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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.6)
project(VINS_Fusion)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
set(SOURCE_FILES
camera_models/camera_calib_example/calibrationdata/left-0000.png
camera_models/camera_calib_example/calibrationdata/left-0001.png
camera_models/camera_calib_example/calibrationdata/left-0002.png
camera_models/camera_calib_example/calibrationdata/left-0003.png
camera_models/camera_calib_example/calibrationdata/left-0004.png
camera_models/camera_calib_example/calibrationdata/left-0005.png
camera_models/camera_calib_example/calibrationdata/left-0006.png
camera_models/camera_calib_example/calibrationdata/left-0007.png
camera_models/camera_calib_example/calibrationdata/left-0008.png
camera_models/camera_calib_example/calibrationdata/left-0009.png
camera_models/camera_calib_example/calibrationdata/left-0010.png
camera_models/camera_calib_example/calibrationdata/left-0011.png
camera_models/camera_calib_example/calibrationdata/left-0012.png
camera_models/camera_calib_example/calibrationdata/left-0013.png
camera_models/camera_calib_example/calibrationdata/left-0014.png
camera_models/camera_calib_example/calibrationdata/left-0015.png
camera_models/camera_calib_example/calibrationdata/left-0016.png
camera_models/camera_calib_example/calibrationdata/left-0017.png
camera_models/camera_calib_example/calibrationdata/left-0018.png
camera_models/camera_calib_example/calibrationdata/left-0019.png
camera_models/camera_calib_example/calibrationdata/left-0020.png
camera_models/camera_calib_example/calibrationdata/left-0021.png
camera_models/camera_calib_example/calibrationdata/left-0022.png
camera_models/camera_calib_example/calibrationdata/left-0023.png
camera_models/camera_calib_example/calibrationdata/left-0024.png
camera_models/camera_calib_example/calibrationdata/left-0025.png
camera_models/camera_calib_example/calibrationdata/left-0026.png
camera_models/camera_calib_example/calibrationdata/left-0027.png
camera_models/camera_calib_example/calibrationdata/left-0028.png
camera_models/camera_calib_example/calibrationdata/left-0029.png
camera_models/camera_calib_example/calibrationdata/left-0030.png
camera_models/camera_calib_example/calibrationdata/left-0031.png
camera_models/camera_calib_example/calibrationdata/left-0032.png
camera_models/camera_calib_example/calibrationdata/left-0033.png
camera_models/camera_calib_example/calibrationdata/left-0034.png
camera_models/camera_calib_example/calibrationdata/left-0035.png
camera_models/camera_calib_example/calibrationdata/left-0036.png
camera_models/camera_calib_example/calibrationdata/left-0037.png
camera_models/camera_calib_example/calibrationdata/left-0038.png
camera_models/camera_calib_example/calibrationdata/left-0039.png
camera_models/camera_calib_example/calibrationdata/left-0040.png
camera_models/camera_calib_example/calibrationdata/left-0041.png
camera_models/camera_calib_example/calibrationdata/left-0042.png
camera_models/camera_calib_example/calibrationdata/left-0043.png
camera_models/camera_calib_example/calibrationdata/left-0044.png
camera_models/camera_calib_example/calibrationdata/left-0045.png
camera_models/camera_calib_example/calibrationdata/left-0046.png
camera_models/camera_calib_example/calibrationdata/left-0047.png
camera_models/camera_calib_example/calibrationdata/left-0048.png
camera_models/camera_calib_example/calibrationdata/left-0049.png
camera_models/camera_calib_example/calibrationdata/left-0050.png
