first commit

ar_demo/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(ar_demo)
+
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++11 -DEIGEN_DONT_PARALLELIZE")
+#-DEIGEN_USE_MKL_ALL")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  image_transport
+  sensor_msgs
+  cv_bridge
+  message_filters
+  camera_model
+)
+find_package(OpenCV REQUIRED)
+
+catkin_package(
+
+)
+
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+find_package(Eigen3)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
+)
+
+add_executable(ar_demo_node src/ar_demo_node.cpp)
+
+ target_link_libraries(ar_demo_node
+   ${catkin_LIBRARIES} ${OpenCV_LIBS}
+ )
+
+

ar_demo/cmake/FindEigen.cmake

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+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: [email protected] (Alex Stewart)
+#
+
+# FindEigen.cmake - Find Eigen library, version >= 3.
+#
+# This module defines the following variables:
+#
+# EIGEN_FOUND: TRUE iff Eigen is found.
+# EIGEN_INCLUDE_DIRS: Include directories for Eigen.
+#
+# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h
+# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0
+# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0
+# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0
+#
+# The following variables control the behaviour of this module:
+#
+# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to
+#                          search for eigen includes, e.g: /timbuktu/eigen3.
+#
+# The following variables are also defined by this module, but in line with
+# CMake recommended FindPackage() module style should NOT be referenced directly
+# by callers (use the plural variables detailed above instead).  These variables
+# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
+# are NOT re-called (i.e. search for library is not repeated) if these variables
+# are set with valid values _in the CMake cache_. This means that if these
+# variables are set directly in the cache, either by the user in the CMake GUI,
+# or by the user passing -DVAR=VALUE directives to CMake when called (which
+# explicitly defines a cache variable), then they will be used verbatim,
+# bypassing the HINTS variables and other hard-coded search locations.
+#
+# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the
+#                    include directory of any dependencies.
+
+# Called if we failed to find Eigen or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(EIGEN_REPORT_NOT_FOUND REASON_MSG)
+  unset(EIGEN_FOUND)
+  unset(EIGEN_INCLUDE_DIRS)
+  # Make results of search visible in the CMake GUI if Eigen has not
+  # been found so that user does not have to toggle to advanced view.
+  mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR)
+  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+  # use the camelcase library name, not uppercase.
+  if (Eigen_FIND_QUIETLY)
+    message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
+  elseif (Eigen_FIND_REQUIRED)
+    message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
+  else()
+    # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+    # but continues configuration and allows generation.
+    message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN})
+  endif ()
+  return()
+endmacro(EIGEN_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set EIGEN_FOUND, but not
+# the other variables we require / set here which could cause the search logic
+# here to fail.
+unset(EIGEN_FOUND)
+
+# Search user-installed locations first, so that we prefer user installs
+# to system installs where both exist.
+list(APPEND EIGEN_CHECK_INCLUDE_DIRS
+  /usr/local/include
+  /usr/local/homebrew/include # Mac OS X
+  /opt/local/var/macports/software # Mac OS X.
+  /opt/local/include
+  /usr/include)
+# Additional suffixes to try appending to each search path.
+list(APPEND EIGEN_CHECK_PATH_SUFFIXES
+  eigen3 # Default root directory for Eigen.
+  Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3
+  Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3
+
+# Search supplied hint directories first if supplied.
+find_path(EIGEN_INCLUDE_DIR
+  NAMES Eigen/Core
+  PATHS ${EIGEN_INCLUDE_DIR_HINTS}
+  ${EIGEN_CHECK_INCLUDE_DIRS}
+  PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES})
+
+if (NOT EIGEN_INCLUDE_DIR OR
+    NOT EXISTS ${EIGEN_INCLUDE_DIR})
+  eigen_report_not_found(
+    "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to "
+    "path to eigen3 include directory, e.g. /usr/local/include/eigen3.")
+endif (NOT EIGEN_INCLUDE_DIR OR
+       NOT EXISTS ${EIGEN_INCLUDE_DIR})
+
+# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets
+# if called.
+set(EIGEN_FOUND TRUE)
+
+# Extract Eigen version from Eigen/src/Core/util/Macros.h
+if (EIGEN_INCLUDE_DIR)
+  set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h)
+  if (NOT EXISTS ${EIGEN_VERSION_FILE})
+    eigen_report_not_found(
+      "Could not find file: ${EIGEN_VERSION_FILE} "
+      "containing version information in Eigen install located at: "
+      "${EIGEN_INCLUDE_DIR}.")
+  else (NOT EXISTS ${EIGEN_VERSION_FILE})
+    file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS)
+
+    string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+"
+      EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
+    string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1"
+      EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}")
+
+    string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+"
+      EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
+    string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1"
+      EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}")
+
+    string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+"
+      EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
+    string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1"
+      EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}")
+
+    # This is on a single line s/t CMake does not interpret it as a list of
+    # elements and insert ';' separators which would result in 3.;2.;0 nonsense.
+    set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}")
+  endif (NOT EXISTS ${EIGEN_VERSION_FILE})
+endif (EIGEN_INCLUDE_DIR)
+
+# Set standard CMake FindPackage variables if found.
+if (EIGEN_FOUND)
+  set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
+endif (EIGEN_FOUND)
+
+# Handle REQUIRED / QUIET optional arguments and version.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Eigen
+  REQUIRED_VARS EIGEN_INCLUDE_DIRS
+  VERSION_VAR EIGEN_VERSION)
+
+# Only mark internal variables as advanced if we found Eigen, otherwise
+# leave it visible in the standard GUI for the user to set manually.
+if (EIGEN_FOUND)
+  mark_as_advanced(FORCE EIGEN_INCLUDE_DIR)
+endif (EIGEN_FOUND)

ar_demo/launch/3dm_bag.launch

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+<launch>
+	<include file="$(find vins_estimator)/launch/3dm.launch"/>
+
+    <node pkg="ar_demo" type="ar_demo_node" name="ar_demo_node" output="screen">
+        <remap from="~image_raw" to="/mv_25001498/image_raw"/>
+        <remap from="~camera_pose" to="/vins_estimator/camera_pose"/>
+        <remap from="~pointcloud" to="/vins_estimator/point_cloud"/>
+        <param name="calib_file" type="string" value="$(find feature_tracker)/../config/3dm/3dm_config.yaml"/>
+        <param name="use_undistored_img" type="bool" value="false"/>
+    </node>
+</launch>

ar_demo/launch/ar_rviz.launch

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+<launch>
+    <node name="rvizvisualisation" pkg="rviz" type="rviz" output="log" args="-d $(find ar_demo)/../config/AR_demo.rviz" />
+</launch>

ar_demo/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>ar_demo</name>
+  <version>0.0.0</version>
+  <description>The ar_demo package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">tony-ws</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/AR_demo</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</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>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>camera_model</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>camera_model</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>