feat:更改为ros启动

.gitignore

@@ -18,15 +18,15 @@ Examples/Monocular-Inertial/mono_inertial_tum_vi
 Examples/Stereo-Inertial/stereo_inertial_euroc
 Examples/Stereo-Inertial/stereo_inertial_tum_vi
 
-Examples/ROS/ORB_SLAM3/Mono
+Examples/ROS/orb_slam3/Mono
-Examples/ROS/ORB_SLAM3/Mono_Inertial
+Examples/ROS/orb_slam3/Mono_Inertial
-Examples/ROS/ORB_SLAM3/MonoAR
+Examples/ROS/orb_slam3/MonoAR
-Examples/ROS/ORB_SLAM3/RGBD
+Examples/ROS/orb_slam3/RGBD
-Examples/ROS/ORB_SLAM3/Stereo
+Examples/ROS/orb_slam3/Stereo
-Examples/ROS/ORB_SLAM3/Stereo_Inertial
+Examples/ROS/orb_slam3/Stereo_Inertial
 
-Examples/ROS/ORB_SLAM3/CMakeLists.txt.user
+Examples/ROS/orb_slam3/CMakeLists.txt.user
-Examples/ROS/ORB_SLAM3/build/
+Examples/ROS/orb_slam3/build/
 
 Examples_old/RGB-D/rgbd_tum_old
 

CMakeLists.txt

@@ -109,7 +109,8 @@ include/GeometricTools.h
 include/TwoViewReconstruction.h
 include/SerializationUtils.h
 include/Config.h
-include/Settings.h)
+include/Settings.h
+)
 
 add_subdirectory(Thirdparty/g2o)
 

Examples/ROS/ORB_SLAM3/src/ros_mono.cc

@@ -1,94 +0,0 @@
-/**
-* This file is part of ORB-SLAM3
-*
-* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-*
-* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
-* License as published by the Free Software Foundation, either version 3 of the License, or
-* (at your option) any later version.
-*
-* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
-* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* 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<iostream>
-#include<algorithm>
-#include<fstream>
-#include<chrono>
-
-#include<ros/ros.h>
-#include <cv_bridge/cv_bridge.h>
-
-#include<opencv2/core/core.hpp>
-
-#include"../../../include/System.h"
-
-using namespace std;
-
-class ImageGrabber
-{
-public:
-    ImageGrabber(ORB_SLAM3::System* pSLAM):mpSLAM(pSLAM){}
-
-    void GrabImage(const sensor_msgs::ImageConstPtr& msg);
-
-    ORB_SLAM3::System* mpSLAM;
-};
-
-int main(int argc, char **argv)
-{
-    ros::init(argc, argv, "Mono");
-    ros::start();
-
-    if(argc != 3)
-    {
-        cerr << endl << "Usage: rosrun ORB_SLAM3 Mono path_to_vocabulary path_to_settings" << endl;        
-        ros::shutdown();
-        return 1;
-    }    
-
-    // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR,true);
-
-    ImageGrabber igb(&SLAM);
-
-    ros::NodeHandle nodeHandler;
-    ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb);
-
-    ros::spin();
-
-    // Stop all threads
-    SLAM.Shutdown();
-
-    // Save camera trajectory
-    SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt");
-
-    ros::shutdown();
-
-    return 0;
-}
-
-void ImageGrabber::GrabImage(const sensor_msgs::ImageConstPtr& msg)
-{
-    // Copy the ros image message to cv::Mat.
-    cv_bridge::CvImageConstPtr cv_ptr;
-    try
-    {
-        cv_ptr = cv_bridge::toCvShare(msg);
-    }
-    catch (cv_bridge::Exception& e)
-    {
-        ROS_ERROR("cv_bridge exception: %s", e.what());
-        return;
-    }
-
-    mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
-}
-
-

