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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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corelib/src/Odometry.cpp
+6 -1
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@@ -32,7 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/odometry/OdometryViso2.h"
#include "rtabmap/core/odometry/OdometryDVO.h"
#include "rtabmap/core/odometry/OdometryOkvis.h"
#include "rtabmap/core/odometry/OdometryORBSLAM.h"
#include "rtabmap/core/odometry/OdometryORBSLAM3.h"
#include "rtabmap/core/odometry/OdometryLOAM.h"
#include "rtabmap/core/odometry/OdometryFLOAM.h"
#include "rtabmap/core/odometry/OdometryMSCKF.h"
@@ -51,6 +51,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/util2d.h"
#include <pcl/pcl_base.h>
#include <rtabmap/core/odometry/OdometryORBSLAM2.h>
namespace rtabmap {
@@ -84,7 +85,11 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
odometry = new OdometryDVO(parameters);
break;
case Odometry::kTypeORBSLAM:
#if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 2
odometry = new OdometryORBSLAM(parameters);
#else
odometry = new OdometryORBSLAM3(parameters);
#endif
break;
case Odometry::kTypeOkvis:
odometry = new OdometryOkvis(parameters);