hopefully fix ros free build, update readme

rpng · Mar 18, 2022 · d286c57 · d286c57
1 parent 06ec15d
commit d286c57
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Showing 9 changed files with 20 additions and 7 deletions.
diff --git a/ReadMe.md b/ReadMe.md
@@ -128,6 +128,9 @@ details on what the system supports.
 <a href="http://www.youtube.com/watch?v=MCzTF9ye2zw">
    <img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/MCzTF9ye2zw.jpg"  width="120" height="90"/>
 </a>
+<a href="http://www.youtube.com/watch?v=eSQLWcNrx_I">
+   <img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/eSQLWcNrx_I.jpg" width="120" height="90" />
+</a>
 <br/>
 
 <a href="http://www.youtube.com/watch?v=187AXuuGNNw">
@@ -139,6 +142,10 @@ details on what the system supports.
 <a href="http://www.youtube.com/watch?v=ExPIGwORm4E">
    <img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/ExPIGwORm4E.jpg" width="120" height="90" />
 </a>
+<a href="http://www.youtube.com/watch?v=lXHl-qgLGl">
+   <img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/lXHl-qgLGl.jpg" width="120" height="90" />
+</a>
+
 
 
 ## Credit / Licensing

diff --git a/docs/youtube/eSQLWcNrx_I.jpg b/docs/youtube/eSQLWcNrx_I.jpg
diff --git a/docs/youtube/lXHl-qgLGl8.jpg b/docs/youtube/lXHl-qgLGl8.jpg
diff --git a/ov_init/CMakeLists.txt b/ov_init/CMakeLists.txt
@@ -11,7 +11,7 @@ if (NOT OpenCV_FOUND)
 endif ()
 find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time)
 find_package(Ceres REQUIRED)
-message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION})
+message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION} " | CERES: " ${Ceres_VERSION})
 
 # check if we have our python libs files (will search for python3 then python2 installs)
 # sudo apt-get install python-matplotlib python-numpy python-dev

diff --git a/ov_init/cmake/ROS2.cmake b/ov_init/cmake/ROS2.cmake
@@ -23,8 +23,8 @@ include_directories(
 
 # Set link libraries used by all binaries
 list(APPEND thirdparty_libraries
-        ${CERES_LIBRARIES}
         ${Boost_LIBRARIES}
+        ${CERES_LIBRARIES}
         ${OpenCV_LIBRARIES}
 )
 

diff --git a/ov_msckf/CMakeLists.txt b/ov_msckf/CMakeLists.txt
@@ -9,7 +9,8 @@ if (NOT OpenCV_FOUND)
     find_package(OpenCV 4 REQUIRED)
 endif ()
 find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time)
-message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION})
+find_package(Ceres REQUIRED)
+message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION} " | CERES: " ${Ceres_VERSION})
 
 # If we will compile with aruco support
 option(ENABLE_ARUCO_TAGS "Enable or disable aruco tag (disable if no contrib modules)" ON)

diff --git a/ov_msckf/cmake/ROS1.cmake b/ov_msckf/cmake/ROS1.cmake
@@ -27,13 +27,15 @@ include_directories(
         src
         ${EIGEN3_INCLUDE_DIR}
         ${Boost_INCLUDE_DIRS}
+        ${CERES_INCLUDE_DIRS}
         ${catkin_INCLUDE_DIRS}
 )
 
 # Set link libraries used by all binaries
 list(APPEND thirdparty_libraries
         ${Boost_LIBRARIES}
         ${OpenCV_LIBRARIES}
+        ${CERES_LIBRARIES}
         ${catkin_LIBRARIES}
 )
 
@@ -55,10 +57,10 @@ if (NOT catkin_FOUND OR NOT ENABLE_ROS)
     message(STATUS "MANUALLY LINKING TO OV_INIT LIBRARY....")
     include_directories(${CMAKE_SOURCE_DIR}/../ov_init/src/)
     file(GLOB_RECURSE OVINIT_LIBRARY_SOURCES "${CMAKE_SOURCE_DIR}/../ov_init/src/*.cpp")
-    list(FILTER OVCORE_LIBRARY_SOURCES EXCLUDE REGEX ".*test_dynamic_init\\.cpp$")
-    list(FILTER OVCORE_LIBRARY_SOURCES EXCLUDE REGEX ".*test_dynamic_mle\\.cpp$")
-    list(FILTER OVCORE_LIBRARY_SOURCES EXCLUDE REGEX ".*test_simulation\\.cpp$")
-    list(FILTER OVCORE_LIBRARY_SOURCES EXCLUDE REGEX ".*Simulator\\.cpp$")
+    list(FILTER OVINIT_LIBRARY_SOURCES EXCLUDE REGEX ".*test_dynamic_init\\.cpp$")
+    list(FILTER OVINIT_LIBRARY_SOURCES EXCLUDE REGEX ".*test_dynamic_mle\\.cpp$")
+    list(FILTER OVINIT_LIBRARY_SOURCES EXCLUDE REGEX ".*test_simulation\\.cpp$")
+    list(FILTER OVINIT_LIBRARY_SOURCES EXCLUDE REGEX ".*Simulator\\.cpp$")
     list(APPEND LIBRARY_SOURCES ${OVINIT_LIBRARY_SOURCES})
     file(GLOB_RECURSE OVINIT_LIBRARY_HEADERS "${CMAKE_SOURCE_DIR}/../ov_init/src/*.h")
     list(FILTER OVINIT_LIBRARY_HEADERS EXCLUDE REGEX ".*Simulator\\.h$")

diff --git a/ov_msckf/cmake/ROS2.cmake b/ov_msckf/cmake/ROS2.cmake
@@ -25,11 +25,13 @@ include_directories(
         src
         ${EIGEN3_INCLUDE_DIR}
         ${Boost_INCLUDE_DIRS}
+        ${CERES_INCLUDE_DIRS}
 )
 
 # Set link libraries used by all binaries
 list(APPEND thirdparty_libraries
         ${Boost_LIBRARIES}
+        ${CERES_LIBRARIES}
         ${OpenCV_LIBRARIES}
 )
 list(APPEND ament_libraries

diff --git a/ov_msckf/package.xml b/ov_msckf/package.xml
@@ -54,6 +54,7 @@
     <depend>libopencv-dev</depend>
     <depend>libopencv-contrib-dev</depend>
     <depend>boost</depend>
+    <depend>libceres-dev</depend>
 
     <!-- Note the export is required to expose the executables -->
     <export>