Examples/ROS/orb_slam3/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.4.6)
+cmake_minimum_required(VERSION 3.15)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
 rosbuild_init()
@@ -11,25 +11,26 @@ 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)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
 if(COMPILER_SUPPORTS_CXX14)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
    add_definitions(-DCOMPILEDWITHC11)
    message(STATUS "Using flag -std=c++14.")
-elseif(COMPILER_SUPPORTS_CXX0X)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-   add_definitions(-DCOMPILEDWITHC0X)
-   message(STATUS "Using flag -std=c++0x.")
 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)
@@ -40,7 +41,16 @@ find_package(OpenCV 4.2)
 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
@@ -60,14 +70,21 @@ ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM3.so
 )
 
 # Node for monocular camera
-rosbuild_add_executable(Mono
+add_executable(Mono src/ros_mono.cc)
-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
@@ -81,37 +98,37 @@ ${LIBS}
 # )
 
 # Node for stereo camera
-rosbuild_add_executable(Stereo
+#rosbuild_add_executable(Stereo
-src/ros_stereo.cc
+#src/ros_stereo.cc
-)
+#)
-
+#
-target_link_libraries(Stereo
+#target_link_libraries(Stereo
-${LIBS}
+#${LIBS}
-)
+#)
-
+#
-# Node for RGB-D camera
+## Node for RGB-D camera
-rosbuild_add_executable(RGBD
+#rosbuild_add_executable(RGBD
-src/ros_rgbd.cc
+#src/ros_rgbd.cc
-)
+#)
-
+#
-target_link_libraries(RGBD
+#target_link_libraries(RGBD
-${LIBS}
+#${LIBS}
-)
+#)
-
+#
-# Node for monocular-inertial camera
+## Node for monocular-inertial camera
-rosbuild_add_executable(Mono_Inertial
+#rosbuild_add_executable(Mono_Inertial
-src/ros_mono_inertial.cc
+#src/ros_mono_inertial.cc
-)
+#)
-
+#
-target_link_libraries(Mono_Inertial
+#target_link_libraries(Mono_Inertial
-${LIBS}
+#${LIBS}
-)
+#)
-
+#
-# Node for stereo-inertial camera
+## Node for stereo-inertial camera
-rosbuild_add_executable(Stereo_Inertial
+#rosbuild_add_executable(Stereo_Inertial
-src/ros_stereo_inertial.cc
+#src/ros_stereo_inertial.cc
-)
+#)
-
+#
-target_link_libraries(Stereo_Inertial
+#target_link_libraries(Stereo_Inertial
-${LIBS}
+#${LIBS}
-)
+#)

Examples/ROS/orb_slam3/include/ros_mono.h

@@ -0,0 +1,32 @@
+// 确保只包含一次头文件
+#pragma once
+
+#include <ros/ros.h>
+#include <sensor_msgs/Image.h>
+#include "../../../../include/System.h"  // 确保路径正确
+
+namespace autolabor
+{
+    class ImageGrabber
+    {
+    public:
+        ImageGrabber(ORB_SLAM3::System* pSLAM);
+        void GrabImage(const sensor_msgs::ImageConstPtr& msg);
+
+    private:
+        ORB_SLAM3::System* mpSLAM;
+    };
+
+    class OrbSlam3Node
+    {
+    public:
+        OrbSlam3Node();
+        ~OrbSlam3Node();
+
+        void run();
+
+    private:
+        std::string vocabulary_path_, settings_path_, image_topic_, traj_file_;
+    };
+
+}

