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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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2
Version.h.in
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@@ -73,7 +73,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@OKVIS@#define RTABMAP_OKVIS
@MSCKF_VIO@#define RTABMAP_MSCKF_VIO
@VINS@#define RTABMAP_VINS
@ORB_SLAM2@#define RTABMAP_ORB_SLAM2
@ORB_SLAM@#define RTABMAP_ORB_SLAM @ORB_SLAM_VERSION@
@ORB_OCTREE@#define RTABMAP_ORB_OCTREE
@TORCH@#define RTABMAP_TORCH
@PYTHON@#define RTABMAP_PYTHON