From 3e5776cfc252e374b902701dedd00ecf75f93cf4 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <matej.petrlik@fel.cvut.cz>
Date: Fri, 20 Dec 2024 20:01:00 +0100
Subject: [PATCH] moved headers to include dir

---
 vins_estimator/CMakeLists.txt                 | 37 ++++++++++---
 .../vins_estimator}/estimator.h               | 26 ++++-----
 .../vins_estimator}/factor/imu_factor.h       |  6 +--
 .../vins_estimator}/factor/integration_base.h |  6 +--
 .../factor/marginalization_factor.h           |  4 +-
 .../factor/pose_local_parameterization.h      |  3 +-
 .../factor/projection_factor.h                |  7 +--
 .../factor/projection_td_factor.h             |  7 +--
 .../vins_estimator}/feature_manager.h         |  9 ++--
 .../initial/initial_alignment.h               | 10 ++--
 .../initial/initial_ex_rotation.h             |  8 +--
 .../vins_estimator}/initial/initial_sfm.h     |  5 +-
 .../vins_estimator}/initial/solve_5pts.h      |  7 +--
 .../vins_estimator}/parameters.h              |  3 +-
 .../utility/CameraPoseVisualization.h         |  0
 .../vins_estimator}/utility/tic_toc.h         |  0
 .../vins_estimator}/utility/utility.h         |  0
 .../vins_estimator}/utility/visualization.h   |  9 ++--
 vins_estimator/package.xml                    | 53 +++----------------
 vins_estimator/src/estimator.cpp              |  2 +-
 vins_estimator/src/estimator_node.cpp         |  6 +--
 .../src/factor/marginalization_factor.cpp     |  2 +-
 .../factor/pose_local_parameterization.cpp    |  2 +-
 .../src/factor/projection_factor.cpp          |  2 +-
 .../src/factor/projection_td_factor.cpp       |  2 +-
 vins_estimator/src/feature_manager.cpp        |  4 +-
 .../src/initial/initial_aligment.cpp          |  2 +-
 .../src/initial/initial_ex_rotation.cpp       |  2 +-
 vins_estimator/src/initial/initial_sfm.cpp    |  2 +-
 vins_estimator/src/initial/solve_5pts.cpp     |  2 +-
 vins_estimator/src/parameters.cpp             |  2 +-
 .../src/utility/CameraPoseVisualization.cpp   |  4 +-
 vins_estimator/src/utility/utility.cpp        |  2 +-
 vins_estimator/src/utility/visualization.cpp  |  2 +-
 34 files changed, 116 insertions(+), 122 deletions(-)
 rename vins_estimator/{src => include/vins_estimator}/estimator.h (83%)
 rename vins_estimator/{src => include/vins_estimator}/factor/imu_factor.h (98%)
 rename vins_estimator/{src => include/vins_estimator}/factor/integration_base.h (99%)
 rename vins_estimator/{src => include/vins_estimator}/factor/marginalization_factor.h (96%)
 rename vins_estimator/{src => include/vins_estimator}/factor/pose_local_parameterization.h (90%)
 rename vins_estimator/{src => include/vins_estimator}/factor/projection_factor.h (80%)
 rename vins_estimator/{src => include/vins_estimator}/factor/projection_td_factor.h (86%)
 rename vins_estimator/{src => include/vins_estimator}/feature_manager.h (98%)
 rename vins_estimator/{src => include/vins_estimator}/initial/initial_alignment.h (78%)
 rename vins_estimator/{src => include/vins_estimator}/initial/initial_ex_rotation.h (96%)
 rename vins_estimator/{src => include/vins_estimator}/initial/initial_sfm.h (99%)
 rename vins_estimator/{src => include/vins_estimator}/initial/solve_5pts.h (94%)
 rename vins_estimator/{src => include/vins_estimator}/parameters.h (96%)
 rename vins_estimator/{src => include/vins_estimator}/utility/CameraPoseVisualization.h (100%)
 rename vins_estimator/{src => include/vins_estimator}/utility/tic_toc.h (100%)
 rename vins_estimator/{src => include/vins_estimator}/utility/utility.h (100%)
 rename vins_estimator/{src => include/vins_estimator}/utility/visualization.h (89%)