Examples/ROS/orb_slam3/launch/orb_slam3_1280.launch

@@ -0,0 +1,25 @@
+<launch>
+
+    <!-- 相机节点 -->
+    <node pkg="cv_camera" type="cv_camera_node" name="camera" output="screen">
+        <param name="flip_image" value="false" />
+        <param name="device_path" value="/dev/v4l/by-path/platform-3610000.xhci-usb-0:2.3:1.0-video-index0" />
+        <param name="image_width" value="1280" />
+        <param name="image_height" value="720" />
+        <param name="rate" value="30"/>
+        <param name="camera_info_url" value="file://$(find cv_camera)/calibrationdata/1280x720.yaml"/>
+        <param name="rescale_camera_info" value="false"/>
+    </node>
+
+
+    <!-- ORBSLAM3节点 -->
+    <node name="orb_slam3_mono" pkg="orb_slam3" type="Mono" output="screen">
+        <param name="image_topic" value="/camera/image_raw"/>                          <!-- 定义相机话题 -->
+        <param name="config_file" value="$(find orb_slam3)/config/camera1280.yaml"/>    <!-- 定义ORB_SLAM3的配置文件路径 -->
+        <param name="vocab_file" value="$(find orb_slam3)/Vocabulary/ORBvoc.txt"/>      <!-- 定义ORB_SLAM3的词典文件路径 -->
+        <param name="traj_file" value="KeyFrameTrajectory.txt"/>    <!-- 定义轨迹文件路径 -->
+    </node>
+
+
+
+</launch>

Examples/ROS/orb_slam3/manifest.xml

@@ -1,6 +1,6 @@
 <package>
-  <description brief="ORB_SLAM3">
+  <description brief="orb_slam3">
-     ORB_SLAM3
+    orb_slam3
   </description>
   <author>Carlos Campos, Richard Elvira, Juan J. Gomez, Jose M.M. Montiel, Juan D. Tardos</author>
   <license>GPLv3</license>

Examples/ROS/orb_slam3/package.xml

@@ -0,0 +1,22 @@
+<package format="2">
+    <name>orb_slam3</name>
+    <version>0.0.1</version>
+    <description>The description of my package</description>
+
+    <maintainer email="autolabor@autolabor.com.cn">Autolabor</maintainer>
+    <license>BSD</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <depend>roscpp</depend>
+    <depend>std_msgs</depend>
+    <depend>sensor_msgs</depend>
+    <depend>cv_bridge</depend>
+    <depend>image_transport</depend>
+    <depend>eigen_conversions</depend>
+    <depend>tf</depend>
+
+    <export>
+        <!-- Other tools can go here -->
+    </export>
+</package>

Examples/ROS/orb_slam3/src/AR/ros_mono_ar.cc

@@ -59,7 +59,7 @@ int main(int argc, char **argv)
 
     if(argc != 3)
     {
-        cerr << endl << "Usage: rosrun ORB_SLAM3 Mono path_to_vocabulary path_to_settings" << endl;        
+        cerr << endl << "Usage: rosrun orb_slam3 Mono path_to_vocabulary path_to_settings" << endl;
         ros::shutdown();
         return 1;
     }

Examples/ROS/orb_slam3/src/ros_mono.cc

@@ -0,0 +1,94 @@
+/**
+* This file is part of ORB-SLAM3
+*
+* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+*
+* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
+* License as published by the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
+* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* 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>
+#include <chrono>
+#include <cv_bridge/cv_bridge.h>
+#include <opencv2/core/core.hpp>
+
+using namespace std;
+
+namespace autolabor
+{
+    ImageGrabber::ImageGrabber(ORB_SLAM3::System* pSLAM) : mpSLAM(pSLAM) {}
+
+    void ImageGrabber::GrabImage(const sensor_msgs::ImageConstPtr& msg)
+    {
+        // Copy the ros image message to cv::Mat.
+        cv_bridge::CvImageConstPtr cv_ptr;
+        try
+        {
+            cv_ptr = cv_bridge::toCvShare(msg);
+        }
+        catch (cv_bridge::Exception& e)
+        {
+            ROS_ERROR("cv_bridge exception: %s", e.what());
+            return;
+        }
+
+        mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
+    }
+
+    OrbSlam3Node::OrbSlam3Node() {
+        ROS_INFO("ORBSLAM3 is running...");
+    }
+
+    OrbSlam3Node::~OrbSlam3Node(){}
+
+    void OrbSlam3Node::run()
+    {
+        ros::NodeHandle nh;
+        ros::NodeHandle private_nh("~");
+
+        private_nh.param<std::string>("vocab_file", vocabulary_path_, "");
+        private_nh.param<std::string>("config_file", settings_path_, "");
+        private_nh.param<std::string>("image_topic", image_topic_, "/camera/image_raw");
+        private_nh.param<std::string>("traj_file", traj_file_, "KeyFrameTrajectory.txt");
+
+        if (vocabulary_path_.empty() || settings_path_.empty())
+        {
+            ROS_ERROR("Missing vocab_file or config_file parameters.");
+            ros::shutdown();
+            return;
+        }
+
+        ORB_SLAM3::System SLAM(vocabulary_path_, settings_path_, ORB_SLAM3::System::MONOCULAR, true);
+        ImageGrabber igb(&SLAM);
+
+        ros::Subscriber sub = nh.subscribe(image_topic_, 1, &ImageGrabber::GrabImage, &igb);
+
+        ros::spin();
+
+        SLAM.Shutdown();
+        SLAM.SaveKeyFrameTrajectoryTUM(traj_file_);
+
+        ros::shutdown();
+    }
+
+}
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "orb_slam3");
+    autolabor::OrbSlam3Node node;
+    node.run();
+    return 0;
+}

