VINS-Fusion patch to use it as library from external project

vins-fusion_be55a93_pull136.patch

diff --git a/vins_estimator/CMakeLists.txt b/vins_estimator/CMakeLists.txt
index 8735939..3f7c8d7 100644
--- a/vins_estimator/CMakeLists.txt
+++ b/vins_estimator/CMakeLists.txt
@@ -31,7 +31,18 @@ include_directories(
   ${EIGEN3_INCLUDE_DIR}
 )
 
-catkin_package()
+catkin_package(
+    INCLUDE_DIRS src
+    LIBRARIES vins_lib
+    CATKIN_DEPENDS roscpp
+    std_msgs
+    geometry_msgs
+    nav_msgs
+    tf
+    cv_bridge
+    camera_models
+    image_transport
+)
 
 add_library(vins_lib
     src/estimator/parameters.cpp
diff --git a/vins_estimator/package.xml b/vins_estimator/package.xml
index 93df9c2..8247791 100644
--- a/vins_estimator/package.xml
+++ b/vins_estimator/package.xml
@@ -43,10 +43,20 @@
   <build_depend>roscpp</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>camera_models</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>cv_bridge</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>camera_models</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>cv_bridge</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/vins_estimator/src/estimator/estimator.cpp b/vins_estimator/src/estimator/estimator.cpp
index 05bf448..f4785c0 100644
--- a/vins_estimator/src/estimator/estimator.cpp
+++ b/vins_estimator/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();
 }

vins-fusion_e72b5f7.patch

diff --git a/vins_estimator/CMakeLists.txt b/vins_estimator/CMakeLists.txt
index 5daf0ee..f8a4ad5 100644
--- a/vins_estimator/CMakeLists.txt
+++ b/vins_estimator/CMakeLists.txt
@@ -31,7 +31,18 @@ include_directories(
   ${EIGEN3_INCLUDE_DIR}
 )
 
-catkin_package()
+catkin_package(
+  INCLUDE_DIRS src
+  LIBRARIES vins_lib
+  CATKIN_DEPENDS roscpp
+    std_msgs
+    geometry_msgs
+    nav_msgs
+    tf
+    cv_bridge
+    camera_models
+    image_transport
+)
 
 add_library(vins_lib
     src/estimator/parameters.cpp
diff --git a/vins_estimator/package.xml b/vins_estimator/package.xml
index 93df9c2..8247791 100644
--- a/vins_estimator/package.xml
+++ b/vins_estimator/package.xml
@@ -43,10 +43,20 @@
   <build_depend>roscpp</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>camera_models</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>cv_bridge</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>camera_models</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>cv_bridge</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/vins_estimator/src/estimator/estimator.cpp b/vins_estimator/src/estimator/estimator.cpp
index 64097a4..43f18f2 100644
--- a/vins_estimator/src/estimator/estimator.cpp
+++ b/vins_estimator/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;
     clearState();
     prevTime = -1;
     curTime = 0;