update namespace name

CMakeLists.txt

@@ -27,7 +27,7 @@
 set(isam2_node "isam2_vio_zedpose")
 
 cmake_minimum_required(VERSION 2.8.12)
-project(legged_vio)
+project(gtsam_vio)
 
 add_compile_options(-std=c++11)
 
@@ -134,12 +134,12 @@ target_link_libraries(image_processor_nodelet
   ${catkin_LIBRARIES}
 )
 
-# custom ISAM2 nodes (TODO: move new launch params from image_processor_nodelet to new nodelet)
+# custom ISAM2 nodes
 
 # ISAM2 combined vision and zed pose node
 add_executable(isam2 src/${isam2_node}.cpp)
 target_link_libraries(isam2 ${catkin_LIBRARIES} gtsam)
-add_dependencies(isam2 legged_vio_generate_messages_cpp)
+add_dependencies(isam2 gtsam_vio_generate_messages_cpp)
 
 #############
 ## Install ##

README.md

@@ -23,7 +23,7 @@ To change frame and camera topic specifications:
 ## Instructions to Run 
 
 Run launch file:
-- roslaunch legged_vio isam2_minitaur_zed.launch
+- roslaunch gtsam_vio isam2_minitaur_zed.launch
 
 For the launch file to work, the following topics should be publishing messages:
 - /zed/zed_node/left/image_rect_color/compressed
@@ -38,4 +38,4 @@ The following topics may be helpful:
 ## Instructions to Visualize
 
 To visualize the estimated camera pose and 3D locations of features in the world frame, run the following command:
-- rviz rviz -d ~/catkin_ws/src/legged_vio/rviz/rviz_tf_features_config.rviz 
+- rviz rviz -d ~/catkin_ws/src/gtsam_vio/rviz/rviz_tf_features_config.rviz 

include/legged_vio/cam_state.h → include/gtsam_vio/cam_state.h

@@ -5,16 +5,16 @@
  * All rights reserved.
  */
 
-#ifndef LEGGED_VIO_CAM_STATE_H
-#define LEGGED_VIO_CAM_STATE_H
+#ifndef GTSAM_VIO_CAM_STATE_H
+#define GTSAM_VIO_CAM_STATE_H
 
 #include <map>
 #include <vector>
 #include <Eigen/Dense>
 
 #include "imu_state.h"
 
-namespace legged_vio {
+namespace gtsam_vio {
 /*
  * @brief CAMState Stored camera state in order to
  *    form measurement model.
@@ -62,6 +62,6 @@ struct CAMState {
 typedef std::map<StateIDType, CAMState, std::less<int>,
         Eigen::aligned_allocator<
         std::pair<const StateIDType, CAMState> > > CamStateServer;
-} // namespace legged_vio
+} // namespace gtsam_vio
 
-#endif // LEGGED_VIO_CAM_STATE_H
+#endif // GTSAM_VIO_CAM_STATE_H

include/legged_vio/feature.hpp → include/gtsam_vio/feature.hpp

@@ -5,8 +5,8 @@
  * All rights reserved.
  */
 
-#ifndef LEGGED_VIO_FEATURE_H
-#define LEGGED_VIO_FEATURE_H
+#ifndef GTSAM_VIO_FEATURE_H
+#define GTSAM_VIO_FEATURE_H
 
 #include <iostream>
 #include <map>
@@ -20,7 +20,7 @@
 #include "imu_state.h"
 #include "cam_state.h"
 
-namespace legged_vio {
+namespace gtsam_vio {
 
 /*
  * @brief Feature Salient part of an image. Please refer
@@ -435,6 +435,6 @@ bool Feature::initializePosition(
 
   return is_valid_solution;
 }
-} // namespace legged_vio
+} // namespace gtsam_vio
 