camera_models/camera_calib_example/calibrationdata/left-0051.png
camera_models/camera_calib_example/calibrationdata/left-0052.png
camera_models/camera_calib_example/calibrationdata/left-0053.png
camera_models/camera_calib_example/calibrationdata/left-0054.png
camera_models/camera_calib_example/calibrationdata/left-0055.png
camera_models/camera_calib_example/calibrationdata/left-0056.png
camera_models/camera_calib_example/calibrationdata/left-0057.png
camera_models/camera_calib_example/calibrationdata/left-0058.png
camera_models/camera_calib_example/calibrationdata/left-0059.png
camera_models/camera_calib_example/calibrationdata/left-0060.png
camera_models/camera_calib_example/calibrationdata/left-0061.png
camera_models/camera_calib_example/calibrationdata/left-0062.png
camera_models/camera_calib_example/calibrationdata/left-0063.png
camera_models/camera_calib_example/calibrationdata/left-0064.png
camera_models/camera_calib_example/calibrationdata/left-0065.png
camera_models/camera_calib_example/calibrationdata/left-0066.png
camera_models/camera_calib_example/calibrationdata/left-0067.png
camera_models/camera_calib_example/calibrationdata/left-0068.png
camera_models/camera_calib_example/calibrationdata/left-0069.png
camera_models/camera_calib_example/calibrationdata/left-0070.png
camera_models/camera_calib_example/calibrationdata/left-0071.png
camera_models/camera_calib_example/calibrationdata/left-0072.png
camera_models/camera_calib_example/calibrationdata/left-0073.png
camera_models/camera_calib_example/calibrationdata/left-0074.png
camera_models/camera_calib_example/calibrationdata/left-0075.png
camera_models/camera_calib_example/calibrationdata/left-0076.png
camera_models/camera_calib_example/calibrationdata/left-0077.png
camera_models/camera_calib_example/calibrationdata/left-0078.png
camera_models/camera_calib_example/calibrationdata/left-0079.png
camera_models/camera_calib_example/calibrationdata/left-0080.png
camera_models/camera_calib_example/calibrationdata/left-0081.png
camera_models/camera_calib_example/calibrationdata/left-0082.png
camera_models/camera_calib_example/calibrationdata/left-0083.png
camera_models/camera_calib_example/calibrationdata/left-0084.png
camera_models/camera_calib_example/readme.txt
camera_models/cmake/FindEigen.cmake
camera_models/include/camodocal/calib/CameraCalibration.h
camera_models/include/camodocal/camera_models/Camera.h
camera_models/include/camodocal/camera_models/CameraFactory.h
camera_models/include/camodocal/camera_models/CataCamera.h
camera_models/include/camodocal/camera_models/CostFunctionFactory.h
camera_models/include/camodocal/camera_models/EquidistantCamera.h
camera_models/include/camodocal/camera_models/PinholeCamera.h
camera_models/include/camodocal/camera_models/PinholeFullCamera.h
camera_models/include/camodocal/camera_models/ScaramuzzaCamera.h
camera_models/include/camodocal/chessboard/Chessboard.h
camera_models/include/camodocal/chessboard/ChessboardCorner.h
camera_models/include/camodocal/chessboard/ChessboardQuad.h
camera_models/include/camodocal/chessboard/Spline.h
camera_models/include/camodocal/gpl/EigenQuaternionParameterization.h
camera_models/include/camodocal/gpl/EigenUtils.h
camera_models/include/camodocal/gpl/gpl.h
camera_models/include/camodocal/sparse_graph/Transform.h
camera_models/src/calib/CameraCalibration.cc
camera_models/src/camera_models/Camera.cc
camera_models/src/camera_models/CameraFactory.cc
camera_models/src/camera_models/CataCamera.cc
camera_models/src/camera_models/CostFunctionFactory.cc
