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add GPU svo under development

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This commit is contained in:
gfuse
2021-05-05 12:29:29 +02:00
parent 6a08b7de5d
commit ec7e554add
68 changed files with 10147 additions and 648 deletions
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CPU_version/svo_msgs/CMakeLists.txt
+2 -4
View File
@@ -8,14 +8,12 @@ find_package(catkin REQUIRED COMPONENTS
sensor_msgs
)
# search for all msg files
FILE(GLOB messages_to_build RELATIVE "msg"
"${CMAKE_CURRENT_SOURCE_DIR}/msg/*.msg")
# notify catkin to look at the previously found msg files
add_message_files(
FILES
${messages_to_build}
Info.msg
)
# build the header files from the msg files, and notify catkin about the dependencies
CPU_version/svo_ros/.idea/modules.xml
Generated
-8
View File
@@ -1,8 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/svo_ros.iml" filepath="$PROJECT_DIR$/.idea/svo_ros.iml" />
</modules>
</component>
</project>
CPU_version/svo_ros/.idea/svo_ros.iml
Generated
-8
View File
@@ -1,8 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<module type="CPP_MODULE" version="4">
<component name="NewModuleRootManager">
<content url="file://$MODULE_DIR$" />
<orderEntry type="inheritedJdk" />
<orderEntry type="sourceFolder" forTests="false" />
</component>
</module>
CPU_version/svo_ros/.idea/vcs.xml
Generated
-6
View File
@@ -1,6 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$/.." vcs="Git" />
</component>
</project>
CPU_version/svo_ros/.idea/workspace.xml
Generated
-627
View File
@@ -1,627 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="CMakeRunConfigurationManager" shouldGenerate="true" shouldDeleteObsolete="true">
<generated>
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<config projectName="vio_svo" targetName="vo" />
<config projectName="vio_svo" targetName="actionlib_generate_messages_py" />
<config projectName="vio_svo" targetName="geometry_msgs_generate_messages_eus" />
<config projectName="vio_svo" targetName="rosgraph_msgs_generate_messages_cpp" />
<config projectName="vio_svo" targetName="roscpp_generate_messages_nodejs" />
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<config projectName="vio_svo" targetName="svo_msgs_generate_messages_py" />
<config projectName="vio_svo" targetName="std_msgs_generate_messages_py" />
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<config projectName="vio_svo" targetName="svo_visualizer" />
<config projectName="vio_svo" targetName="std_msgs_generate_messages_cpp" />
<config projectName="vio_svo" targetName="visualization_msgs_generate_messages_cpp" />
<config projectName="vio_svo" targetName="nav_msgs_generate_messages_eus" />
<config projectName="vio_svo" targetName="gtest" />
<config projectName="vio_svo" targetName="std_msgs_generate_messages_nodejs" />
<config projectName="vio_svo" targetName="geometry_msgs_generate_messages_cpp" />
<config projectName="vio_svo" targetName="nav_msgs_generate_messages_py" />
<config projectName="vio_svo" targetName="tf2_msgs_generate_messages_py" />
<config projectName="vio_svo" targetName="actionlib_generate_messages_eus" />
<config projectName="vio_svo" targetName="rosgraph_msgs_generate_messages_eus" />
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<config projectName="vio_svo" targetName="svo_msgs_generate_messages_nodejs" />
<config projectName="vio_svo" targetName="visualization_msgs_generate_messages_nodejs" />
<config projectName="vio_svo" targetName="roscpp_generate_messages_py" />
<config projectName="vio_svo" targetName="rosgraph_msgs_generate_messages_py" />
<config projectName="vio_svo" targetName="tf_generate_messages_cpp" />
<config projectName="vio_svo" targetName="tf2_msgs_generate_messages_eus" />
<config projectName="vio_svo" targetName="gmock" />
<config projectName="vio_svo" targetName="actionlib_generate_messages_nodejs" />
<config projectName="vio_svo" targetName="std_msgs_generate_messages_eus" />
<config projectName="vio_svo" targetName="svo_msgs_generate_messages_lisp" />
<config projectName="vio_svo" targetName="tf2_msgs_generate_messages_lisp" />
<config projectName="vio_svo" targetName="std_msgs_generate_messages_lisp" />
<config projectName="vio_svo" targetName="tf2_msgs_generate_messages_nodejs" />
<config projectName="vio_svo" targetName="sensor_msgs_generate_messages_lisp" />
<config projectName="vio_svo" targetName="rosgraph_msgs_generate_messages_nodejs" />
<config projectName="vio_svo" targetName="actionlib_generate_messages_cpp" />
<config projectName="vio_svo" targetName="tf_generate_messages_py" />
<config projectName="vio_svo" targetName="visualization_msgs_generate_messages_py" />
<config projectName="vio_svo" targetName="tf_generate_messages_nodejs" />
