i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 01:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/AboutDialog.cpp
+10 -5
View File
@@ -189,12 +189,17 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_dvo->setText("No");
_ui->label_dvo_license->setEnabled(false);
#endif
#ifdef RTABMAP_ORB_SLAM2
_ui->label_orbslam2->setText("Yes");
_ui->label_orbslam2_license->setEnabled(true);
#ifdef RTABMAP_ORB_SLAM
#if RTABMAP_ORB_SLAM == 3
_ui->label_orbslam_title->setText("With ORB SLAM3 :");
#elif RTABMAP_ORB_SLAM == 2
_ui->label_orbslam_title->setText("With ORB SLAM2 :");
#endif
_ui->label_orbslam->setText("Yes");
_ui->label_orbslam_license->setEnabled(true);
#else
_ui->label_orbslam2->setText("No");
_ui->label_orbslam2_license->setEnabled(false);
_ui->label_orbslam->setText("No");
_ui->label_orbslam_license->setEnabled(false);
#endif
#ifdef RTABMAP_OKVIS