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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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corelib/src/Odometry.cpp
+9 -4
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@@ -32,7 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/odometry/OdometryViso2.h"
#include "rtabmap/core/odometry/OdometryDVO.h"
#include "rtabmap/core/odometry/OdometryOkvis.h"
#include "rtabmap/core/odometry/OdometryORBSLAM2.h"
#include "rtabmap/core/odometry/OdometryORBSLAM.h"
#include "rtabmap/core/odometry/OdometryLOAM.h"
#include "rtabmap/core/odometry/OdometryMSCKF.h"
#include "rtabmap/core/odometry/OdometryVINS.h"
@@ -80,8 +80,8 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
case Odometry::kTypeDVO:
odometry = new OdometryDVO(parameters);
break;
case Odometry::kTypeORBSLAM2:
odometry = new OdometryORBSLAM2(parameters);
case Odometry::kTypeORBSLAM:
odometry = new OdometryORBSLAM(parameters);
break;
case Odometry::kTypeOkvis:
odometry = new OdometryOkvis(parameters);
@@ -291,7 +291,12 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
{
Transform orientation(0,0,0, data.imu().orientation()[0], data.imu().orientation()[1], data.imu().orientation()[2], data.imu().orientation()[3]);
// orientation includes roll and pitch but not yaw in local transform
Transform imuT = Transform(0,0,data.imu().localTransform().theta()) * orientation*data.imu().localTransform().inverse();
Transform imuT = Transform(data.imu().localTransform().x(),data.imu().localTransform().y(),data.imu().localTransform().z(), 0,0,data.imu().localTransform().theta()) *
orientation*
data.imu().localTransform().rotation().inverse();
IMU imu2 = data.imu();
imu2.convertToBaseFrame();
if( this->getPose().r11() == 1.0f && this->getPose().r22() == 1.0f && this->getPose().r33() == 1.0f &&
this->framesProcessed() == 0)