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Updating orbslam3 v1 support (#1152)

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* Refactoring ORB_SLAM3 integration. Fixed realsense2 inter IMU stamps.

* Renamed OdometryORBSLAM -> OdometryORBSLAM2

* revert a change

* Fixed build without orb_slam

* Source camera: added feature detection option

* Fixed jfr2018 docker files
This commit is contained in:
matlabbe
2023-11-19 01:05:52 -08:00
committed by GitHub
parent 9c56a429cc
commit aaff1abc4f
22 changed files with 1420 additions and 575 deletions
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8
CMakeLists.txt
View File

@@ -814,6 +814,7 @@ IF(NOT MSVC)
open_chisel_FOUND OR
vins_FOUND OR
ov_msckf_FOUND OR
msckf_vio_FOUND OR
libpointmatcher_FOUND))
#Newest versions require std11
include(CheckCXXCompilerFlag)
@@ -829,6 +830,7 @@ IF(NOT MSVC)
ENDIF()
ENDIF()
####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
IF(APPLE AND BUILD_AS_BUNDLE)
IF(Qt6_FOUND OR Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
@@ -913,9 +915,9 @@ ENDIF(NOT Open3D_FOUND)
IF(NOT FastCV_FOUND)
SET(FASTCV "//")
ENDIF(NOT FastCV_FOUND)
IF(NOT opengv_FOUND)
IF(NOT opengv_FOUND OR NOT WITH_OPENGV)
SET(OPENGV "//")
ENDIF(NOT opengv_FOUND)
ENDIF(NOT opengv_FOUND OR NOT WITH_OPENGV)
IF(NOT PDAL_FOUND)
SET(PDAL "//")
ENDIF(NOT PDAL_FOUND)
@@ -1459,7 +1461,7 @@ ELSE()
MESSAGE(STATUS " With Open3D = NO (Open3D not found)")
ENDIF()
IF(opengv_FOUND)
IF(opengv_FOUND AND WITH_OPENGV)
MESSAGE(STATUS " With OpenGV ${opengv_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_OPENGV)
MESSAGE(STATUS " With OpenGV = NO (WITH_OPENGV=OFF)")