Examples/ROS/orb_slam3/src/ros_mono_inertial.cc

@@ -75,7 +75,7 @@ int main(int argc, char **argv)
   bool bEqual = false;
   if(argc < 3 || argc > 4)
   {
-    cerr << endl << "Usage: rosrun ORB_SLAM3 Mono_Inertial path_to_vocabulary path_to_settings [do_equalize]" << endl;
+    cerr << endl << "Usage: rosrun orb_slam3 Mono_Inertial path_to_vocabulary path_to_settings [do_equalize]" << endl;
     ros::shutdown();
     return 1;
   }

Examples/ROS/orb_slam3/src/ros_rgbd.cc

@@ -51,7 +51,7 @@ int main(int argc, char **argv)
 
     if(argc != 3)
     {
-        cerr << endl << "Usage: rosrun ORB_SLAM3 RGBD path_to_vocabulary path_to_settings" << endl;        
+        cerr << endl << "Usage: rosrun orb_slam3 RGBD path_to_vocabulary path_to_settings" << endl;
         ros::shutdown();
         return 1;
     }    

Examples/ROS/orb_slam3/src/ros_stereo.cc

@@ -53,7 +53,7 @@ int main(int argc, char **argv)
 
     if(argc != 4)
     {
-        cerr << endl << "Usage: rosrun ORB_SLAM3 Stereo path_to_vocabulary path_to_settings do_rectify" << endl;
+        cerr << endl << "Usage: rosrun orb_slam3 Stereo path_to_vocabulary path_to_settings do_rectify" << endl;
         ros::shutdown();
         return 1;
     }    

Examples/ROS/orb_slam3/src/ros_stereo_inertial.cc

@@ -79,7 +79,7 @@ int main(int argc, char **argv)
   bool bEqual = false;
   if(argc < 4 || argc > 5)
   {
-    cerr << endl << "Usage: rosrun ORB_SLAM3 Stereo_Inertial path_to_vocabulary path_to_settings do_rectify [do_equalize]" << endl;
+    cerr << endl << "Usage: rosrun orb_slam3 Stereo_Inertial path_to_vocabulary path_to_settings do_rectify [do_equalize]" << endl;
     ros::shutdown();
     return 1;
   }

Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc

@@ -188,7 +188,7 @@ int main(int argc, char **argv)
 
                 while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
                 {
-                    // vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[first_imu],vGyro[first_imu],vTimestampsImu[first_imu]));
+                    // vImuMeas.push_back(orb_slam3::IMU::Point(vAcc[first_imu],vGyro[first_imu],vTimestampsImu[first_imu]));
                     vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[seq][first_imu[seq]].x,vAcc[seq][first_imu[seq]].y,vAcc[seq][first_imu[seq]].z,
                                                              vGyro[seq][first_imu[seq]].x,vGyro[seq][first_imu[seq]].y,vGyro[seq][first_imu[seq]].z,
                                                              vTimestampsImu[seq][first_imu[seq]]));