-#endif // LEGGED_VIO_FEATURE_H
+#endif // GTSAM_VIO_FEATURE_H

include/legged_vio/image_processor.h → include/gtsam_vio/image_processor.h

@@ -5,8 +5,8 @@
  * All rights reserved.
  */
 
-#ifndef LEGGED_VIO_IMAGE_PROCESSOR_H
-#define LEGGED_VIO_IMAGE_PROCESSOR_H
+#ifndef GTSAM_VIO_IMAGE_PROCESSOR_H
+#define GTSAM_VIO_IMAGE_PROCESSOR_H
 
 #include <vector>
 #include <map>
@@ -22,7 +22,7 @@
 #include <message_filters/subscriber.h>
 #include <message_filters/time_synchronizer.h>
 
-namespace legged_vio {
+namespace gtsam_vio {
 
 /*
  * @brief ImageProcessor Detects and tracks features
@@ -393,6 +393,6 @@ class ImageProcessor {
 typedef ImageProcessor::Ptr ImageProcessorPtr;
 typedef ImageProcessor::ConstPtr ImageProcessorConstPtr;
 
-} // end namespace legged_vio
+} // end namespace gtsam_vio
 
 #endif

include/legged_vio/image_processor_nodelet.h → include/gtsam_vio/image_processor_nodelet.h

@@ -10,9 +10,9 @@
 
 #include <nodelet/nodelet.h>
 #include <pluginlib/class_list_macros.h>
-#include <legged_vio/image_processor.h>
+#include <gtsam_vio/image_processor.h>
 
-namespace legged_vio {
+namespace gtsam_vio {
 class ImageProcessorNodelet : public nodelet::Nodelet {
 public:
   ImageProcessorNodelet() { return; }
@@ -22,7 +22,7 @@ class ImageProcessorNodelet : public nodelet::Nodelet {
   virtual void onInit();
   ImageProcessorPtr img_processor_ptr;
 };
-} // end namespace legged_vio
+} // end namespace gtsam_vio
 
 #endif
 

include/legged_vio/math_utils.hpp → include/gtsam_vio/math_utils.hpp

@@ -5,13 +5,13 @@
  * All rights reserved.
  */
 
-#ifndef LEGGED_VIO_MATH_UTILS_HPP
-#define LEGGED_VIO_MATH_UTILS_HPP
+#ifndef GTSAM_VIO_MATH_UTILS_HPP
+#define GTSAM_VIO_MATH_UTILS_HPP
 
 #include <cmath>
 #include <Eigen/Dense>
 
-namespace legged {
+namespace gtsam_vio {
 
 /*
  *  @brief Create a skew-symmetric matrix from a 3-element vector.
@@ -158,6 +158,6 @@ inline Eigen::Vector4d rotationToQuaternion(
   return q;
 }
 
-} // end namespace legged_vio
+} // end namespace gtsam_vio
 
-#endif // LEGGED_VIO_MATH_UTILS_HPP
+#endif // GTSAM_VIO_MATH_UTILS_HPP

include/legged_vio/utils.h → include/gtsam_vio/utils.h

@@ -5,17 +5,17 @@
  * All rights reserved.
  */
 
-#ifndef LEGGED_VIO_UTILS_H
-#define LEGGED_VIO_UTILS_H
+#ifndef GTSAM_VIO_UTILS_H
+#define GTSAM_VIO_UTILS_H
 
 #include <ros/ros.h>
 #include <string>
 #include <opencv2/core/core.hpp>
 #include <Eigen/Geometry>
 
-namespace legged_vio {
+namespace gtsam_vio {
 /*
- * @brief utilities for legged_vio
+ * @brief utilities for gtsam_vio
  */
 namespace utils {
 Eigen::Isometry3d getTransformEigen(const ros::NodeHandle &nh,

launch/isam2_minitaur_zed.launch

@@ -3,7 +3,7 @@
   <!-- ImageProcessorNodelet/ISAM2 Variables -->
   <arg name="robot" default="minitaur"/>
   <arg name="calibration_file"
-    default="$(find legged_vio)/config/zed_imu_camera_altered.yaml"/>
+    default="$(find gtsam_vio)/config/zed_imu_camera_altered.yaml"/>
 