camera_models/src/camera_models/EquidistantCamera.cc
camera_models/src/camera_models/PinholeCamera.cc
camera_models/src/camera_models/PinholeFullCamera.cc
camera_models/src/camera_models/ScaramuzzaCamera.cc
camera_models/src/chessboard/Chessboard.cc
camera_models/src/gpl/EigenQuaternionParameterization.cc
camera_models/src/gpl/gpl.cc
camera_models/src/sparse_graph/Transform.cc
camera_models/src/intrinsic_calib.cc
camera_models/CMakeLists.txt
camera_models/package.xml
camera_models/readme.md
config/A3_ptgrey/a3_ptgrey_mono_imu_config.yaml
config/A3_ptgrey/a3_ptgrey_stereo_config.yaml
config/A3_ptgrey/a3_ptgrey_stereo_imu_config.yaml
config/A3_ptgrey/left.yaml
config/A3_ptgrey/right.yaml
config/euroc/cam0_mei.yaml
config/euroc/cam0_pinhole.yaml
config/euroc/cam1_mei.yaml
config/euroc/cam1_pinhole.yaml
config/euroc/euroc_mono_imu_config.yaml
config/euroc/euroc_stereo_config.yaml
config/euroc/euroc_stereo_imu_config.yaml
config/kitti_odom/cam00-02.yaml
config/kitti_odom/cam03.yaml
config/kitti_odom/cam04-12.yaml
config/kitti_odom/cam13-21.yaml
config/kitti_odom/kitti_config00-02.yaml
config/kitti_odom/kitti_config03.yaml
config/kitti_odom/kitti_config04-12.yaml
config/kitti_odom/kitti_config13-21.yaml
config/kitti_raw/cam_09_30.yaml
config/kitti_raw/cam_10_03.yaml
config/kitti_raw/kitti_09_30_config.yaml
config/kitti_raw/kitti_10_03_config.yaml
config/mynteye/left_mei.yaml
config/mynteye/mynteye_mono_imu_config.yaml
config/mynteye/mynteye_stereo_config.yaml
config/mynteye/mynteye_stereo_imu_config.yaml
config/mynteye/right_mei.yaml
config/simulation/cam0_mei.yaml
config/simulation/cam1_mei.yaml
config/simulation/simulation_config.yaml
config/vi_car/cam0_mei.yaml
config/vi_car/cam0_pinhole.yaml
config/vi_car/cam1_mei.yaml
config/vi_car/cam1_pinhole.yaml
config/vi_car/vi_car.yaml
config/extrinsic_parameter_example.pdf
config/fisheye_mask.jpg
config/fisheye_mask_752x480.jpg
config/vins_rviz_config.rviz
global_fusion/models/car.dae
global_fusion/models/hummingbird.mesh
global_fusion/src/Factors.h
global_fusion/src/globalOpt.cpp
global_fusion/src/globalOpt.h
global_fusion/src/globalOptNode.cpp
global_fusion/src/tic_toc.h
global_fusion/ThirdParty/GeographicLib/include/Config.h
global_fusion/ThirdParty/GeographicLib/include/Constants.hpp
global_fusion/ThirdParty/GeographicLib/include/Geocentric.hpp
global_fusion/ThirdParty/GeographicLib/include/LocalCartesian.hpp
global_fusion/ThirdParty/GeographicLib/include/Math.hpp
global_fusion/ThirdParty/GeographicLib/src/Geocentric.cpp
global_fusion/ThirdParty/GeographicLib/src/LocalCartesian.cpp
global_fusion/ThirdParty/GeographicLib/src/Math.cpp
global_fusion/ThirdParty/GeographicLib/CMakeLists.txt
global_fusion/CMakeLists.txt
global_fusion/package.xml
loop_fusion/cmake/FindEigen.cmake
loop_fusion/src/ThirdParty/DBoW/BowVector.cpp
loop_fusion/src/ThirdParty/DBoW/BowVector.h
loop_fusion/src/ThirdParty/DBoW/DBoW2.h
loop_fusion/src/ThirdParty/DBoW/FBrief.cpp
loop_fusion/src/ThirdParty/DBoW/FBrief.h
loop_fusion/src/ThirdParty/DBoW/FClass.h
loop_fusion/src/ThirdParty/DBoW/FeatureVector.cpp
loop_fusion/src/ThirdParty/DBoW/FeatureVector.h
loop_fusion/src/ThirdParty/DBoW/QueryResults.cpp
loop_fusion/src/ThirdParty/DBoW/QueryResults.h
loop_fusion/src/ThirdParty/DBoW/ScoringObject.cpp
loop_fusion/src/ThirdParty/DBoW/ScoringObject.h
loop_fusion/src/ThirdParty/DBoW/TemplatedDatabase.h
loop_fusion/src/ThirdParty/DBoW/TemplatedVocabulary.h
loop_fusion/src/ThirdParty/DUtils/DException.h
loop_fusion/src/ThirdParty/DUtils/DUtils.h
