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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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11
corelib/src/CMakeLists.txt
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@@ -87,11 +87,12 @@ SET(SRC_FILES
odometry/OdometryViso2.cpp
odometry/OdometryDVO.cpp
odometry/OdometryOkvis.cpp
odometry/OdometryORBSLAM2.cpp
odometry/OdometryORBSLAM.cpp
odometry/OdometryLOAM.cpp
odometry/OdometryMSCKF.cpp
odometry/OdometryVINS.cpp
IMU.cpp
IMUThread.cpp
IMUFilter.cpp
imufilter/ComplementaryFilter.cpp
@@ -601,16 +602,16 @@ IF(vins_FOUND)
)
ENDIF(vins_FOUND)
IF(ORB_SLAM2_FOUND)
IF(ORB_SLAM_FOUND)
SET(INCLUDE_DIRS
${ORB_SLAM2_INCLUDE_DIRS} #before so that g2o includes are taken from ORB_SLAM2 directory before the official g2o one
${ORB_SLAM_INCLUDE_DIRS} #before so that g2o includes are taken from ORB_SLAM directory before the official g2o one
${INCLUDE_DIRS}
)
SET(LIBRARIES
${ORB_SLAM2_LIBRARIES}
${ORB_SLAM_LIBRARIES}
${LIBRARIES}
)
ENDIF(ORB_SLAM2_FOUND)
ENDIF(ORB_SLAM_FOUND)
IF(GTSAM_FOUND)
# Make sure GTSAM is built with system Eigen, not the included one in its package