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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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cmake_modules/FindORB_SLAM.cmake
+4
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@@ -12,6 +12,7 @@ find_path(ORB_SLAM_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/incl
find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
find_library(ORB_SLAM3_LIBRARY NAMES ORB_SLAM3 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
find_path(g2o_INCLUDE_DIR NAMES g2o/core/sparse_optimizer.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o NO_DEFAULT_PATH)
find_path(sophus_INCLUDE_DIR NAMES sophus/se3.hpp PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/Sophus NO_DEFAULT_PATH)
find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o/lib NO_DEFAULT_PATH)
find_library(DBoW2_LIBRARY NAMES DBoW2 PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/DBoW2/lib NO_DEFAULT_PATH)
@@ -21,6 +22,9 @@ IF(ORB_SLAM2_LIBRARY)
ELSEIF(ORB_SLAM3_LIBRARY)
SET(ORB_SLAM_VERSION 3)
SET(ORB_SLAM_LIBRARY ${ORB_SLAM3_LIBRARY})
IF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR) # ORB_SLAM3 v1
SET(g2o_INCLUDE_DIR ${g2o_INCLUDE_DIR} ${sophus_INCLUDE_DIR})
ENDIF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR)
ENDIF()
IF (ORB_SLAM_INCLUDE_DIR AND ORB_SLAM_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)