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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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2
tools/DataRecorder/main.cpp
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@@ -161,7 +161,7 @@ int main (int argc, char * argv[])
(float)dialog.getSourceScanForceGroundNormalsUp());
if(dialog.getIMUFilteringStrategy()>0 && dynamic_cast<DBReader*>(camera) == 0)
{
cam->enableIMUFiltering(dialog.getIMUFilteringStrategy()-1, parameters);
cam->enableIMUFiltering(dialog.getIMUFilteringStrategy()-1, parameters, dialog.getIMUFilteringBaseFrameConversion());
}
if(dialog.isDepthFilteringAvailable())
{