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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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guilib/src/CloudViewer.cpp
-10
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@@ -2835,8 +2835,6 @@ void CloudViewer::setCameraPosition(
{
renderer->ResetCameraClippingRange(boundingBox);
}
_visualizer->getRenderWindow()->Render ();
}
void CloudViewer::updateCameraTargetPosition(const Transform & pose)
@@ -2846,14 +2844,6 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
Eigen::Affine3f m = pose.toEigen3f();
Eigen::Vector3f pos = m.translation();
Eigen::Vector3f lastPos(0,0,0);
if(_trajectory->size())
{
lastPos[0]=_trajectory->back().x;
lastPos[1]=_trajectory->back().y;
lastPos[2]=_trajectory->back().z;
}
_trajectory->push_back(pcl::PointXYZ(pos[0], pos[1], pos[2]));
if(_maxTrajectorySize>0)
{