feat:更改ros目录

Examples/ROS/orb_slam3/CMakeLists.txt

@@ -1,134 +0,0 @@
-cmake_minimum_required(VERSION 3.15)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-rosbuild_init()
-
-IF(NOT ROS_BUILD_TYPE)
-  SET(ROS_BUILD_TYPE Release)
-ENDIF()
-
-MESSAGE("Build type: " ${ROS_BUILD_TYPE})
-
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")
-add_definitions(-w)
-# Check C++11 or C++0x support
-include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
-if(COMPILER_SUPPORTS_CXX14)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
-   add_definitions(-DCOMPILEDWITHC11)
-   message(STATUS "Using flag -std=c++14.")
-else()
-   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
-endif()
-
-LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)
-
-find_package(catkin REQUIRED COMPONENTS
-     roscpp
-     cv_bridge
-     image_transport
-)
-
-# 要保证整个工程的opencv版本一致，包括dbow，源码以及ros相关的
-# 3 4 都可以正常运行
-find_package(OpenCV 4.2)
-   if(NOT OpenCV_FOUND)
-      message(FATAL_ERROR "OpenCV > 4.2 not found.")
-   endif()
-
-find_package(Eigen3 3.1.0 REQUIRED)
-find_package(Pangolin REQUIRED)
-
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS roscpp cv_bridge image_transport
-  DEPENDS OpenCV EIGEN3 Pangolin
-)
-
-include_directories(
-   include
-   ${catkin_INCLUDE_DIRS}
-   ${PROJECT_SOURCE_DIR}
-   ${PROJECT_SOURCE_DIR}/../../../
-   ${PROJECT_SOURCE_DIR}/../../../include
-   ${PROJECT_SOURCE_DIR}/../../../include/CameraModels
-   ${PROJECT_SOURCE_DIR}/../../../Thirdparty/Sophus
-   ${Pangolin_INCLUDE_DIRS}
-)
-
-set(LIBS 
-${OpenCV_LIBS} 
-${EIGEN3_LIBS}
-${Pangolin_LIBRARIES}
-${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
-${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
-${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM3.so
--lboost_system
-)
-
-# Node for monocular camera
-add_executable(Mono src/ros_mono.cc)
-target_link_libraries(Mono
-        ${LIBS}
-        ${catkin_LIBRARIES}
-)
-
-## Node for monocular camera
-#rosbuild_add_executable(Mono
-#src/ros_mono.cc
-#)
-#
-#target_link_libraries(Mono
-#${LIBS}
-#)
-
-# Node for monocular camera (Augmented Reality Demo)
-# 由于里面代码没有将cv::mat 改成 SOPUS的暂时注释掉，不然会报错
-# rosbuild_add_executable(MonoAR
-# src/AR/ros_mono_ar.cc
-# src/AR/ViewerAR.h
-# src/AR/ViewerAR.cc
-# )
-
-# target_link_libraries(MonoAR
-# ${LIBS}
-# )
-
-# Node for stereo camera
-#rosbuild_add_executable(Stereo
-#src/ros_stereo.cc
-#)
-#
-#target_link_libraries(Stereo
-#${LIBS}
-#)
-#
-## Node for RGB-D camera
-#rosbuild_add_executable(RGBD
-#src/ros_rgbd.cc
-#)
-#
-#target_link_libraries(RGBD
-#${LIBS}
-#)
-#
-## Node for monocular-inertial camera
-#rosbuild_add_executable(Mono_Inertial
-#src/ros_mono_inertial.cc
-#)
-#
-#target_link_libraries(Mono_Inertial
-#${LIBS}
-#)
-#
-## Node for stereo-inertial camera
-#rosbuild_add_executable(Stereo_Inertial
-#src/ros_stereo_inertial.cc
-#)
-#
-#target_link_libraries(Stereo_Inertial
-#${LIBS}
-#)