diff --git a/vins_estimator/CMakeLists.txt b/vins_estimator/CMakeLists.txt
index b428271..75cfc5e 100644
--- 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 b/vins_estimator/include/vins_estimator/estimator.h
similarity index 83%
rename from vins_estimator/src/estimator.h
rename to vins_estimator/include/vins_estimator/estimator.h
index 2390aa0..10cf799 100644
--- a/vins_estimator/src/estimator.h
+++ b/vins_estimator/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 b/vins_estimator/include/vins_estimator/factor/imu_factor.h
similarity index 98%
rename from vins_estimator/src/factor/imu_factor.h
rename to vins_estimator/include/vins_estimator/factor/imu_factor.h
index 3552643..dfe1277 100644
--- a/vins_estimator/src/factor/imu_factor.h
+++ b/vins_estimator/include/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 b/vins_estimator/include/vins_estimator/factor/integration_base.h
similarity index 99%
rename from vins_estimator/src/factor/integration_base.h
rename to vins_estimator/include/vins_estimator/factor/integration_base.h
index 9794534..387f5fe 100644
--- a/vins_estimator/src/factor/integration_base.h
+++ b/vins_estimator/include/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;
     }
-    */
\ No newline at end of file
+    */
diff --git a/vins_estimator/src/factor/marginalization_factor.h b/vins_estimator/include/vins_estimator/factor/marginalization_factor.h
similarity index 96%
rename from vins_estimator/src/factor/marginalization_factor.h
rename to vins_estimator/include/vins_estimator/factor/marginalization_factor.h
index 1edcef6..9ba41e0 100644
--- a/vins_estimator/src/factor/marginalization_factor.h
+++ b/vins_estimator/include/vins_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/vins_estimator/src/factor/pose_local_parameterization.h b/vins_estimator/include/vins_estimator/factor/pose_local_parameterization.h
similarity index 90%
rename from vins_estimator/src/factor/pose_local_parameterization.h
rename to vins_estimator/include/vins_estimator/factor/pose_local_parameterization.h
index b9d856c..7dd4912 100644
--- a/vins_estimator/src/factor/pose_local_parameterization.h
+++ b/vins_estimator/include/vins_estimator/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/vins_estimator/src/factor/projection_factor.h b/vins_estimator/include/vins_estimator/factor/projection_factor.h
similarity index 80%
rename from vins_estimator/src/factor/projection_factor.h
rename to vins_estimator/include/vins_estimator/factor/projection_factor.h
index 92de6ed..0536b01 100644
--- a/vins_estimator/src/factor/projection_factor.h
+++ b/vins_estimator/include/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/vins_estimator/src/factor/projection_td_factor.h b/vins_estimator/include/vins_estimator/factor/projection_td_factor.h
similarity index 86%
rename from vins_estimator/src/factor/projection_td_factor.h
rename to vins_estimator/include/vins_estimator/factor/projection_td_factor.h
index d797d26..9214f06 100644
--- a/vins_estimator/src/factor/projection_td_factor.h
+++ b/vins_estimator/include/vins_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 b/vins_estimator/include/vins_estimator/feature_manager.h
similarity index 98%
rename from vins_estimator/src/feature_manager.h
rename to vins_estimator/include/vins_estimator/feature_manager.h
index 4e5d3ce..2fa5e04 100644
--- a/vins_estimator/src/feature_manager.h
+++ b/vins_estimator/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
\ No newline at end of file
+#endif
diff --git a/vins_estimator/src/initial/initial_alignment.h b/vins_estimator/include/vins_estimator/initial/initial_alignment.h
similarity index 78%
rename from vins_estimator/src/initial/initial_alignment.h
rename to vins_estimator/include/vins_estimator/initial/initial_alignment.h
index 49bc466..3c51095 100644
