VINS-Fusion patch to use it as library from external project on ros2 Humble Ubuntu 22.04 (https://github.com/zinuok/VINS-Fusion-ROS2)

vins-fusion_ros2.patch

diff --git a/camera_models/CMakeLists.txt b/camera_models/CMakeLists.txt
index 723ff03..4867f90 100755
--- a/camera_models/CMakeLists.txt
+++ b/camera_models/CMakeLists.txt
@@ -67,6 +67,7 @@ add_library(camera_models
 target_link_libraries(Calibrations ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
 target_link_libraries(camera_models ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
 
+set_target_properties(camera_models PROPERTIES POSITION_INDEPENDENT_CODE ON)
 
 # Install
 install(TARGETS
diff --git a/loop_fusion/src/utility/CameraPoseVisualization.cpp b/loop_fusion/src/utility/CameraPoseVisualization.cpp
index 5ffbd23..4b47d05 100755
--- a/loop_fusion/src/utility/CameraPoseVisualization.cpp
+++ b/loop_fusion/src/utility/CameraPoseVisualization.cpp
@@ -92,7 +92,7 @@ void CameraPoseVisualization::add_loopedge(const Eigen::Vector3d& p0, const Eige
     //  tmp_loop_edge_num = 1;
     marker.type = visualization_msgs::msg::Marker::LINE_STRIP;
     marker.action = visualization_msgs::msg::Marker::ADD;
-    marker.lifetime = rclcpp::Duration(0);
+    marker.lifetime = rclcpp::Duration::from_seconds(0);
     //marker.scale.x = 0.4;
     marker.scale.x = 0.02;
     marker.color.r = 1.0f;
diff --git a/vins/CMakeLists.txt b/vins/CMakeLists.txt
index c58ff9b..d79fbb3 100755
--- a/vins/CMakeLists.txt
+++ b/vins/CMakeLists.txt
@@ -36,7 +36,7 @@ include_directories(
 )
 
 
-add_library(vins_lib
+add_library(vins_lib SHARED
     src/estimator/parameters.cpp
     src/estimator/estimator.cpp
     src/estimator/feature_manager.cpp
@@ -53,8 +53,12 @@ add_library(vins_lib
     src/initial/initial_sfm.cpp
     src/initial/initial_ex_rotation.cpp
     src/featureTracker/feature_tracker.cpp)
-target_link_libraries(vins_lib  ${OpenCV_LIBS} ${CERES_LIBRARIES})
-
+target_link_libraries(vins_lib ${OpenCV_LIBS} ${CERES_LIBRARIES})
+target_include_directories(vins_lib
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
+    $<INSTALL_INTERFACE:include>
+)
 ament_target_dependencies(vins_lib rclcpp rcpputils std_msgs visualization_msgs geometry_msgs nav_msgs tf2 tf2_ros cv_bridge camera_models image_transport)
 
 add_executable(vins_node src/rosNodeTest.cpp)
@@ -100,5 +104,26 @@ install(
 #    DESTINATION share/${PROJECT_NAME}
 #    )
 
+#############
+## Install ##
+#############
+
+ament_export_dependencies(rclcpp rcpputils std_msgs visualization_msgs geometry_msgs nav_msgs tf2 tf2_ros cv_bridge camera_models image_transport)
+ament_export_include_directories(include)
+ament_export_targets(${PROJECT_NAME})          # To include downstream with targets
+ament_export_libraries(vins_lib)    # To include downstream without targets
+
+install(TARGETS 
+   vins_lib
+   EXPORT ${PROJECT_NAME}
+   ARCHIVE DESTINATION lib
+   LIBRARY DESTINATION lib
+   RUNTIME DESTINATION bin
+)
+
+install(DIRECTORY src/
+   DESTINATION include
+   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+)
 