Examples_old/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc

@@ -59,7 +59,7 @@ int main(int argc, char **argv)
 
     if(argc != 3)
     {
-        cerr << endl << "Usage: rosrun ORB_SLAM3 Mono path_to_vocabulary path_to_settings" << endl;        
+        cerr << endl << "Usage: rosrun orb_slam3 Mono path_to_vocabulary path_to_settings" << endl;
         ros::shutdown();
         return 1;
     }

Examples_old/ROS/ORB_SLAM3/src/ros_mono.cc

@@ -48,7 +48,7 @@ int main(int argc, char **argv)
 
     if(argc != 3)
     {
-        cerr << endl << "Usage: rosrun ORB_SLAM3 Mono path_to_vocabulary path_to_settings" << endl;        
+        cerr << endl << "Usage: rosrun orb_slam3 Mono path_to_vocabulary path_to_settings" << endl;
         ros::shutdown();
         return 1;
     }    

Examples_old/ROS/ORB_SLAM3/src/ros_mono_inertial.cc

@@ -75,7 +75,7 @@ int main(int argc, char **argv)
   bool bEqual = false;
   if(argc < 3 || argc > 4)
   {
-    cerr << endl << "Usage: rosrun ORB_SLAM3 Mono_Inertial path_to_vocabulary path_to_settings [do_equalize]" << endl;
+    cerr << endl << "Usage: rosrun orb_slam3 Mono_Inertial path_to_vocabulary path_to_settings [do_equalize]" << endl;
     ros::shutdown();
     return 1;
   }

Examples_old/ROS/ORB_SLAM3/src/ros_rgbd.cc

@@ -51,7 +51,7 @@ int main(int argc, char **argv)
 
     if(argc != 3)
     {
-        cerr << endl << "Usage: rosrun ORB_SLAM3 RGBD path_to_vocabulary path_to_settings" << endl;        
+        cerr << endl << "Usage: rosrun orb_slam3 RGBD path_to_vocabulary path_to_settings" << endl;
         ros::shutdown();
         return 1;
     }    

Examples_old/ROS/ORB_SLAM3/src/ros_stereo.cc

@@ -53,7 +53,7 @@ int main(int argc, char **argv)
 
     if(argc != 4)
     {
-        cerr << endl << "Usage: rosrun ORB_SLAM3 Stereo path_to_vocabulary path_to_settings do_rectify" << endl;
+        cerr << endl << "Usage: rosrun orb_slam3 Stereo path_to_vocabulary path_to_settings do_rectify" << endl;
         ros::shutdown();
         return 1;
     }    

Examples_old/ROS/ORB_SLAM3/src/ros_stereo_inertial.cc

@@ -79,7 +79,7 @@ int main(int argc, char **argv)
   bool bEqual = false;
   if(argc < 4 || argc > 5)
   {
-    cerr << endl << "Usage: rosrun ORB_SLAM3 Stereo_Inertial path_to_vocabulary path_to_settings do_rectify [do_equalize]" << endl;
+    cerr << endl << "Usage: rosrun orb_slam3 Stereo_Inertial path_to_vocabulary path_to_settings do_rectify [do_equalize]" << endl;
     ros::shutdown();
     return 1;
   }

Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc

@@ -188,7 +188,7 @@ int main(int argc, char **argv)
 
                 while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
                 {
-                    // vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[first_imu],vGyro[first_imu],vTimestampsImu[first_imu]));
+                    // vImuMeas.push_back(orb_slam3::IMU::Point(vAcc[first_imu],vGyro[first_imu],vTimestampsImu[first_imu]));
                     vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[seq][first_imu[seq]].x,vAcc[seq][first_imu[seq]].y,vAcc[seq][first_imu[seq]].z,
                                                              vGyro[seq][first_imu[seq]].x,vGyro[seq][first_imu[seq]].y,vGyro[seq][first_imu[seq]].z,
                                                              vTimestampsImu[seq][first_imu[seq]]));

include/Atlas.h

@@ -169,6 +169,6 @@ protected:
 