--- a/vins_estimator/src/initial/initial_alignment.h
+++ b/vins_estimator/include/vins_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);
\ No newline at end of file
+bool VisualIMUAlignment(map<double, ImageFrame> &all_image_frame, Vector3d* Bgs, Vector3d &g, VectorXd &x);
diff --git a/vins_estimator/src/initial/initial_ex_rotation.h b/vins_estimator/include/vins_estimator/initial/initial_ex_rotation.h
similarity index 96%
rename from vins_estimator/src/initial/initial_ex_rotation.h
rename to vins_estimator/include/vins_estimator/initial/initial_ex_rotation.h
index 902b6fa..6bf8e6e 100644
--- a/vins_estimator/src/initial/initial_ex_rotation.h
+++ b/vins_estimator/include/vins_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 b/vins_estimator/include/vins_estimator/initial/initial_sfm.h
similarity index 99%
rename from vins_estimator/src/initial/initial_sfm.h
rename to vins_estimator/include/vins_estimator/initial/initial_sfm.h
index f70432d..29d58e7 100644
--- a/vins_estimator/src/initial/initial_sfm.h
+++ b/vins_estimator/include/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;
-};
\ No newline at end of file
+};
diff --git a/vins_estimator/src/initial/solve_5pts.h b/vins_estimator/include/vins_estimator/initial/solve_5pts.h
similarity index 94%
rename from vins_estimator/src/initial/solve_5pts.h
rename to vins_estimator/include/vins_estimator/initial/solve_5pts.h
index 5a807a9..bbd7b6a 100644
--- a/vins_estimator/src/initial/solve_5pts.h
+++ b/vins_estimator/include/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 b/vins_estimator/include/vins_estimator/parameters.h
similarity index 96%
rename from vins_estimator/src/parameters.h
rename to vins_estimator/include/vins_estimator/parameters.h
index 7d62731..3feb0f2 100644
--- a/vins_estimator/src/parameters.h
+++ b/vins_estimator/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/vins_estimator/src/utility/CameraPoseVisualization.h b/vins_estimator/include/vins_estimator/utility/CameraPoseVisualization.h
similarity index 100%
rename from vins_estimator/src/utility/CameraPoseVisualization.h
rename to vins_estimator/include/vins_estimator/utility/CameraPoseVisualization.h
diff --git a/vins_estimator/src/utility/tic_toc.h b/vins_estimator/include/vins_estimator/utility/tic_toc.h
similarity index 100%
rename from vins_estimator/src/utility/tic_toc.h
rename to vins_estimator/include/vins_estimator/utility/tic_toc.h
diff --git a/vins_estimator/src/utility/utility.h b/vins_estimator/include/vins_estimator/utility/utility.h
similarity index 100%
rename from vins_estimator/src/utility/utility.h
rename to vins_estimator/include/vins_estimator/utility/utility.h
diff --git a/vins_estimator/src/utility/visualization.h b/vins_estimator/include/vins_estimator/utility/visualization.h
similarity index 89%
rename from vins_estimator/src/utility/visualization.h
rename to vins_estimator/include/vins_estimator/utility/visualization.h
index bf7d1d1..3b18800 100644
--- a/vins_estimator/src/utility/visualization.h
+++ b/vins_estimator/include/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);
\ No newline at end of file
+void pubRelocalization(const Estimator &estimator);
diff --git a/vins_estimator/package.xml b/vins_estimator/package.xml
index 08e6562..cca77d0 100644
--- a/vins_estimator/package.xml
+++ b/vins_estimator/package.xml
@@ -1,55 +1,18 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
+
   <name>vins_estimator</name>
-  <version>0.0.0</version>
+  <version>1.0.0</version>
   <description>The vins_estimator package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="qintonguav@gmail.com">qintong</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/vins_estimator</url> -->
+  <maintainer email="matej.petrlik@fel.cvut.cz">Matej Petrlik</maintainer>
 