   <!-- ISAM2 Variables -->
   <arg name="images_compressed" default="true"/>
@@ -26,7 +26,7 @@
     <!-- Image Processor Nodelet -->
     <!--  (NOTE: to print output, include output="screen" command)  -->
     <node pkg="nodelet" type="nodelet" name="image_processor"
-      args="standalone legged_vio/ImageProcessorNodelet"> <!--output="screen"-->
+      args="standalone gtsam_vio/ImageProcessorNodelet"> <!--output="screen"-->
 
       <rosparam command="load" file="$(arg calibration_file)"/>
       <param name="grid_row" value="3"/>
@@ -61,7 +61,7 @@
 
   <!-- ISAM2 Node -->
   <!--  (NOTE: to print output, include output="screen" command)  -->
-  <node pkg="legged_vio" name="isam2" type="isam2" 
+  <node pkg="gtsam_vio" name="isam2" type="isam2" 
     required="true" output="screen"/>
 
   <!-- Publish static transform between world and odom to visualized odom message from camera -->

nodelets.xml

@@ -1,6 +1,6 @@
 <library path="lib/libimage_processor_nodelet">
-  <class name="legged_vio/ImageProcessorNodelet"
-         type="legged_vio::ImageProcessorNodelet"
+  <class name="gtsam_vio/ImageProcessorNodelet"
+         type="gtsam_vio::ImageProcessorNodelet"
          base_class_type="nodelet::Nodelet">
     <description>
       Detect and track features in image sequence.

package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <package format="2">
 
-  <name>legged_vio</name>
+  <name>gtsam_vio</name>
   <version>0.0.1</version>
-  <description>Visual-Inertial State Estimation for legged robots with GTSAM</description>
+  <description>Visual-Inertial State Estimation using GTSAM</description>
 
   <maintainer email="[email protected]">Vasileios Vasilopoulos</maintainer>
 

src/image_processor.cpp

@@ -13,16 +13,16 @@
 #include <sensor_msgs/image_encodings.h>
 #include <random_numbers/random_numbers.h>
 
-#include <legged_vio/CameraMeasurement.h>
-#include <legged_vio/TrackingInfo.h>
-#include <legged_vio/image_processor.h>
-#include <legged_vio/utils.h>
+#include <gtsam_vio/CameraMeasurement.h>
+#include <gtsam_vio/TrackingInfo.h>
+#include <gtsam_vio/image_processor.h>
+#include <gtsam_vio/utils.h>
 
 using namespace std;
 using namespace cv;
 using namespace Eigen;
 
-namespace legged_vio {
+namespace gtsam_vio {
 ImageProcessor::ImageProcessor(ros::NodeHandle& n) :
   nh(n),
   is_first_img(true),
@@ -1486,4 +1486,4 @@ void ImageProcessor::featureLifetimeStatistics() {
   return;
 }
 
-} // end namespace legged_vio
+} // end namespace gtsam_vio

src/image_processor_nodelet.cpp

@@ -5,9 +5,9 @@
  * All rights reserved.
  */
 
-#include <legged_vio/image_processor_nodelet.h>
+#include <gtsam_vio/image_processor_nodelet.h>
 
-namespace legged_vio {
+namespace gtsam_vio {
 void ImageProcessorNodelet::onInit() {
   img_processor_ptr.reset(new ImageProcessor(getPrivateNodeHandle()));
   if (!img_processor_ptr->initialize()) {
@@ -17,7 +17,7 @@ void ImageProcessorNodelet::onInit() {
   return;
 }
 
-PLUGINLIB_EXPORT_CLASS(legged_vio::ImageProcessorNodelet, nodelet::Nodelet);
+PLUGINLIB_EXPORT_CLASS(gtsam_vio::ImageProcessorNodelet, nodelet::Nodelet);
 
