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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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2
corelib/src/camera/CameraRealSense2.cpp
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@@ -1501,7 +1501,7 @@ SensorData CameraRealSense2::captureImage(CameraInfo * info)
getPoseAndIMU(stamps[i], tmp, confidence, imuTmp);
if(!imuTmp.empty())
{
UEventsManager::post(new IMUEvent(imuTmp, iterA->first/1000.0));
UEventsManager::post(new IMUEvent(imuTmp, stamps[i]/1000.0));
pub++;
}
else