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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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guilib/src/ui/aboutDialog.ui
+5 -5
View File
@@ -162,9 +162,9 @@ p, li { white-space: pre-wrap; }
<property name="geometry">
<rect>
<x>0</x>
<y>-228</y>
<y>-567</y>
<width>596</width>
<height>929</height>
<height>912</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
@@ -430,7 +430,7 @@ p, li { white-space: pre-wrap; }
</widget>
</item>
<item row="35" column="0">
<widget class="QLabel" name="label_28">
<widget class="QLabel" name="label_orbslam_title">
<property name="text">
<string>With ORB SLAM 2 :</string>
</property>
@@ -450,7 +450,7 @@ p, li { white-space: pre-wrap; }
</widget>
</item>
<item row="35" column="1">
<widget class="QLabel" name="label_orbslam2">
<widget class="QLabel" name="label_orbslam">
<property name="text">
<string/>
</property>
@@ -944,7 +944,7 @@ p, li { white-space: pre-wrap; }
</widget>
</item>
<item row="35" column="2">
<widget class="QLabel" name="label_orbslam2_license">
<widget class="QLabel" name="label_orbslam_license">
<property name="text">
<string>GPLv3</string>
</property>