-} // end namespace legged_vio
+} // end namespace gtsam_vio
 

src/isam2_imu.cpp

@@ -13,7 +13,7 @@
 #include <sensor_msgs/Imu.h>
 #include <tf/transform_broadcaster.h>
 #include <tf_conversions/tf_eigen.h> 
-#include <legged_vio/CameraMeasurement.h>
+#include <gtsam_vio/CameraMeasurement.h>
 
 #include <sensor_msgs/PointCloud2.h>
 #include <pcl_ros/point_cloud.h>
@@ -61,7 +61,7 @@
 
 using namespace std;
 using namespace message_filters;
-using namespace legged_vio;
+using namespace gtsam_vio;
 using namespace sensor_msgs;
 using namespace gtsam;
 

src/isam2_vio.cpp

@@ -10,7 +10,7 @@
 #include <message_filters/time_synchronizer.h>
 #include <message_filters/sync_policies/approximate_time.h>
 
-#include <legged_vio/CameraMeasurement.h>
+#include <gtsam_vio/CameraMeasurement.h>
 #include <nav_msgs/Odometry.h>
 #include <tf/transform_broadcaster.h> 
 #include <tf_conversions/tf_eigen.h> 
@@ -53,7 +53,7 @@
 #include <map>
 #include <opencv2/opencv.hpp>
 
-using namespace legged_vio;
+using namespace gtsam_vio;
 using namespace gtsam;
 
 // PARAMETERS TO SPECIFY FOR OTHER NODES

src/isam2_vio_imu.cpp

@@ -13,7 +13,7 @@
 #include <sensor_msgs/Imu.h>
 #include <tf/transform_broadcaster.h>
 #include <tf_conversions/tf_eigen.h> 
-#include <legged_vio/CameraMeasurement.h>
+#include <gtsam_vio/CameraMeasurement.h>
 
 #include <sensor_msgs/PointCloud2.h>
 #include <pcl_ros/point_cloud.h>
@@ -59,7 +59,7 @@
 
 using namespace std;
 using namespace message_filters;
-using namespace legged_vio;
+using namespace gtsam_vio;
 using namespace sensor_msgs;
 using namespace gtsam;
 

src/isam2_vio_zedpose.cpp

@@ -10,7 +10,7 @@
 #include <message_filters/time_synchronizer.h>
 #include <message_filters/sync_policies/approximate_time.h>
 
-#include <legged_vio/CameraMeasurement.h>
+#include <gtsam_vio/CameraMeasurement.h>
 #include <nav_msgs/Odometry.h>
 #include <tf/transform_broadcaster.h> 
 #include <tf_conversions/tf_eigen.h> 
@@ -56,7 +56,7 @@
 #include <memory>
 #include <opencv2/opencv.hpp>
 
-using namespace legged_vio;
+using namespace gtsam_vio;
 using namespace gtsam;
 
 // PARAMETERS TO SPECIFY FOR OTHER NODES

src/utils.cpp

@@ -5,10 +5,10 @@
  * All rights reserved.
  */
 
-#include <legged_vio/utils.h>
+#include <gtsam_vio/utils.h>
 #include <vector>
 
-namespace legged_vio {
+namespace gtsam_vio {
 namespace utils {
 
 Eigen::Isometry3d getTransformEigen(const ros::NodeHandle &nh,
@@ -89,4 +89,4 @@ cv::Mat getKalibrStyleTransform(const ros::NodeHandle &nh,
 }
 
 } // namespace utils
-} // namespace legged_vio
+} // namespace gtsam_vio

test/feature_initialization_test.cpp

@@ -16,13 +16,13 @@
 #include <gtest/gtest.h>
 #include <random_numbers/random_numbers.h>
 
-#include <legged_vio/cam_state.h>
-#include <legged_vio/feature.hpp>
+#include <gtsam_vio/cam_state.h>
+#include <gtsam_vio/feature.hpp>
 
 
 using namespace std;
 using namespace Eigen;
-using namespace legged_vio;
+using namespace gtsam_vio;
 
 // Static member variables in CAMState class
 Isometry3d CAMState::T_cam0_cam1 = Isometry3d::Identity();