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0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9)

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matlabbe
2019-03-18 20:45:34 -04:00
parent 9c1c88d35e
commit c0a7c3a344
13 changed files with 727 additions and 69 deletions
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37
CMakeLists.txt
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@@ -21,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 19)
SET(RTABMAP_PATCH_VERSION 0)
SET(RTABMAP_PATCH_VERSION 1)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -188,6 +188,7 @@ option(WITH_DVO "Include DVO support" ON)
option(WITH_ORB_SLAM2 "Include ORB_SLAM2 support" ON)
option(WITH_OKVIS "Include OKVIS support" ON)
option(WITH_MSCKF_VIO "Include MSCKF_VIO support" OFF)
option(WITH_VINS "Include VINS-Fusion support" ON)
option(PCL_OMP "With PCL OMP implementations" ON)
FIND_PACKAGE(OpenCV REQUIRED QUIET)
@@ -481,6 +482,13 @@ IF(WITH_MSCKF_VIO)
ENDIF(msckf_vio_FOUND)
ENDIF(WITH_MSCKF_VIO)
IF(WITH_VINS AND NOT okvis_FOUND)
FIND_PACKAGE(vins QUIET)
IF(vins_FOUND)
MESSAGE(STATUS "Found vins: ${vins_INCLUDE_DIRS}")
ENDIF(vins_FOUND)
ENDIF(WITH_VINS AND NOT okvis_FOUND)
IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
FIND_PACKAGE(ORB_SLAM2 QUIET)
@@ -509,7 +517,17 @@ IF(loam_velodyne_FOUND)
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM (set \"-DWITH_LOAM=OFF\" to build without LOAM).")
ENDIF()
ENDIF()
ELSEIF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR realsense2_FOUND OR ORB_SLAM2_FOUND OR okvis_FOUND OR open_chisel_FOUND OR msckf_vio_FOUND)
ELSEIF(G2O_FOUND OR
GTSAM_FOUND OR
ZED_FOUND OR
ANDROID OR
RealSense_FOUND OR
realsense2_FOUND OR
ORB_SLAM2_FOUND OR
okvis_FOUND OR
open_chisel_FOUND OR
msckf_vio_FOUND OR
vins_FOUND)
#Newest versions require std11
IF(NOT MSVC)
include(CheckCXXCompilerFlag)
@@ -690,6 +708,11 @@ IF(NOT msckf_vio_FOUND)
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${msckf_vio_LIBRARIES})
ENDIF()
IF(NOT vins_FOUND)
SET(VINS "//")
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${vins_LIBRARIES})
ENDIF()
IF(NOT ORB_SLAM2_FOUND)
SET(ORB_SLAM2 "//")
ELSE()
@@ -1124,6 +1147,16 @@ ELSE()
MESSAGE(STATUS " With msckf_vio = NO (msckf_vio not found)")
ENDIF()
IF(vins_FOUND)
MESSAGE(STATUS " With VINS-Fusion = YES (License: GPLv3)")
ELSEIF(NOT WITH_VINS)
MESSAGE(STATUS " With VINS-Fusion = NO (WITH_VINS=OFF)")
ELSEIF(okvis_FOUND)
MESSAGE(STATUS " With VINS-Fusion = NO (WITH_OKVIS should be OFF to avoid conflicts with ceres library built by okvis)")
ELSE()
MESSAGE(STATUS " With VINS-Fusion = NO (VINS-Fusion not found)")
ENDIF()
IF(ORB_SLAM2_FOUND)
MESSAGE(STATUS " With ORB_SLAM2 = YES (License: GPLv3)")
ELSEIF(NOT WITH_ORB_SLAM2)