<config projectName="vio_svo" targetName="download_extra_data" />
<config projectName="vio_svo" targetName="geometry_msgs_generate_messages_lisp" />
<config projectName="vio_svo" targetName="gtest_main" />
<config projectName="vio_svo" targetName="run_tests" />
<config projectName="vio_svo" targetName="geometry_msgs_generate_messages_nodejs" />
<config projectName="vio_svo" targetName="geometry_msgs_generate_messages_py" />
<config projectName="vio_svo" targetName="actionlib_generate_messages_lisp" />
<config projectName="vio_svo" targetName="actionlib_msgs_generate_messages_eus" />
<config projectName="vio_svo" targetName="roscpp_generate_messages_eus" />
<config projectName="vio_svo" targetName="nav_msgs_generate_messages_nodejs" />
<config projectName="vio_svo" targetName="actionlib_msgs_generate_messages_nodejs" />
<config projectName="vio_svo" targetName="tests" />
<config projectName="vio_svo" targetName="actionlib_msgs_generate_messages_py" />
<config projectName="vio_svo" targetName="sensor_msgs_generate_messages_eus" />
<config projectName="vio_svo" targetName="roscpp_generate_messages_lisp" />
<config projectName="vio_svo" targetName="visualization_msgs_generate_messages_lisp" />
<config projectName="vio_svo" targetName="gmock_main" />
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<config projectName="vio_svo" targetName="roscpp_generate_messages_cpp" />
<config projectName="vio_svo" targetName="sensor_msgs_generate_messages_nodejs" />
<config projectName="vio_svo" targetName="sensor_msgs_generate_messages_cpp" />
</generated>
</component>
<component name="CMakeSettings">
<configurations>
<configuration PROFILE_NAME="Debug" CONFIG_NAME="Debug" GENERATION_DIR="$PROJECT_DIR$/../../../build/vio_svo" ENABLED="true" />
</configurations>
</component>
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CPU_version/vio_svo/CMakeLists.txt
+13 -2
View File
@@ -32,7 +32,6 @@ FIND_PACKAGE(catkin REQUIRED COMPONENTS
cv_bridge
tf
svo
svo_msgs
vikit_common
vikit_ros
)
@@ -44,10 +43,22 @@ FIND_PACKAGE(Sophus REQUIRED)
FIND_PACKAGE(Boost REQUIRED COMPONENTS thread)
FIND_PACKAGE(GTSAM REQUIRED)
# notify catkin to look at the previously found msg files
add_message_files(
FILES
Info.msg
)
# build the header files from the msg files, and notify catkin about the dependencies
generate_messages(
DEPENDENCIES
geometry_msgs
sensor_msgs
)
# Describe catkin Project
catkin_package(
DEPENDS Eigen OpenCV Sophus Boost
CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros geometry_msgs
CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo vikit_common vikit_ros geometry_msgs
INCLUDE_DIRS include
LIBRARIES svo_visualizer
)
CPU_version/vio_svo/msg/Info.msg
+6
View File
@@ -0,0 +1,6 @@
Header header
float32 processing_time
int32[] keyframes
int32 num_matches
int32 tracking_quality
int32 stage
CPU_version/vio_svo/package.xml
+1 -3
View File
@@ -6,7 +6,7 @@
Monocular Visual Odometry - ROS Nodes
</description>
<author>Christian Forster</author>
<maintainer email="[email protected]">Christian Forster</maintainer>
<maintainer email="[email protected]">Majid Geravand</maintainer>
<license>GPLv3</license>
<!-- Dependencies which this package needs to build itself. -->
@@ -23,7 +23,6 @@
<build_depend>cv_bridge</build_depend>
<build_depend>tf</build_depend>
<build_depend>svo</build_depend>
<build_depend>svo_msgs</build_depend>
<build_depend>vikit_common</build_depend>
<build_depend>vikit_ros</build_depend>
<build_depend>geometry_msgs</build_depend>
@@ -38,7 +37,6 @@
<run_depend>cv_bridge</run_depend>
<run_depend>tf</run_depend>
<run_depend>svo</run_depend>
<run_depend>svo_msgs</run_depend>
<run_depend>vikit_common</run_depend>
<run_depend>vikit_ros</run_depend>
<run_depend>geometry_msgs</run_depend>
CPU_version/vio_svo/src/visualizer.cpp
+3 -3
View File
@@ -19,7 +19,7 @@
#include <svo/point.h>
#include <svo/map.h>
#include <svo/feature.h>
#include <svo_msgs/Info.h>
#include <vio_svo/Info.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <vikit/timer.h>
#include <vikit/output_helper.h>
@@ -37,7 +37,7 @@ Visualizer() :
pub_frames_ = pnh_.advertise<visualization_msgs::Marker>("keyframes", 10);
pub_points_ = pnh_.advertise<visualization_msgs::Marker>("points", 1000);
pub_pose_ = pnh_.advertise<geometry_msgs::PoseWithCovarianceStamped>("pose",10);
pub_info_ = pnh_.advertise<svo_msgs::Info>("info", 10);
pub_info_ = pnh_.advertise<vio_svo::Info>("info", 10);
}
void Visualizer::publishMinimal(
@@ -55,7 +55,7 @@ void Visualizer::publishMinimal(
// publish info msg.
if(pub_info_.getNumSubscribers() > 0)
{
svo_msgs::Info msg_info;
vio_svo::Info msg_info;
msg_info.header = header_msg;
msg_info.processing_time = slam.lastProcessingTime();
msg_info.keyframes.reserve(slam.map().keyframes_.size());