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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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46
docker/jfr2018/latest/Dockerfile
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@@ -138,7 +138,7 @@ RUN git clone https://github.com/tum-vision/dvo_slam.git && cd dvo_slam && git c
# VISO2
RUN git clone https://github.com/srv/viso2.git && cd viso2 && git checkout ${ROS_DISTRO}
# MSCKF-VIO: 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/borongyuan/msckf_vio.git && cd msckf_vio && git checkout 916c917e5b481741c60732057f0141e8311962c1
# FOVIS
RUN git clone https://github.com/srv/libfovis.git && cd libfovis && git checkout 896acc8425e9fd7c5609153b8bad349ae1abbb50
# LOAM
@@ -227,21 +227,55 @@ ENV ORB_SLAM2_ROOT_DIR /root/ORB_SLAM2
WORKDIR /root
# To make "source" working
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
# Need cmake >=3.10
RUN apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
wget -nv https://github.com/Kitware/CMake/releases/download/v3.17.0/cmake-3.17.0-Linux-x86_64.tar.gz && \
tar -xzf cmake-3.17.0-Linux-x86_64.tar.gz && \
rm cmake-3.17.0-Linux-x86_64.tar.gz &&\
ln -s ~/cmake-3.17.0-Linux-x86_64/bin/cmake ~/cmake
# Copy current source code
COPY . /root/rtabmap
# Patch for OpenCV 3.1
RUN cd rtabmap && wget https://gist.githubusercontent.com/matlabbe/ab42b8ea5d5902ffc6177539b98d9d51/raw/87520db7a54bf2673be3fc898578cd6348dd66f0/rtabmap_opencv310_backward_compatibility.patch && git apply --ignore-space-change --ignore-whitespace rtabmap_opencv310_backward_compatibility.patch
RUN cd rtabmap && git apply --ignore-space-change --ignore-whitespace docker/jfr2018/rtabmap_opencv310_backward_compatibility.patch
# Build RTAB-Map (using standard g2o, then a version for orbslam2, which uses its own g2o version)
RUN cp -r rtabmap rtabmap_os2 && cp -r rtabmap rtabmap_msckf && cp -r rtabmap rtabmap_loam
RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap ; cd build ; cmake -DWITH_FOVIS=ON -DWITH_VISO2=ON -DWITH_DVO=ON -DWITH_OKVIS=ON -DWITH_VINS=ON -DWITH_OPENVINS=ON .. ; make -j3 ; make install ; rm -rf * ; ldconfig'
RUN source /root/catkin_ws/devel/setup.bash && \
cd rtabmap && \
cd build && \
~/cmake -DWITH_FOVIS=ON -DWITH_VISO2=ON -DWITH_DVO=ON -DWITH_OKVIS=ON -DWITH_VINS=ON -DWITH_OPENVINS=ON -DWITH_OPENGV=OFF .. && \
make -j3 && \
make install && \
rm -rf * && \
ldconfig
# Version with orb_slam2 (system g2o disabled)
RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_os2 ; cd build ; cmake -DWITH_G2O=OFF -DWITH_ORB_SLAM=ON .. ; make -j3 ; rm -rf *'
RUN source /root/catkin_ws/devel/setup.bash && \
cd rtabmap_os2 && \
cd build && \
~/cmake -DWITH_G2O=OFF -DWITH_ORB_SLAM=ON -DWITH_OPENGV=OFF .. && \
make -j3 && \
rm -rf *
# rtabmap is crashing if LOAM and MSCKF dependencies are used at the same time, so split them
RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_loam ;cd build ;cmake -DWITH_LOAM=ON -DWITH_FLOAM=ON .. ;make -j3 ;rm -rf *'
RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_msckf ;cd build ;cmake -DWITH_MSCKF_VIO=ON .. ;make -j3 ;rm -rf *'
RUN source /root/catkin_ws/devel/setup.bash && \
cd rtabmap_loam && \
cd build && \
~/cmake -DWITH_LOAM=ON -DWITH_FLOAM=ON -DWITH_OPENGV=OFF .. && \
make -j3 && \
rm -rf *
RUN source /root/catkin_ws/devel/setup.bash && \
cd rtabmap_msckf && \
git apply --ignore-space-change --ignore-whitespace docker/jfr2018/rtabmap_msckf_ubuntu_16_compatibility.patch && \
cd build && \
~/cmake -DWITH_MSCKF_VIO=ON -DWITH_OPENGV=OFF .. && \
make -j3 && \
rm -rf *
WORKDIR /root