uw-visual-odometry · amarburg · Apr 7, 2025 · Apr 7, 2025 · Apr 7, 2025 · Jun 9, 2025
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -29,6 +29,7 @@ MESSAGE(${OpenCV_VERSION})
 find_package(Eigen3 3.1.0 REQUIRED)
 find_package(Pangolin REQUIRED)
 find_package(realsense2)
+find_package(Sophus REQUIRED)
 
 include_directories(
 ${PROJECT_SOURCE_DIR}

diff --git a/README.md b/README.md
@@ -1,3 +1,16 @@
+> [!NOTE]
+> This is my personal "working" fork of ORBSLAM3, which focuses on integrating ORBSLAM3 into ROS2.   The actual ROS2 integration takes place in [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2), but this repo contains multiple updates:
+
+* I removed the "ThirdParty" copies of "Sophus" and "g2o" in lieu of packages which can be installed "rosdep".  Due to API changes, this necessitated some syntactically invasive (but functionally equivalent) changes.
+
+> I _am not_ testing this repo outside of ROS2.   I am _only_ checking that [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2) will build.  
+
+
+-----
+
+Author's original README follows below.
+
+
 # ORB-SLAM3
 
 ### V1.0, December 22th, 2021

diff --git a/Thirdparty/DBoW2/CMakeLists.txt b/Thirdparty/DBoW2/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.10)
 project(DBoW2)
 
 if(NOT CMAKE_BUILD_TYPE)

diff --git a/Thirdparty/Sophus/.clang-format b/Thirdparty/Sophus/.clang-format
diff --git a/Thirdparty/Sophus/.gitignore b/Thirdparty/Sophus/.gitignore
diff --git a/Thirdparty/Sophus/.travis.yml b/Thirdparty/Sophus/.travis.yml
diff --git a/Thirdparty/Sophus/CMakeLists.txt b/Thirdparty/Sophus/CMakeLists.txt
diff --git a/Thirdparty/Sophus/LICENSE.txt b/Thirdparty/Sophus/LICENSE.txt