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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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3
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -254,6 +254,7 @@ public:
bool isSourceDatabaseStereoToDepth() const;
bool isSourceRGBDColorOnly() const;
int getIMUFilteringStrategy() const;
bool getIMUFilteringBaseFrameConversion() const;
bool isDepthFilteringAvailable() const;
QString getSourceDistortionModel() const;
bool isBilateralFiltering() const;
@@ -337,7 +338,7 @@ private Q_SLOTS:
void useOdomFeatures();
void changeWorkingDirectory();
void changeDictionaryPath();
void changeOdometryORBSLAM2Vocabulary();
void changeOdometryORBSLAMVocabulary();
void changeOdometryOKVISConfigPath();
void changeOdometryVINSConfigPath();
void changeIcpPMConfigPath();