 #include <std_msgs/Float32.h>
 
 #include <ceres/ceres.h>
-#include "factor/imu_factor.h"
-#include "factor/pose_local_parameterization.h"
-#include "factor/projection_factor.h"
-#include "factor/projection_td_factor.h"
-#include "factor/marginalization_factor.h"
 
 #include <unordered_map>
 #include <queue>
 #include <opencv2/core/eigen.hpp>
 
+#include <vins_estimator/parameters.h>
+#include <vins_estimator/feature_manager.h>
+#include <vins_estimator/utility/utility.h>
+#include <vins_estimator/utility/tic_toc.h>
+#include <vins_estimator/initial/solve_5pts.h>
+#include <vins_estimator/initial/initial_sfm.h>
+#include <vins_estimator/initial/initial_alignment.h>
+#include <vins_estimator/initial/initial_ex_rotation.h>
+#include <vins_estimator/factor/imu_factor.h>
+#include <vins_estimator/factor/pose_local_parameterization.h>
+#include <vins_estimator/factor/projection_factor.h>
+#include <vins_estimator/factor/projection_td_factor.h>
+#include <vins_estimator/factor/marginalization_factor.h>
 
 class Estimator
 {

diff --git a/vins_estimator/src/factor/imu_factor.h → ...nclude/vins_estimator/factor/imu_factor.h b/vins_estimator/src/factor/imu_factor.h → ...nclude/vins_estimator/factor/imu_factor.h
@@ -3,9 +3,9 @@
 #include <iostream>
 #include <eigen3/Eigen/Dense>
 
-#include "../utility/utility.h"
-#include "../parameters.h"
-#include "integration_base.h"
+#include <vins_estimator/utility/utility.h>
+#include <vins_estimator/parameters.h>
+#include <vins_estimator/factor/integration_base.h>
 
 #include <ceres/ceres.h>
 

diff --git a/vins_estimator/src/factor/integration_base.h → .../vins_estimator/factor/integration_base.h b/vins_estimator/src/factor/integration_base.h → .../vins_estimator/factor/integration_base.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "../utility/utility.h"
-#include "../parameters.h"
+#include <vins_estimator/utility/utility.h>
+#include <vins_estimator/parameters.h>
 
 #include <ceres/ceres.h>
 using namespace Eigen;
@@ -443,4 +443,4 @@ class IntegrationBase
         cout << "bg diff      " << (turb_linearized_bg - result_linearized_bg).transpose() << endl;
         cout << "bg jacob diff" << (step_V.block<3, 3>(12, 9) * turb).transpose() << endl;
     }
-    */
+    */
diff --git a/...mator/src/factor/marginalization_factor.h → ...estimator/factor/marginalization_factor.h b/...mator/src/factor/marginalization_factor.h → ...estimator/factor/marginalization_factor.h
@@ -7,8 +7,8 @@
 #include <ceres/ceres.h>
 #include <unordered_map>
 
-#include "../utility/utility.h"
-#include "../utility/tic_toc.h"
+#include <vins_estimator/utility/utility.h>
+#include <vins_estimator/utility/tic_toc.h>
 
 const int NUM_THREADS = 4;
 

diff --git a/.../src/factor/pose_local_parameterization.h → ...ator/factor/pose_local_parameterization.h b/.../src/factor/pose_local_parameterization.h → ...ator/factor/pose_local_parameterization.h
@@ -2,7 +2,8 @@
 
