feat: add 3rd easylogging++

3rdparty/easyloggingpp/.gitignore

@@ -0,0 +1,7 @@
+build-*
+*.pro.user
+.DS_Store
+release.info
+bin/*
+logs/*
+experiments/*

3rdparty/easyloggingpp/LICENSE

@@ -0,0 +1,25 @@
+The MIT License (MIT)
+
+Copyright (c) 2012-2018 Zuhd Web Services
+Copyright (c) 2012-2018 @abumusamq
+
+https://github.com/zuhd-org/
+https://zuhd.org
+https://muflihun.com
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

platforms/projects/cmake/CMakeLists.txt

@@ -25,7 +25,7 @@ if(MSVC)
   endif()
 endif()
 
-## mynteyed
+## mynteye
 
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
@@ -51,7 +51,7 @@ include_directories(
   ${OpenCV_INCLUDE_DIRS}
 )
 
-## mynteyed_demo
+## mynteye_demo
 
 add_executable(mynteye_demo mynteye_demo.cc)
 target_link_libraries(mynteye_demo mynteye ${OpenCV_LIBS})
@@ -65,7 +65,7 @@ target_link_libraries(mynteye_demo mynteye ${OpenCV_LIBS})
 #   cmake -G "Visual Studio 15 2017 Win64" ..
 #   msbuild.exe ALL_BUILD.vcxproj /property:Configuration=Release
 #
-#   .\Release\mynteyed_demo.exe
+#   .\Release\mynteye_demo.exe
 #   
 #   # unix
 #   cmake ..

wrappers/ros/src/mynt_eye_ros_wrapper/launch/slam/vins_mono.launch

@@ -0,0 +1,129 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="mynteye" default="mynteye" />
+
+  <!-- node params -->
+
+  <arg name="left_topic" default="left/image_raw" />
+  <arg name="right_topic" default="right/image_raw" />
+  <arg name="left_rect_topic" default="left_rect/image_rect" />
+  <arg name="right_rect_topic" default="right_rect/image_rect" />
+  <arg name="disparity_topic" default="disparity/image_raw" />
+  <arg name="disparity_norm_topic" default="disparity/image_norm" />
+  <arg name="depth_topic" default="depth/image_raw" />
+  <arg name="points_topic" default="points/data_raw" />
+
+  <arg name="left_mono_topic" default="left/image_mono" />
+  <arg name="right_mono_topic" default="right/image_mono" />
+
+  <arg name="imu_topic" default="imu/data_raw" />
+  <arg name="temperature_topic" default="temperature/data_raw" />
+
+  <arg name="base_frame_id" default="$(arg mynteye)_link" />
+  <arg name="left_frame_id" default="$(arg mynteye)_left_frame" />
+  <arg name="right_frame_id" default="$(arg mynteye)_right_frame" />
+  <arg name="left_rect_frame_id" default="$(arg mynteye)_left_rect_frame" />
+  <arg name="right_rect_frame_id" default="$(arg mynteye)_right_rect_frame" />
+  <arg name="disparity_frame_id" default="$(arg mynteye)_disparity_frame" />
+  <arg name="disparity_norm_frame_id" default="$(arg mynteye)_disparity_norm_frame" />
+  <arg name="points_frame_id" default="$(arg mynteye)_points_frame" />
+  <arg name="depth_frame_id" default="$(arg mynteye)_depth_frame" />
+
+  <arg name="temperature_frame_id" default="$(arg mynteye)_temperature_frame" />
+
+  <arg name="gravity" default="9.8" />
+
+  <arg name="mesh_file" default="S1030-0315.obj" />
+
+  <!-- Push down all topics/nodelets into "mynteye" namespace -->
+  <group ns="$(arg mynteye)">
+
+    <!-- mynteye_wrapper_node -->
+    <node name="mynteye_wrapper_node" pkg="mynt_eye_ros_wrapper" type="mynteye_wrapper_node" output="screen" respawn="true" respawn_delay="5">
+
+      <!-- node params -->
+
+      <param name="left_topic" value="$(arg left_topic)" />
+      <param name="right_topic" value="$(arg right_topic)" />
+      <param name="left_rect_topic" value="$(arg left_rect_topic)" />
+      <param name="right_rect_topic" value="$(arg right_rect_topic)" />
+      <param name="disparity_topic" value="$(arg disparity_topic)" />
+      <param name="disparity_norm_topic" value="$(arg disparity_norm_topic)" />
+      <param name="points_topic" value="$(arg points_topic)" />
+      <param name="depth_topic" value="$(arg depth_topic)" />
+      <param name="mesh_file" value="$(arg mesh_file)" />
+
+      <param name="left_mono_topic" value="$(arg left_mono_topic)" />
+      <param name="right_mono_topic" value="$(arg right_mono_topic)" />
+
+      <param name="imu_topic" value="$(arg imu_topic)" />
+      <param name="temperature_topic" value="$(arg temperature_topic)" />
+
+      <param name="base_frame_id" value="$(arg base_frame_id)" />
+      <param name="left_frame_id" value="$(arg left_frame_id)" />
+      <param name="right_frame_id" value="$(arg right_frame_id)" />
+      <param name="left_rect_frame_id" value="$(arg left_rect_frame_id)" />
+      <param name="right_rect_frame_id" value="$(arg right_rect_frame_id)" />
+      <param name="disparity_frame_id" value="$(arg disparity_frame_id)" />
+      <param name="disparity_norm_frame_id" value="$(arg disparity_norm_frame_id)" />
+      <param name="points_frame_id" value="$(arg points_frame_id)" />
+      <param name="depth_frame_id" value="$(arg depth_frame_id)" />
+
+      <param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
+
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/slam/vins_fusion.yaml" command="load" />
+
+      <param name="gravity" value="$(arg gravity)" />
+    </node>
+
+    <!-- disable compressed depth plugin for image topics -->
+    <group ns="$(arg left_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg left_rect_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg left_mono_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg right_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg right_mono_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg right_rect_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg disparity_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg disparity_norm_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+    <group ns="$(arg depth_topic)">
+      <rosparam param="disable_pub_plugins">
+        - 'image_transport/compressedDepth'
+      </rosparam>
+    </group>
+  </group> <!-- mynteye -->
+</launch>