ROS/orb_slam3/CMakeLists.txt

@@ -0,0 +1,105 @@
+cmake_minimum_required(VERSION 3.15)
+project(orb_slam3)  # 替换为你的项目名称
+
+find_package(catkin REQUIRED COMPONENTS
+        roscpp
+        cv_bridge
+        image_transport
+)
+
+find_package(OpenCV 4.2 REQUIRED)
+find_package(Eigen3 3.1.0 REQUIRED)
+find_package(Pangolin REQUIRED)
+
+catkin_package(
+        INCLUDE_DIRS include
+        LIBRARIES ${PROJECT_NAME}
+        CATKIN_DEPENDS roscpp cv_bridge image_transport
+        DEPENDS OpenCV EIGEN3 Pangolin
+)
+
+include_directories(
+   include
+   ${catkin_INCLUDE_DIRS}
+   ${PROJECT_SOURCE_DIR}
+   ${PROJECT_SOURCE_DIR}/../../
+   ${PROJECT_SOURCE_DIR}/../../include
+   ${PROJECT_SOURCE_DIR}/../../include/CameraModels
+   ${PROJECT_SOURCE_DIR}/../../Thirdparty/Sophus
+   ${PROJECT_SOURCE_DIR}/../../Thirdparty/DBoW2
+   ${Pangolin_INCLUDE_DIRS}
+)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native -std=c++14")
+
+set(LIBS
+        ${OpenCV_LIBS}
+        ${EIGEN3_LIBS}
+        ${Pangolin_LIBRARIES}
+        ${PROJECT_SOURCE_DIR}/../../Thirdparty/DBoW2/lib/libDBoW2.so
+        ${PROJECT_SOURCE_DIR}/../../Thirdparty/g2o/lib/libg2o.so
+        ${PROJECT_SOURCE_DIR}/../../lib/libORB_SLAM3.so
+        -lboost_system
+        ${catkin_LIBRARIES}
+)
+
+# Node for monocular camera
+add_executable(Mono src/ros_mono.cc)
+target_link_libraries(Mono ${LIBS})
+
+## Node for monocular camera
+#rosbuild_add_executable(Mono
+#src/ros_mono.cc
+#)
+#
+#target_link_libraries(Mono
+#${LIBS}
+#)
+
+# Node for monocular camera (Augmented Reality Demo)
+# 由于里面代码没有将cv::mat 改成 SOPUS的暂时注释掉，不然会报错
+# rosbuild_add_executable(MonoAR
+# src/AR/ros_mono_ar.cc
+# src/AR/ViewerAR.h
+# src/AR/ViewerAR.cc
+# )
+
+# target_link_libraries(MonoAR
+# ${LIBS}
+# )
+
+# Node for stereo camera
+#rosbuild_add_executable(Stereo
+#src/ros_stereo.cc
+#)
+#
+#target_link_libraries(Stereo
+#${LIBS}
+#)
+#
+## Node for RGB-D camera
+#rosbuild_add_executable(RGBD
+#src/ros_rgbd.cc
+#)
+#
+#target_link_libraries(RGBD
+#${LIBS}
+#)
+#
+## Node for monocular-inertial camera
+#rosbuild_add_executable(Mono_Inertial
+#src/ros_mono_inertial.cc
+#)
+#
+#target_link_libraries(Mono_Inertial
+#${LIBS}
+#)
+#
+## Node for stereo-inertial camera
+#rosbuild_add_executable(Stereo_Inertial
+#src/ros_stereo_inertial.cc
+#)
+#
+#target_link_libraries(Stereo_Inertial
+#${LIBS}
+#)

ROS/orb_slam3/include/ros_mono.h

@@ -3,7 +3,7 @@
 
 #include <ros/ros.h>
 #include <sensor_msgs/Image.h>
-#include "../../../../include/System.h"  // 确保路径正确
+#include "../../include/System.h"  // 确保路径正确
 
 namespace autolabor
 {

ROS/orb_slam3/launch/orb_slam3_1280.launch

@@ -11,7 +11,6 @@
         <param name="rescale_camera_info" value="false"/>
     </node>
 
-
     <!-- ORBSLAM3节点 -->
     <node name="orb_slam3_mono" pkg="orb_slam3" type="Mono" output="screen">
         <param name="image_topic" value="/camera/image_raw"/>                          <!-- 定义相机话题 -->

ROS/orb_slam3/src/ros_mono.cc

@@ -15,8 +15,6 @@
 * You should have received a copy of the GNU General Public License along with ORB-SLAM3.
 * If not, see <http://www.gnu.org/licenses/>.
 */
-
-
 #include "ros_mono.h"
 #include <iostream>
 #include <fstream>