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VINS Fusion overhaul (#1580)

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* Updated correct focal length used by VINS, updated VINS visualization.

* Renamed OdometryVINS to OdometryVINSFusion
This commit is contained in:
matlabbe
2025-09-14 19:29:28 -07:00
committed by GitHub
parent 6a435c968f
commit cb0cc9ed18
15 changed files with 245 additions and 211 deletions
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21
CMakeLists.txt
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 23)
SET(RTABMAP_PATCH_VERSION 0)
SET(RTABMAP_PATCH_VERSION 1)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -218,7 +218,7 @@ option(WITH_DVO "Include DVO support" OFF)
option(WITH_ORB_SLAM "Include ORB_SLAM2 or ORB_SLAM3 support" OFF)
option(WITH_OKVIS "Include OKVIS support" OFF)
option(WITH_MSCKF_VIO "Include MSCKF_VIO support" OFF)
option(WITH_VINS "Include VINS-Fusion support" OFF)
option(WITH_VINS_FUSION "Include VINS-Fusion support" OFF)
option(WITH_OPENVINS "Include OpenVINS support" OFF)
option(WITH_MADGWICK "Include Madgwick IMU filtering support" ON)
option(WITH_FASTCV "Include FastCV support" ON)
@@ -794,15 +794,20 @@ IF(WITH_MSCKF_VIO)
ENDIF(msckf_vio_FOUND)
ENDIF(WITH_MSCKF_VIO)
IF(WITH_VINS)
IF(WITH_VINS AND NOT WITH_VINS_FUSION)
message(DEPRECATION "The option WITH_VINS is deprecated and will be removed in a future version. Please use WITH_VINS_FUSION instead.")
set(WITH_VINS_FUSION ON)
ENDIF(WITH_VINS AND NOT WITH_VINS_FUSION)
IF(WITH_VINS_FUSION)
FIND_PACKAGE(vins QUIET)
IF(vins_FOUND)
MESSAGE(STATUS "Found vins: ${vins_INCLUDE_DIRS}")
MESSAGE(STATUS "Found vins-fusion: ${vins_INCLUDE_DIRS}")
IF(okvis_FOUND)
MESSAGE(WARNING "VINS and OKVIS will be both linked to project, make sure VINS has been built with against same Ceres version than OKVIS to avoid some crashes.")
MESSAGE(WARNING "VINS-Fusion and OKVIS will be both linked to project, make sure VINS-Fusion has been built with against same Ceres version than OKVIS to avoid some crashes.")
ENDIF(okvis_FOUND)
ENDIF(vins_FOUND)
ENDIF(WITH_VINS)
ENDIF(WITH_VINS_FUSION)
IF(WITH_OPENVINS)
FIND_PACKAGE(ov_msckf QUIET)
@@ -1101,7 +1106,7 @@ IF(NOT msckf_vio_FOUND)
SET(MSCKF_VIO "//")
ENDIF()
IF(NOT vins_FOUND)
SET(VINS "//")
SET(VINSFUSION "//")
ENDIF()
IF(NOT ov_msckf_FOUND)
SET(OPENVINS "//")
@@ -1800,7 +1805,7 @@ 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)")
MESSAGE(STATUS " With VINS-Fusion = NO (WITH_VINS_FUSION=OFF)")
ELSE()
MESSAGE(STATUS " With VINS-Fusion = NO (VINS-Fusion not found)")
ENDIF()