+  <license>MIT</license>
 
-  <!-- Author tags are optional, mutiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintianers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+  <author email="qintonguav@gmail.com">qintong</author>
 
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <run_depend>roscpp</run_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- You can specify that this package is a metapackage here: -->
-    <!-- <metapackage/> -->
-
-    <!-- Other tools can request additional information be placed here -->
+  <depend>roscpp</depend>
+  <depend>libceres-dev</depend>
 
-  </export>
 </package>
diff --git a/vins_estimator/src/estimator.cpp b/vins_estimator/src/estimator.cpp
index cc19876..887bb64 100644
--- a/vins_estimator/src/estimator.cpp
+++ b/vins_estimator/src/estimator.cpp
@@ -1,4 +1,4 @@
-#include "estimator.h"
+#include <vins_estimator/estimator.h>
 
 Estimator::Estimator(): f_manager{Rs}
 {
diff --git a/vins_estimator/src/estimator_node.cpp b/vins_estimator/src/estimator_node.cpp
index d217c63..582988f 100644
--- a/vins_estimator/src/estimator_node.cpp
+++ b/vins_estimator/src/estimator_node.cpp
@@ -8,9 +8,9 @@
 #include <cv_bridge/cv_bridge.h>
 #include <opencv2/opencv.hpp>
 
-#include "estimator.h"
-#include "parameters.h"
-#include "utility/visualization.h"
+#include <vins_estimator/estimator.h>
+#include <vins_estimator/parameters.h>
+#include <vins_estimator/utility/visualization.h>
 
 
 Estimator estimator;
diff --git a/vins_estimator/src/factor/marginalization_factor.cpp b/vins_estimator/src/factor/marginalization_factor.cpp
index 7e073c0..4c14d9e 100644
--- a/vins_estimator/src/factor/marginalization_factor.cpp
+++ b/vins_estimator/src/factor/marginalization_factor.cpp
@@ -1,4 +1,4 @@
-#include "marginalization_factor.h"
+#include <vins_estimator/factor/marginalization_factor.h>
 
 void ResidualBlockInfo::Evaluate()
 {
diff --git a/vins_estimator/src/factor/pose_local_parameterization.cpp b/vins_estimator/src/factor/pose_local_parameterization.cpp
index cb6d944..b91cb24 100644
--- a/vins_estimator/src/factor/pose_local_parameterization.cpp
+++ b/vins_estimator/src/factor/pose_local_parameterization.cpp
@@ -1,4 +1,4 @@
-#include "pose_local_parameterization.h"
+#include <vins_estimator/factor/pose_local_parameterization.h>
 
 bool PoseLocalParameterization::Plus(const double *x, const double *delta, double *x_plus_delta) const
 {
diff --git a/vins_estimator/src/factor/projection_factor.cpp b/vins_estimator/src/factor/projection_factor.cpp
index 8653c32..7149fb2 100644
--- a/vins_estimator/src/factor/projection_factor.cpp
+++ b/vins_estimator/src/factor/projection_factor.cpp
@@ -1,4 +1,4 @@
-#include "projection_factor.h"
+#include <vins_estimator/factor/projection_factor.h>
 
 Eigen::Matrix2d ProjectionFactor::sqrt_info;
 double ProjectionFactor::sum_t;
diff --git a/vins_estimator/src/factor/projection_td_factor.cpp b/vins_estimator/src/factor/projection_td_factor.cpp
index 1b144f8..e0c797e 100644
--- a/vins_estimator/src/factor/projection_td_factor.cpp
+++ b/vins_estimator/src/factor/projection_td_factor.cpp
@@ -1,4 +1,4 @@
-#include "projection_td_factor.h"
+#include <vins_estimator/factor/projection_td_factor.h>
 
 Eigen::Matrix2d ProjectionTdFactor::sqrt_info;
 double ProjectionTdFactor::sum_t;
diff --git a/vins_estimator/src/feature_manager.cpp b/vins_estimator/src/feature_manager.cpp
index 7d5aed9..b813023 100644
--- a/vins_estimator/src/feature_manager.cpp
+++ b/vins_estimator/src/feature_manager.cpp
@@ -1,4 +1,4 @@
-#include "feature_manager.h"
+#include <vins_estimator/feature_manager.h>
 
 int FeaturePerId::endFrame()
 {
@@ -385,4 +385,4 @@ double FeatureManager::compensatedParallax2(const FeaturePerId &it_per_id, int f
     ans = max(ans, sqrt(min(du * du + dv * dv, du_comp * du_comp + dv_comp * dv_comp)));
 
     return ans;
-}
\ No newline at end of file
+}
diff --git a/vins_estimator/src/initial/initial_aligment.cpp b/vins_estimator/src/initial/initial_aligment.cpp
index c2f287c..14f3a83 100644
--- a/vins_estimator/src/initial/initial_aligment.cpp
+++ b/vins_estimator/src/initial/initial_aligment.cpp
@@ -1,4 +1,4 @@
-#include "initial_alignment.h"
+#include <vins_estimator/initial/initial_alignment.h>
 