loop_fusion/src/ThirdParty/DUtils/Random.cpp
loop_fusion/src/ThirdParty/DUtils/Random.h
loop_fusion/src/ThirdParty/DUtils/Timestamp.cpp
loop_fusion/src/ThirdParty/DUtils/Timestamp.h
loop_fusion/src/ThirdParty/DVision/BRIEF.cpp
loop_fusion/src/ThirdParty/DVision/BRIEF.h
loop_fusion/src/ThirdParty/DVision/DVision.h
loop_fusion/src/ThirdParty/VocabularyBinary.cpp
loop_fusion/src/ThirdParty/VocabularyBinary.hpp
loop_fusion/src/utility/CameraPoseVisualization.cpp
loop_fusion/src/utility/CameraPoseVisualization.h
loop_fusion/src/utility/tic_toc.h
loop_fusion/src/utility/utility.cpp
loop_fusion/src/utility/utility.h
loop_fusion/src/keyframe.cpp
loop_fusion/src/keyframe.h
loop_fusion/src/parameters.h
loop_fusion/src/pose_graph.cpp
loop_fusion/src/pose_graph.h
loop_fusion/src/pose_graph_node.cpp
loop_fusion/CMakeLists.txt
loop_fusion/package.xml
support_files/image/car.png
support_files/image/car_gif.gif
support_files/image/euroc.gif
support_files/image/kitti.gif
support_files/image/kitti.png
support_files/image/kitti_rank.png
support_files/image/vins.png
support_files/image/vins_black.png
support_files/image/vins_logo.png
"support_files/paper/VINS-Mono: A Robust and Versatile Monocular\nVisual-Inertial State Estimator.pdf"
support_files/brief_k10L6.bin
support_files/brief_pattern.yml
support_files/paper_bib.txt
vins_estimator/cmake/FindEigen.cmake
vins_estimator/launch/vins_rviz.launch
vins_estimator/src/estimator/estimator.cpp
vins_estimator/src/estimator/estimator.h
vins_estimator/src/estimator/feature_manager.cpp
vins_estimator/src/estimator/feature_manager.h
vins_estimator/src/estimator/parameters.cpp
vins_estimator/src/estimator/parameters.h
vins_estimator/src/factor/imu_factor.h
vins_estimator/src/factor/initial_bias_factor.h
vins_estimator/src/factor/initial_pose_factor.h
vins_estimator/src/factor/integration_base.h
vins_estimator/src/factor/marginalization_factor.cpp
vins_estimator/src/factor/marginalization_factor.h
vins_estimator/src/factor/pose_local_parameterization.cpp
vins_estimator/src/factor/pose_local_parameterization.h
vins_estimator/src/factor/projection_factor.cpp
vins_estimator/src/factor/projection_factor.h
vins_estimator/src/factor/projectionOneFrameTwoCamFactor.cpp
vins_estimator/src/factor/projectionOneFrameTwoCamFactor.h
vins_estimator/src/factor/projectionTwoFrameOneCamFactor.cpp
vins_estimator/src/factor/projectionTwoFrameOneCamFactor.h
vins_estimator/src/factor/projectionTwoFrameTwoCamFactor.cpp
vins_estimator/src/factor/projectionTwoFrameTwoCamFactor.h
vins_estimator/src/featureTracker/feature_tracker.cpp
vins_estimator/src/featureTracker/feature_tracker.h
vins_estimator/src/initial/initial_aligment.cpp
vins_estimator/src/initial/initial_alignment.h
vins_estimator/src/initial/initial_ex_rotation.cpp
vins_estimator/src/initial/initial_ex_rotation.h
vins_estimator/src/initial/initial_sfm.cpp
vins_estimator/src/initial/initial_sfm.h
vins_estimator/src/initial/solve_5pts.cpp
vins_estimator/src/initial/solve_5pts.h
vins_estimator/src/utility/CameraPoseVisualization.cpp
vins_estimator/src/utility/CameraPoseVisualization.h
vins_estimator/src/utility/tic_toc.h
vins_estimator/src/utility/utility.cpp
vins_estimator/src/utility/utility.h
vins_estimator/src/utility/visualization.cpp
vins_estimator/src/utility/visualization.h
vins_estimator/src/KITTIGPSTest.cpp
vins_estimator/src/KITTIOdomTest.cpp
vins_estimator/src/rosNodeTest.cpp
vins_estimator/CMakeLists.txt
vins_estimator/package.xml
LICENCE
README.md)
add_executable(VINS_Fusion ${SOURCE_FILES})