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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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53
cmake_modules/FindORB_SLAM.cmake Normal file
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@@ -0,0 +1,53 @@
# - Find ORB_SLAM2 OR ORB_SLAM3
#
# It sets the following variables:
# ORB_SLAM_FOUND - Set to false, or undefined, if ORB_SLAM isn't found.
# ORB_SLAM_INCLUDE_DIRS - The ORB_SLAM include directory.
# ORB_SLAM_LIBRARIES - The ORB_SLAM library to link against.
# ORB_SLAM_VERSION - The ORB_SLAM major version.
#
# Set ORB_SLAM_ROOT_DIR environment variable as the path to ORB_SLAM2 or ORB_SLAM3 root folder.
find_path(ORB_SLAM_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/include)
find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
find_library(ORB_SLAM3_LIBRARY NAMES ORB_SLAM3 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
find_path(g2o_INCLUDE_DIR NAMES g2o/core/sparse_optimizer.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o NO_DEFAULT_PATH)
find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o/lib NO_DEFAULT_PATH)
find_library(DBoW2_LIBRARY NAMES DBoW2 PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/DBoW2/lib NO_DEFAULT_PATH)
IF(ORB_SLAM2_LIBRARY)
SET(ORB_SLAM_VERSION 2)
SET(ORB_SLAM_LIBRARY ${ORB_SLAM2_LIBRARY})
ELSEIF(ORB_SLAM3_LIBRARY)
SET(ORB_SLAM_VERSION 3)
SET(ORB_SLAM_LIBRARY ${ORB_SLAM3_LIBRARY})
ENDIF()
IF (ORB_SLAM_INCLUDE_DIR AND ORB_SLAM_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
SET(ORB_SLAM_FOUND TRUE)
SET(ORB_SLAM_INCLUDE_DIRS ${ORB_SLAM_INCLUDE_DIR} ${ORB_SLAM_INCLUDE_DIR}/CameraModels ${g2o_INCLUDE_DIR} $ENV{ORB_SLAM_ROOT_DIR})
SET(ORB_SLAM_LIBRARIES ${g2o_LIBRARY} ${ORB_SLAM_LIBRARY} ${DBoW2_LIBRARY})
ENDIF (ORB_SLAM_INCLUDE_DIR AND ORB_SLAM_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
FIND_PACKAGE(Pangolin QUIET)
IF(NOT Pangolin_FOUND)
SET(ORB_SLAM_FOUND FALSE)
MESSAGE(STATUS "Found ORB_SLAM but not Pangolin, disabling ORB_SLAM.")
ELSE()
MESSAGE(STATUS "Found Pangolin: ${Pangolin_INCLUDE_DIRS}")
SET(ORB_SLAM_INCLUDE_DIRS ${ORB_SLAM_INCLUDE_DIRS} ${Pangolin_INCLUDE_DIRS})
SET(ORB_SLAM_LIBRARIES ${ORB_SLAM_LIBRARIES} ${Pangolin_LIBRARIES})
ENDIF()
IF (ORB_SLAM_FOUND)
# show which ORB_SLAM was found only if not quiet
IF (NOT ORB_SLAM_FIND_QUIETLY)
MESSAGE(STATUS "Found ORB_SLAM${ORB_SLAM_VERSION}: ${ORB_SLAM_LIBRARIES}")
ENDIF (NOT ORB_SLAM_FIND_QUIETLY)
ELSE (ORB_SLAM_FOUND)
# fatal error if ORB_SLAM is required but not found
IF (ORB_SLAM_FIND_REQUIRED)
MESSAGE(FATAL_ERROR "Could not find ORB_SLAM")
ENDIF (ORB_SLAM_FIND_REQUIRED)
ENDIF (ORB_SLAM_FOUND)

33
cmake_modules/FindORB_SLAM2.cmake
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@@ -1,33 +0,0 @@
# - Find ORB_SLAM2
#
# It sets the following variables:
# ORB_SLAM2_FOUND - Set to false, or undefined, if ORB_SLAM2 isn't found.
# ORB_SLAM2_INCLUDE_DIRS - The ORB_SLAM2 include directory.
# ORB_SLAM2_LIBRARIES - The ORB_SLAM2 library to link against.
#
# Set ORB_SLAM2_ROOT_DIR environment variable as the path to ORB_SLAM2 root folder.
find_path(ORB_SLAM2_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM2_ROOT_DIR}/include)
find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM2_ROOT_DIR}/lib)
find_path(g2o_INCLUDE_DIR NAMES g2o/core/sparse_optimizer.h PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/g2o NO_DEFAULT_PATH)
find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/g2o/lib NO_DEFAULT_PATH)
find_library(DBoW2_LIBRARY NAMES DBoW2 PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/DBoW2/lib NO_DEFAULT_PATH)
IF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
SET(ORB_SLAM2_FOUND TRUE)
SET(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIR} ${g2o_INCLUDE_DIR} $ENV{ORB_SLAM2_ROOT_DIR})
SET(ORB_SLAM2_LIBRARIES ${g2o_LIBRARY} ${ORB_SLAM2_LIBRARY} ${DBoW2_LIBRARY})
ENDIF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
IF (ORB_SLAM2_FOUND)
# show which ORB_SLAM2 was found only if not quiet
IF (NOT ORB_SLAM2_FIND_QUIETLY)
MESSAGE(STATUS "Found ORB_SLAM2: ${ORB_SLAM2_LIBRARIES}")
ENDIF (NOT ORB_SLAM2_FIND_QUIETLY)
ELSE (ORB_SLAM2_FOUND)
# fatal error if ORB_SLAM2 is required but not found
IF (ORB_SLAM2_FIND_REQUIRED)
MESSAGE(FATAL_ERROR "Could not find ORB_SLAM2")
ENDIF (ORB_SLAM2_FIND_REQUIRED)
ENDIF (ORB_SLAM2_FOUND)