Experimental

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "VINS-Mono"]
+	path = VINS-Mono
+	url = https://github.com/armankuzembayev/VINS-Mono.git

CMakeLists.txt

@@ -10,20 +10,60 @@ else()
   set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  std_msgs
-  sensor_msgs
-  nav_msgs
-  geometry_msgs
-  tf
-  message_filters
-  rosbag_storage
-)
+option(USE_VINS_MONO "Use VINS_MONO" OFF) #OFF by default
+if(USE_VINS_MONO)
+    add_subdirectory(VINS-Mono/camera_model)
+    add_subdirectory(VINS-Mono/vins_estimator)
+
+    find_package(Boost REQUIRED)
+    find_package(OpenCV REQUIRED)
+    find_package(Ceres REQUIRED)
+
+    find_package(catkin REQUIRED COMPONENTS
+	roscpp
+	std_msgs
+	sensor_msgs
+	nav_msgs
+	geometry_msgs
+	tf
+	message_filters
+	rosbag_storage
+	cv_bridge
+	camera_model
+	roslib
+	vins_estimator
+    )
+
+    include_directories(
+	${catkin_INCLUDE_DIRS}
+	${EIGEN3_INCLUDE_DIR}
+	${CERES_INCLUDE_DIRS}
+	${Boost_INCLUDE_DIRS}
+    )
+
+    set(VIO 1)
+
+else()
+    find_package(catkin REQUIRED COMPONENTS
+	roscpp
+	std_msgs
+	sensor_msgs
+	nav_msgs
+	geometry_msgs
+	tf
+	message_filters
+	rosbag_storage
+    )
+
+    include_directories(
+	${catkin_INCLUDE_DIRS}
+    )
+    set(VIO 0)
+
+endif(USE_VINS_MONO)
+unset(USE_VINS_MONO CACHE) # <---- this is the important!!
+
 
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-)
 
 catkin_package()
 
@@ -38,6 +78,11 @@ add_executable(path_publisher src/ros/path_publisher.cpp)
 add_executable(p2D_ss_evaluator src/utils/pose2D_search_space_evaluator.cpp)
 add_executable(sm_runner src/utils/sm_runner.cpp)
 
+if(VIO)
+    add_executable(vio_vins src/ros/vio_vins_node.cpp)
+    target_link_libraries(vio_vins ${catkin_LIBRARIES})
+endif()
+
 target_link_libraries(wg_pr2_bag_adapter ${catkin_LIBRARIES})
 target_link_libraries(lslam2D_bag_runner ${catkin_LIBRARIES})
 target_link_libraries(gmapping ${catkin_LIBRARIES})
@@ -47,6 +92,7 @@ target_link_libraries(credibilist_slam ${catkin_LIBRARIES})
 #target_link_libraries(viny_slam_x ${catkin_LIBRARIES})
 target_link_libraries(path_publisher ${catkin_LIBRARIES})
 
+
 install(
   TARGETS wg_pr2_bag_adapter lslam2D_bag_runner sh_slam gmapping credibilist_slam path_publisher
 #  TARGETS wg_pr2_bag_adapter lslam2D_bag_runner sh_slam gmapping path_publisher