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0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).

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This commit is contained in:
matlabbe
2018-03-07 19:43:30 -05:00
parent 2fad881202
commit 4969ece356
30 changed files with 1700 additions and 102 deletions
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34
CMakeLists.txt
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@@ -21,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 16)
SET(RTABMAP_PATCH_VERSION 2)
SET(RTABMAP_PATCH_VERSION 3)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -167,6 +167,7 @@ option(WITH_FOVIS "Include FOVIS support" ON)
option(WITH_VISO2 "Include VISO2 support" ON)
option(WITH_DVO "Include DVO support" ON)
option(WITH_ORB_SLAM2 "Include ORB_SLAM2 support" ON)
option(WITH_OKVIS "Include OKVIS support" ON)
option(PCL_OMP "With PCL OMP implementations" ON)
FIND_PACKAGE(OpenCV REQUIRED QUIET)
@@ -402,6 +403,20 @@ IF(WITH_DVO)
ENDIF(dvo_core_FOUND)
ENDIF(WITH_DVO)
IF(WITH_OKVIS)
FIND_PACKAGE(okvis 1.1 QUIET)
IF(okvis_FOUND)
MESSAGE(STATUS "Found okvis: ${OKVIS_INCLUDE_DIRS}")
MESSAGE(WARNING "Don't forget to build okvis and its dependencies without \"-march=native\" to avoid crash when okvis starts.")
find_package(brisk 2 REQUIRED)
MESSAGE(STATUS "Found brisk: ${BRISK_INCLUDE_DIRS}")
find_package(opengv REQUIRED)
MESSAGE(STATUS "Found opengv: ${OPENGV_INCLUDE_DIRS}")
find_package(Ceres REQUIRED CONFIG PATHS ${OKVIS_CERES_CONFIG} NO_DEFAULT_PATH)
MESSAGE(STATUS "Found ceres: ${CERES_INCLUDE_DIRS}")
ENDIF(okvis_FOUND)
ENDIF(WITH_OKVIS)
IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
FIND_PACKAGE(ORB_SLAM2 QUIET)
IF(ORB_SLAM2_FOUND)
@@ -419,7 +434,7 @@ IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
ENDIF(ORB_SLAM2_FOUND)
ENDIF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SLAM2_FOUND)
IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SLAM2_FOUND OR okvis_FOUND)
#Newest versions require std11
IF(NOT MSVC)
include(CheckCXXCompilerFlag)
@@ -433,7 +448,7 @@ IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SL
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler if you want to use g2o or gtsam (set \"-DWITH_G2O=OFF -DWITH_GTSAM=OFF\" to build without g2o and gtsam).")
ENDIF()
ENDIF()
ENDIF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SLAM2_FOUND)
ENDIF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SLAM2_FOUND OR okvis_FOUND)
####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
IF(APPLE AND BUILD_AS_BUNDLE)
@@ -567,6 +582,11 @@ IF(NOT dvo_core_FOUND)
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${dvo_core_LIBRARIES})
ENDIF()
IF(NOT okvis_FOUND)
SET(OKVIS "//")
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OKVIS_LIBRARIES})
ENDIF()
IF(NOT ORB_SLAM2_FOUND)
SET(ORB_SLAM2 "//")
ELSE()
@@ -943,6 +963,14 @@ ELSE()
MESSAGE(STATUS " With dvo_core = NO (dvo_core not found)")
ENDIF()
IF(okvis_FOUND)
MESSAGE(STATUS " With okvis = YES (License: BSD)")
ELSEIF(NOT WITH_DVO)
MESSAGE(STATUS " With okvis = NO (WITH_OKVIS=OFF)")
ELSE()
MESSAGE(STATUS " With okvis = NO (okvis not found)")
ENDIF()
IF(ORB_SLAM2_FOUND)
MESSAGE(STATUS " With ORB_SLAM2 = YES (License: GPLv3)")
ELSEIF(NOT WITH_ORB_SLAM2)