 #include <eigen3/Eigen/Dense>
 #include <ceres/ceres.h>
-#include "../utility/utility.h"
+
+#include <vins_estimator/utility/utility.h>
 
 class PoseLocalParameterization : public ceres::LocalParameterization
 {

diff --git a/..._estimator/src/factor/projection_factor.h → ...vins_estimator/factor/projection_factor.h b/..._estimator/src/factor/projection_factor.h → ...vins_estimator/factor/projection_factor.h
@@ -3,9 +3,10 @@
 #include <ros/assert.h>
 #include <ceres/ceres.h>
 #include <Eigen/Dense>
-#include "../utility/utility.h"
-#include "../utility/tic_toc.h"
-#include "../parameters.h"
+
+#include <vins_estimator/utility/utility.h>
+#include <vins_estimator/utility/tic_toc.h>
+#include <vins_estimator/parameters.h>
 
 class ProjectionFactor : public ceres::SizedCostFunction<2, 7, 7, 7, 1>
 {

diff --git a/...timator/src/factor/projection_td_factor.h → ...s_estimator/factor/projection_td_factor.h b/...timator/src/factor/projection_td_factor.h → ...s_estimator/factor/projection_td_factor.h
@@ -3,9 +3,10 @@
 #include <ros/assert.h>
 #include <ceres/ceres.h>
 #include <Eigen/Dense>
-#include "../utility/utility.h"
-#include "../utility/tic_toc.h"
-#include "../parameters.h"
+
+#include <vins_estimator/utility/utility.h>
+#include <vins_estimator/utility/tic_toc.h>
+#include <vins_estimator//parameters.h>
 
 class ProjectionTdFactor : public ceres::SizedCostFunction<2, 7, 7, 7, 1, 1>
 {

diff --git a/vins_estimator/src/feature_manager.h → .../include/vins_estimator/feature_manager.h b/vins_estimator/src/feature_manager.h → .../include/vins_estimator/feature_manager.h
@@ -5,15 +5,16 @@
 #include <algorithm>
 #include <vector>
 #include <numeric>
-using namespace std;
 
 #include <eigen3/Eigen/Dense>
-using namespace Eigen;
 
 #include <ros/console.h>
 #include <ros/assert.h>
 
-#include "parameters.h"
+#include <vins_estimator/parameters.h>
+
+using namespace std;
+using namespace Eigen;
 
 class FeaturePerFrame
 {
@@ -99,4 +100,4 @@ class FeatureManager
     Matrix3d ric[NUM_OF_CAM];
 };
 
-#endif
+#endif
diff --git a/...estimator/src/initial/initial_alignment.h → ...ins_estimator/initial/initial_alignment.h b/...estimator/src/initial/initial_alignment.h → ...ins_estimator/initial/initial_alignment.h
@@ -1,11 +1,13 @@
 #pragma once
 #include <eigen3/Eigen/Dense>
 #include <iostream>
-#include "../factor/imu_factor.h"
-#include "../utility/utility.h"
+
 #include <ros/ros.h>
 #include <map>
-#include "../feature_manager.h"
+
+#include <vins_estimator/factor/imu_factor.h>
+#include <vins_estimator/utility/utility.h>
+#include <vins_estimator/feature_manager.h>
 
 using namespace Eigen;
 using namespace std;
@@ -26,4 +28,4 @@ class ImageFrame
         bool is_key_frame;
 };
 
-bool VisualIMUAlignment(map<double, ImageFrame> &all_image_frame, Vector3d* Bgs, Vector3d &g, VectorXd &x);
+bool VisualIMUAlignment(map<double, ImageFrame> &all_image_frame, Vector3d* Bgs, Vector3d &g, VectorXd &x);
diff --git a/...timator/src/initial/initial_ex_rotation.h → ...s_estimator/initial/initial_ex_rotation.h b/...timator/src/initial/initial_ex_rotation.h → ...s_estimator/initial/initial_ex_rotation.h
@@ -1,15 +1,17 @@
 #pragma once 
 
 #include <vector>
-#include "../parameters.h"
-using namespace std;
 
