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Added OpenVINS minimal support (tested with EuRoC dataset)

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matlabbe
2021-03-28 23:51:02 -04:00
parent a58ec494d1
commit 4c1e72d82e
18 changed files with 1762 additions and 1018 deletions
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24
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 20)
SET(RTABMAP_PATCH_VERSION 9)
SET(RTABMAP_PATCH_VERSION 10)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -201,6 +201,7 @@ option(WITH_ORB_SLAM "Include ORB_SLAM2 or ORB_SLAM3 support" ON)
option(WITH_OKVIS "Include OKVIS support" ON)
option(WITH_MSCKF_VIO "Include MSCKF_VIO support" OFF)
option(WITH_VINS "Include VINS-Fusion support" ON)
option(WITH_OPENVINS "Include OpenVINS support" ON)
option(WITH_MADGWICK "Include Madgwick IMU filtering support" ON)
option(WITH_FASTCV "Include FastCV support" ON)
IF(ANDROID)
@@ -635,6 +636,13 @@ IF(WITH_VINS)
ENDIF(vins_FOUND)
ENDIF(WITH_VINS)
IF(WITH_OPENVINS)
FIND_PACKAGE(ov_msckf QUIET)
IF(ov_msckf_FOUND)
MESSAGE(STATUS "Found ov_msckf: ${ov_msckf_INCLUDE_DIRS}")
ENDIF(ov_msckf_FOUND)
ENDIF(WITH_OPENVINS)
IF(WITH_FASTCV)
FIND_PACKAGE(FastCV QUIET)
IF(FastCV_FOUND)
@@ -676,6 +684,7 @@ IF(NOT MSVC)
open_chisel_FOUND OR
msckf_vio_FOUND OR
vins_FOUND OR
ov_msckf_FOUND OR
libpointmatcher_FOUND))
#Newest versions require std11
include(CheckCXXCompilerFlag)
@@ -896,6 +905,11 @@ IF(NOT vins_FOUND)
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${vins_LIBRARIES})
ENDIF()
IF(NOT ov_msckf_FOUND)
SET(OPENVINS "//")
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ov_msckf_LIBRARIES})
ENDIF()
IF(NOT ORB_SLAM_FOUND)
SET(ORB_SLAM "//")
ELSE()
@@ -1478,6 +1492,14 @@ ELSE()
MESSAGE(STATUS " With VINS-Fusion = NO (VINS-Fusion not found)")
ENDIF()
IF(ov_msckf_FOUND)
MESSAGE(STATUS " With OpenVINS = YES (License: GPLv3)")
ELSEIF(NOT WITH_OPENVINS)
MESSAGE(STATUS " With OpenVINS = NO (WITH_OPENVINS=OFF)")
ELSE()
MESSAGE(STATUS " With OpenVINS = NO (ov_msckf not found)")
ENDIF()
IF(ORB_SLAM_FOUND)
MESSAGE(STATUS " With ORB_SLAM${ORB_SLAM_VERSION} = YES (License: GPLv3)")
ELSEIF(NOT WITH_ORB_SLAM)