 void solveGyroscopeBias(map<double, ImageFrame> &all_image_frame, Vector3d* Bgs)
 {
diff --git a/vins_estimator/src/initial/initial_ex_rotation.cpp b/vins_estimator/src/initial/initial_ex_rotation.cpp
index dc99d1c..a1e1538 100644
--- a/vins_estimator/src/initial/initial_ex_rotation.cpp
+++ b/vins_estimator/src/initial/initial_ex_rotation.cpp
@@ -1,4 +1,4 @@
-#include "initial_ex_rotation.h"
+#include <vins_estimator/initial/initial_ex_rotation.h>
 
 InitialEXRotation::InitialEXRotation(){
     frame_count = 0;
diff --git a/vins_estimator/src/initial/initial_sfm.cpp b/vins_estimator/src/initial/initial_sfm.cpp
index 6fbcc17..34a75b0 100644
--- a/vins_estimator/src/initial/initial_sfm.cpp
+++ b/vins_estimator/src/initial/initial_sfm.cpp
@@ -1,4 +1,4 @@
-#include "initial_sfm.h"
+#include <vins_estimator/initial/initial_sfm.h>
 
 GlobalSFM::GlobalSFM(){}
 
diff --git a/vins_estimator/src/initial/solve_5pts.cpp b/vins_estimator/src/initial/solve_5pts.cpp
index c37608d..b83c90e 100644
--- a/vins_estimator/src/initial/solve_5pts.cpp
+++ b/vins_estimator/src/initial/solve_5pts.cpp
@@ -1,4 +1,4 @@
-#include "solve_5pts.h"
+#include <vins_estimator/initial/solve_5pts.h>
 
 
 namespace cv {
diff --git a/vins_estimator/src/parameters.cpp b/vins_estimator/src/parameters.cpp
index 7ea0d10..49a2e1b 100644
--- a/vins_estimator/src/parameters.cpp
+++ b/vins_estimator/src/parameters.cpp
@@ -1,4 +1,4 @@
-#include "parameters.h"
+#include <vins_estimator/parameters.h>
 
 double INIT_DEPTH;
 double MIN_PARALLAX;
diff --git a/vins_estimator/src/utility/CameraPoseVisualization.cpp b/vins_estimator/src/utility/CameraPoseVisualization.cpp
index df97dba..e93d805 100644
--- a/vins_estimator/src/utility/CameraPoseVisualization.cpp
+++ b/vins_estimator/src/utility/CameraPoseVisualization.cpp
@@ -1,4 +1,4 @@
-#include "CameraPoseVisualization.h"
+#include <vins_estimator/utility/CameraPoseVisualization.h>
 
 const Eigen::Vector3d CameraPoseVisualization::imlt = Eigen::Vector3d(-1.0, -0.5, 1.0);
 const Eigen::Vector3d CameraPoseVisualization::imrt = Eigen::Vector3d( 1.0, -0.5, 1.0);
@@ -195,4 +195,4 @@ void CameraPoseVisualization::publish_by( ros::Publisher &pub, const std_msgs::H
 	}
 
 	pub.publish(markerArray_msg);
-}
\ No newline at end of file
+}
diff --git a/vins_estimator/src/utility/utility.cpp b/vins_estimator/src/utility/utility.cpp
index d5bf029..9838516 100644
--- a/vins_estimator/src/utility/utility.cpp
+++ b/vins_estimator/src/utility/utility.cpp
@@ -1,4 +1,4 @@
-#include "utility.h"
+#include <vins_estimator/utility/utility.h>
 
 Eigen::Matrix3d Utility::g2R(const Eigen::Vector3d &g)
 {
diff --git a/vins_estimator/src/utility/visualization.cpp b/vins_estimator/src/utility/visualization.cpp
index 840b176..f6649c0 100644
--- a/vins_estimator/src/utility/visualization.cpp
+++ b/vins_estimator/src/utility/visualization.cpp
@@ -1,4 +1,4 @@
-#include "visualization.h"
+#include <vins_estimator/utility/visualization.h>
 
 using namespace ros;
 using namespace Eigen;