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0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).

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matlabbe
2018-03-07 19:43:30 -05:00
parent 2fad881202
commit 4969ece356
30 changed files with 1700 additions and 102 deletions
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corelib/src/Parameters.cpp
+7 -1
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@@ -664,11 +664,17 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
ignore = true;
}
#endif
#ifndef RTABMAP_VISO2
#ifndef RTABMAP_ORBSLAM2
if(group.compare("OdomORBSLAM2") == 0)
{
ignore = true;
}
#endif
#ifndef RTABMAP_OKVIS
if(group.compare("OdomOKVIS") == 0)
{
ignore = true;
}
#endif
if(!ignore)
{