 }; // class Atlas
 
-} // namespace ORB_SLAM3
+} // namespace orb_slam3
 
 #endif // ATLAS_H

include/Map.h

@@ -203,6 +203,6 @@ protected:
 
 };
 
-} //namespace ORB_SLAM3
+} //namespace orb_slam3
 
 #endif // MAP_H

include/Optimizer.h

@@ -101,6 +101,6 @@ public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
 };
 
-} //namespace ORB_SLAM3
+} //namespace orb_slam3
 
 #endif // OPTIMIZER_H

include/SerializationUtils.h

@@ -161,6 +161,6 @@ void serializeVectorKeyPoints(Archive& ar, const std::vector<cv::KeyPoint>& vKP,
     }
 }
 
-} // namespace ORB_SLAM3
+} // namespace orb_slam3
 
 #endif // SERIALIZATION_UTILS_H

src/Atlas.cc

@@ -452,4 +452,4 @@ map<long unsigned int, KeyFrame *> Atlas::GetAtlasKeyframes()
     return mpIdKFs;
 }
 
-} // namespace ORB_SLAM3
+} // namespace orb_slam3

src/CameraModels/KannalaBrandt8.cpp

@@ -20,7 +20,7 @@
 
 #include <boost/serialization/export.hpp>
 
-// BOOST_CLASS_EXPORT_IMPLEMENT(ORB_SLAM3::KannalaBrandt8)
+// BOOST_CLASS_EXPORT_IMPLEMENT(orb_slam3::KannalaBrandt8)
 
 namespace ORB_SLAM3
 {

src/CameraModels/Pinhole.cpp

@@ -20,7 +20,7 @@
 
 #include <boost/serialization/export.hpp>
 
-// BOOST_CLASS_EXPORT_IMPLEMENT(ORB_SLAM3::Pinhole)
+// BOOST_CLASS_EXPORT_IMPLEMENT(orb_slam3::Pinhole)
 
 namespace ORB_SLAM3
 {

src/MLPnPsolver.cpp

@@ -1742,4 +1742,4 @@ void MLPnPsolver::mlpnpJacs(const point_t &pt, const Eigen::Vector3d &nullspace_
     jacs(1, 4) = s2 * t65 - t14 * t101 * t167 * t212 * (1.0 / 2.0);
     jacs(1, 5) = s3 * t65 - t14 * t101 * t167 * t216 * (1.0 / 2.0);
 }
-} // End namespace ORB_SLAM3
+} // End namespace orb_slam3

src/Map.cc

@@ -541,4 +541,4 @@ void Map::PostLoad(KeyFrameDatabase *pKFDB, ORBVocabulary *pORBVoc /*, map<long
     mvpBackupMapPoints.clear();
 }
 
-} // namespace ORB_SLAM3
+} // namespace orb_slam3

src/System.cc

@@ -984,7 +984,7 @@ void System::SaveTrajectoryEuRoC(const string &filename, Map* pMap)
 
     // For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag
     // which is true when tracking failed (lbL).
-    list<ORB_SLAM3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
+    list<orb_slam3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
     list<double>::iterator lT = mpTracker->mlFrameTimes.begin();
     list<bool>::iterator lbL = mpTracker->mlbLost.begin();
 
@@ -1235,11 +1235,11 @@ void System::SaveKeyFrameTrajectoryEuRoC(const string &filename, Map* pMap)
 
     // For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag
     // which is true when tracking failed (lbL).
-    list<ORB_SLAM3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
+    list<orb_slam3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
     list<double>::iterator lT = mpTracker->mlFrameTimes.begin();
     for(list<cv::Mat>::iterator lit=mpTracker->mlRelativeFramePoses.begin(), lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++)
     {
-        ORB_SLAM3::KeyFrame* pKF = *lRit;
+        orb_slam3::KeyFrame* pKF = *lRit;
 
         cv::Mat Trw = cv::Mat::eye(4,4,CV_32F);