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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/Parameters.cpp
+15 -1
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@@ -234,6 +234,14 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
{
// removed parameters
// 0.20.9
removedParameters_.insert(std::make_pair("OdomORBSLAM2/VocPath", std::make_pair(true, Parameters::kOdomORBSLAMVocPath())));
removedParameters_.insert(std::make_pair("OdomORBSLAM2/Bf", std::make_pair(true, Parameters::kOdomORBSLAMBf())));
removedParameters_.insert(std::make_pair("OdomORBSLAM2/ThDepth", std::make_pair(true, Parameters::kOdomORBSLAMThDepth())));
removedParameters_.insert(std::make_pair("OdomORBSLAM2/Fps", std::make_pair(true, Parameters::kOdomORBSLAMFps())));
removedParameters_.insert(std::make_pair("OdomORBSLAM2/MaxFeatures", std::make_pair(true, Parameters::kOdomORBSLAMMaxFeatures())));
removedParameters_.insert(std::make_pair("OdomORBSLAM2/MapSize", std::make_pair(true, Parameters::kOdomORBSLAMMapSize())));
// 0.20.
removedParameters_.insert(std::make_pair("SuperGlue/Path", std::make_pair(true, Parameters::kPyMatcherPath())));
removedParameters_.insert(std::make_pair("SuperGlue/Iterations", std::make_pair(true, Parameters::kPyMatcherIterations())));
@@ -823,8 +831,14 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
#if RTABMAP_ORB_SLAM == 3
str = "With ORB_SLAM3:";
#elif RTABMAP_ORB_SLAM == 2
str = "With ORB_SLAM2:";
#ifdef RTABMAP_ORB_SLAM2
#else
str = "With ORB_SLAM:";
#endif
#ifdef RTABMAP_ORB_SLAM
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;