VINS first commit

Author: qintonguav

.gitignore

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+*~
+*.rviz
+ex_calib_result.yaml
+vins_result.csv
+data_generator/
+test/
+test.launch
+evaluate/
+.vscode/
+result.txt
+result_global.txt
+result_gps.txt
+0*.txt
+1*.txt
+2*.txt

LICENCE

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+cmake_minimum_required(VERSION 2.8.3)
+project(camera_models)
+
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC")
+
+find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    std_msgs
+    )
+
+find_package(Boost REQUIRED COMPONENTS filesystem program_options system)
+include_directories(${Boost_INCLUDE_DIRS})
+
+find_package(OpenCV REQUIRED)
+
+# set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3")
+find_package(Ceres REQUIRED)
+include_directories(${CERES_INCLUDE_DIRS})
+
+
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES camera_models
+    CATKIN_DEPENDS roscpp std_msgs
+#    DEPENDS system_lib
+    )
+
+include_directories(
+    ${catkin_INCLUDE_DIRS}
+    )
+
+include_directories("include")
+
+add_executable(Calibrations 
+    src/intrinsic_calib.cc
+    src/chessboard/Chessboard.cc
+    src/calib/CameraCalibration.cc
+    src/camera_models/Camera.cc
+    src/camera_models/CameraFactory.cc
+    src/camera_models/CostFunctionFactory.cc
+    src/camera_models/PinholeCamera.cc
+    src/camera_models/PinholeFullCamera.cc
+    src/camera_models/CataCamera.cc
+    src/camera_models/EquidistantCamera.cc
+    src/camera_models/ScaramuzzaCamera.cc
+    src/sparse_graph/Transform.cc
+    src/gpl/gpl.cc
+    src/gpl/EigenQuaternionParameterization.cc)
+
+add_library(camera_models
+    src/chessboard/Chessboard.cc
+    src/calib/CameraCalibration.cc
+    src/camera_models/Camera.cc
+    src/camera_models/CameraFactory.cc
+    src/camera_models/CostFunctionFactory.cc
+    src/camera_models/PinholeCamera.cc
+    src/camera_models/PinholeFullCamera.cc
+    src/camera_models/CataCamera.cc
+    src/camera_models/EquidistantCamera.cc
+    src/camera_models/ScaramuzzaCamera.cc
+    src/sparse_graph/Transform.cc
+    src/gpl/gpl.cc
+    src/gpl/EigenQuaternionParameterization.cc)
+
+target_link_libraries(Calibrations ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
+target_link_libraries(camera_models ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})

README.md

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+# help for checking input parameters.
+rosrun camera_models Calibrations --help
+
+# example pinhole model.
+rosrun camera_models Calibrations -w 12 -h 8 -s 80 -i calibrationdata --camera-model pinhole
+
+# example mei model.
+rosrun camera_models Calibrations -w 12 -h 8 -s 80 -i calibrationdata --camera-model mei