项目示例

首先把上一篇文章中的代码贴上来：

cmake_minimum_required(VERSION 3.0 FATAL_ERROR)
project(gins)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_STANDARD 14)
#-DEIGEN_USE_MKL_ALL")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

find_package(Eigen3 REQUIRED)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  cv_bridge
  image_transport
  sensor_msgs
)

find_package(OpenCV REQUIRED)
find_package(Eigen3)
include_directories(
  gins
  $