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ORB-SLAM3 IMU support fixes (#1612)

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* Working IMU_RGBD and IMU_STEREO. Changing Inter IMU base frame is now possible.

* Output error msg when vocabulary path is wrong.

* Showing full local feature map
This commit is contained in:
matlabbe
2025-11-11 14:09:13 -08:00
committed by GitHub
parent c97f0c10dd
commit e612d103bf
8 changed files with 120 additions and 53 deletions
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7
cmake_modules/FindORB_SLAM.cmake
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@@ -11,6 +11,7 @@
find_path(ORB_SLAM_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/include)
find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
find_library(ORB_SLAM3_LIBRARY NAMES ORB_SLAM3 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
find_path(DBoW2_INCLUDE_DIR NAMES DBoW2/BowVector.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/DBoW2 NO_DEFAULT_PATH)
find_path(g2o_INCLUDE_DIR NAMES g2o/core/sparse_optimizer.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o NO_DEFAULT_PATH)
find_path(sophus_INCLUDE_DIR NAMES sophus/se3.hpp PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/Sophus NO_DEFAULT_PATH)
find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o/lib NO_DEFAULT_PATH)
@@ -22,9 +23,9 @@ IF(ORB_SLAM2_LIBRARY)
ELSEIF(ORB_SLAM3_LIBRARY)
SET(ORB_SLAM_VERSION 3)
SET(ORB_SLAM_LIBRARY ${ORB_SLAM3_LIBRARY})
IF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR) # ORB_SLAM3 v1
SET(g2o_INCLUDE_DIR ${g2o_INCLUDE_DIR} ${sophus_INCLUDE_DIR})
ENDIF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR)
IF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR AND DBoW2_INCLUDE_DIR) # ORB_SLAM3 v1
SET(g2o_INCLUDE_DIR ${g2o_INCLUDE_DIR} ${sophus_INCLUDE_DIR} ${DBoW2_INCLUDE_DIR} $ENV{ORB_SLAM_ROOT_DIR})
ENDIF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR AND DBoW2_INCLUDE_DIR)
ENDIF()
IF (ORB_SLAM_INCLUDE_DIR AND ORB_SLAM_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)