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Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698)

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Referred issues:
#655
https://github.com/introlab/rtabmap_ros/issues/492

Note: IMU not supported yet with ORB_SLAM3.

Commits:
* Added orbslam3 support. UI-Source->IMU filtering: Added base frame conversion option of IMU data to uniformize yaw initialization. Madgwick: fixed yaw initialization accordingly to Z acc.

* fixed regression build error with ORB_SLAM2

* Renamed OdometryORBSLAM2 to OdometryORBSLAM (can be 2 or 3 now)
This commit is contained in:
matlabbe
2021-03-09 16:00:41 -05:00
committed by GitHub
parent 736c8aceae
commit db43479e44
26 changed files with 637 additions and 315 deletions
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43
CMakeLists.txt
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@@ -196,7 +196,7 @@ option(WITH_ALICE_VISION "Include AliceVision support" OFF)
option(WITH_FOVIS "Include FOVIS support" ON)
option(WITH_VISO2 "Include VISO2 support" ON)
option(WITH_DVO "Include DVO support" ON)
option(WITH_ORB_SLAM2 "Include ORB_SLAM2 support" ON)
option(WITH_ORB_SLAM "Include ORB_SLAM2 or ORB_SLAM3 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)
@@ -634,21 +634,12 @@ IF(WITH_FASTCV)
ENDIF(FastCV_FOUND)
ENDIF(WITH_FASTCV)
IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
FIND_PACKAGE(ORB_SLAM2 QUIET)
IF(ORB_SLAM2_FOUND)
MESSAGE(STATUS "Found ORB_SLAM2: ${ORB_SLAM2_INCLUDE_DIRS}")
FIND_PACKAGE(Pangolin QUIET)
IF(NOT Pangolin_FOUND)
SET(ORB_SLAM2_FOUND FALSE)
MESSAGE(STATUS "Found ORB_SLAM2 but not Pangolin, disabling ORB_SLAM2.")
ELSE()
MESSAGE(STATUS "Found Pangolin: ${Pangolin_INCLUDE_DIRS}")
SET(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIRS} ${Pangolin_INCLUDE_DIRS})
SET(ORB_SLAM2_LIBRARIES ${ORB_SLAM2_LIBRARIES} ${Pangolin_LIBRARIES})
ENDIF()
ENDIF(ORB_SLAM2_FOUND)
ENDIF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
FIND_PACKAGE(ORB_SLAM QUIET)
IF(ORB_SLAM_FOUND)
MESSAGE(STATUS "Found ORB_SLAM${ORB_SLAM_VERSION}: ${ORB_SLAM_INCLUDE_DIRS}")
ENDIF(ORB_SLAM_FOUND)
ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
IF(NOT MSVC)
IF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND)
@@ -672,7 +663,7 @@ IF(NOT MSVC)
ANDROID OR
RealSense_FOUND OR
realsense2_FOUND OR
ORB_SLAM2_FOUND OR
ORB_SLAM_FOUND OR
okvis_FOUND OR
open_chisel_FOUND OR
msckf_vio_FOUND OR
@@ -894,10 +885,10 @@ IF(NOT vins_FOUND)
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${vins_LIBRARIES})
ENDIF()
IF(NOT ORB_SLAM2_FOUND)
SET(ORB_SLAM2 "//")
IF(NOT ORB_SLAM_FOUND)
SET(ORB_SLAM "//")
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ORB_SLAM2_LIBRARIES})
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ORB_SLAM_LIBRARIES})
ENDIF()
IF(NOT WITH_ORB_OCTREE)
SET(ORB_OCTREE "//")
@@ -1468,14 +1459,14 @@ ELSE()
MESSAGE(STATUS " With VINS-Fusion = NO (VINS-Fusion not found)")
ENDIF()
IF(ORB_SLAM2_FOUND)
MESSAGE(STATUS " With ORB_SLAM2 = YES (License: GPLv3)")
ELSEIF(NOT WITH_ORB_SLAM2)
MESSAGE(STATUS " With ORB_SLAM2 = NO (WITH_ORB_SLAM2=OFF)")
IF(ORB_SLAM_FOUND)
MESSAGE(STATUS " With ORB_SLAM${ORB_SLAM_VERSION} = YES (License: GPLv3)")
ELSEIF(NOT WITH_ORB_SLAM)
MESSAGE(STATUS " With ORB_SLAM = NO (WITH_ORB_SLAM=OFF)")
ELSEIF(G2O_FOUND)
MESSAGE(STATUS " With ORB_SLAM2 = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)")
MESSAGE(STATUS " With ORB_SLAM = NO (WITH_G2O should be OFF as ORB_SLAM uses its own g2o version)")
ELSE()
MESSAGE(STATUS " With ORB_SLAM2 = NO (ORB_SLAM2 not found, make sure environment variable ORB_SLAM2_ROOT_DIR is set)")
MESSAGE(STATUS " With ORB_SLAM = NO (ORB_SLAM2 and ORB_SLAM3 not found, make sure environment variable ORB_SLAM_ROOT_DIR is set)")
ENDIF()
MESSAGE(STATUS "Show all options with: cmake -LA | grep WITH_")