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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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3
docker/jfr2018/Dockerfile
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@@ -127,8 +127,7 @@ WORKDIR /root/catkin_ws/src
RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace'
RUN git clone https://github.com/tum-vision/dvo_slam.git && cd dvo_slam && git checkout kinetic-devel && rm dvo_slam/package.xml && rm dvo_benchmark/package.xml && rm dvo_ros/package.xml
RUN git clone https://github.com/srv/viso2.git && cd viso2 && git checkout kinetic
# msckf: using a patched version to be used outside ros and c++14:
RUN git clone https://github.com/borongyuan/msckf_vio.git && cd msckf_vio && git checkout e69cdb68e9b31a438bbc51bb77cd34fe9b2e80cb
RUN git clone https://github.com/KumarRobotics/msckf_vio.git && cd msckf_vio && git checkout a9386c5 && wget https://gist.githubusercontent.com/matlabbe/f2518d7427e7f6740af2110e540b1f2b/raw/1b7c96b38e063bacfa77408686e4528f3d27af2e/msckf_vio_a9386c5_ros_commented.patch && git apply --ignore-space-change --ignore-whitespace msckf_vio_a9386c5_ros_commented.patch
RUN git clone https://github.com/srv/libfovis.git && cd libfovis && git checkout db2fc39451e59317cf8486d92085da1c8e414785
RUN git clone https://github.com/ros-perception/vision_opencv.git && cd vision_opencv && git checkout kinetic
RUN git clone https://github.com/laboshinl/loam_velodyne.git && cd loam_velodyne && git checkout a4c364a677647f2a35831439032dc5a58378b3fd