 ament_package()
diff --git a/vins/src/estimator/estimator.cpp b/vins/src/estimator/estimator.cpp
index 53ee2b8..a318db0 100755
--- a/vins/src/estimator/estimator.cpp
+++ b/vins/src/estimator/estimator.cpp
@@ -13,6 +13,12 @@
 Estimator::Estimator(): f_manager{Rs}
 {
     ROS_INFO("init begins");
+    for(int i=0; i<WINDOW_SIZE+1; ++i)
+    {
+        pre_integrations[i] = nullptr;
+    }
+    tmp_pre_integration = nullptr;
+    last_marginalization_info = nullptr;
     initThreadFlag = false;
     clearState();
 }
@@ -1168,7 +1174,7 @@ void Estimator::optimization()
 
     if (USE_GPU_CERES)
         // std::cout << "1" << endl;
-        options.dense_linear_algebra_library_type = ceres::CUDA;
+        options.linear_solver_type = ceres::DENSE_SCHUR;
     else
         // std::cout << "2" << endl;
         options.linear_solver_type = ceres::DENSE_SCHUR;
diff --git a/vins/src/estimator/parameters.cpp b/vins/src/estimator/parameters.cpp
index 82992e9..0d7c614 100755
--- a/vins/src/estimator/parameters.cpp
+++ b/vins/src/estimator/parameters.cpp
@@ -23,6 +23,7 @@ int USE_GPU;
 int USE_GPU_ACC_FLOW;
 int USE_GPU_CERES;
 
+double FOCAL_LENGTH;
 double BIAS_ACC_THRESHOLD;
 double BIAS_GYR_THRESHOLD;
 double SOLVER_TIME;
@@ -114,6 +115,7 @@ void readParameters(std::string config_file)
     SOLVER_TIME = fsSettings["max_solver_time"];
     NUM_ITERATIONS = fsSettings["max_num_iterations"];
     MIN_PARALLAX = fsSettings["keyframe_parallax"];
+    FOCAL_LENGTH = 460;
     MIN_PARALLAX = MIN_PARALLAX / FOCAL_LENGTH;
 
     fsSettings["output_path"] >> OUTPUT_FOLDER;
diff --git a/vins/src/estimator/parameters.h b/vins/src/estimator/parameters.h
index 50ba1af..e3fdad2 100755
--- a/vins/src/estimator/parameters.h
+++ b/vins/src/estimator/parameters.h
@@ -24,7 +24,7 @@ using namespace std;
 #define ROS_WARN RCUTILS_LOG_WARN
 #define ROS_ERROR RCUTILS_LOG_ERROR
 
-const double FOCAL_LENGTH = 460.0;
+extern double FOCAL_LENGTH;
 const int WINDOW_SIZE = 10;
 const int NUM_OF_F = 1000;
 //#define UNIT_SPHERE_ERROR
diff --git a/vins/src/featureTracker/feature_tracker.h b/vins/src/featureTracker/feature_tracker.h
index 35ad72f..575af0c 100755
--- a/vins/src/featureTracker/feature_tracker.h
+++ b/vins/src/featureTracker/feature_tracker.h
@@ -11,9 +11,6 @@
 
 #pragma once
 
-#define GPU_MODE 1
-
-
 #include <cstdio>
 #include <iostream>
 #include <queue>
diff --git a/vins/src/utility/visualization.cpp b/vins/src/utility/visualization.cpp
index 8efb3fd..861623d 100755
--- a/vins/src/utility/visualization.cpp
+++ b/vins/src/utility/visualization.cpp
@@ -198,7 +198,7 @@ void pubKeyPoses(const Estimator &estimator, const std_msgs::msg::Header &header
     key_poses.type = visualization_msgs::msg::Marker::SPHERE_LIST;
     key_poses.action = visualization_msgs::msg::Marker::ADD;
     key_poses.pose.orientation.w = 1.0;
-    key_poses.lifetime = rclcpp::Duration(0);
+    key_poses.lifetime = rclcpp::Duration::from_seconds(0);
 
     //static int key_poses_id = 0;
     key_poses.id = 0; //key_poses_id++;