 #include <opencv2/opencv.hpp>
 
 #include <eigen3/Eigen/Dense>
-using namespace Eigen;
 #include <ros/console.h>
 
+#include <vins_estimator/parameters.h>
+
+using namespace std;
+using namespace Eigen;
+
 /* This class help you to calibrate extrinsic rotation between imu and camera when your totally don't konw the extrinsic parameter */
 class InitialEXRotation
 {

diff --git a/vins_estimator/src/initial/initial_sfm.h → ...lude/vins_estimator/initial/initial_sfm.h b/vins_estimator/src/initial/initial_sfm.h → ...lude/vins_estimator/initial/initial_sfm.h
@@ -8,11 +8,10 @@
 #include <map>
 #include <opencv2/core/eigen.hpp>
 #include <opencv2/opencv.hpp>
+
 using namespace Eigen;
 using namespace std;
 
-
-
 struct SFMFeature
 {
     bool state;
@@ -71,4 +70,4 @@ class GlobalSFM
 							  vector<SFMFeature> &sfm_f);
 
 	int feature_num;
-};
+};
diff --git a/vins_estimator/src/initial/solve_5pts.h → ...clude/vins_estimator/initial/solve_5pts.h b/vins_estimator/src/initial/solve_5pts.h → ...clude/vins_estimator/initial/solve_5pts.h
@@ -1,15 +1,16 @@
 #pragma once
 
 #include <vector>
-using namespace std;
 
 #include <opencv2/opencv.hpp>
-//#include <opencv2/core/eigen.hpp>
+
 #include <eigen3/Eigen/Dense>
-using namespace Eigen;
 
 #include <ros/console.h>
 
+using namespace std;
+using namespace Eigen;
+
 class MotionEstimator
 {
   public:

diff --git a/vins_estimator/src/parameters.h → ...mator/include/vins_estimator/parameters.h b/vins_estimator/src/parameters.h → ...mator/include/vins_estimator/parameters.h
@@ -3,11 +3,12 @@
 #include <ros/ros.h>
 #include <vector>
 #include <eigen3/Eigen/Dense>
-#include "utility/utility.h"
 #include <opencv2/opencv.hpp>
 #include <opencv2/core/eigen.hpp>
 #include <fstream>
 
+#include <vins_estimator/utility/utility.h>
+
 const double FOCAL_LENGTH = 460.0;
 const int WINDOW_SIZE = 10;
 const int NUM_OF_CAM = 1;

diff --git a/...tor/src/utility/CameraPoseVisualization.h → ...timator/utility/CameraPoseVisualization.h b/...tor/src/utility/CameraPoseVisualization.h → ...timator/utility/CameraPoseVisualization.h
diff --git a/vins_estimator/src/utility/tic_toc.h → .../include/vins_estimator/utility/tic_toc.h b/vins_estimator/src/utility/tic_toc.h → .../include/vins_estimator/utility/tic_toc.h
diff --git a/vins_estimator/src/utility/utility.h → .../include/vins_estimator/utility/utility.h b/vins_estimator/src/utility/utility.h → .../include/vins_estimator/utility/utility.h
diff --git a/vins_estimator/src/utility/visualization.h → ...de/vins_estimator/utility/visualization.h b/vins_estimator/src/utility/visualization.h → ...de/vins_estimator/utility/visualization.h
@@ -13,12 +13,13 @@
 #include <geometry_msgs/PointStamped.h>
 #include <visualization_msgs/Marker.h>
 #include <tf/transform_broadcaster.h>
-#include "CameraPoseVisualization.h"
 #include <eigen3/Eigen/Dense>
-#include "../estimator.h"
-#include "../parameters.h"
 #include <fstream>
 
+#include <vins_estimator/utility/CameraPoseVisualization.h>
+#include <vins_estimator/estimator.h>
+#include <vins_estimator/parameters.h>
+
 extern ros::Publisher pub_odometry;
 extern ros::Publisher pub_path, pub_pose;
 extern ros::Publisher pub_cloud, pub_map;
@@ -49,4 +50,4 @@ void pubTF(const Estimator &estimator, const std_msgs::Header &header);
 
 void pubKeyframe(const Estimator &estimator);
 
-void pubRelocalization(const Estimator &estimator);
+void pubRelocalization(const Estimator &estimator);