add GPU svo under development

CPU_version/vio_svo/CMakeLists.txt

@@ -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

@@ -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

@@ -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

@@ -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());