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Added OpenVINS minimal support (tested with EuRoC dataset)

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matlabbe
2021-03-28 23:51:02 -04:00
parent a58ec494d1
commit 4c1e72d82e
18 changed files with 1762 additions and 1018 deletions
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corelib/src/Odometry.cpp
+4
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@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/odometry/OdometryLOAM.h"
#include "rtabmap/core/odometry/OdometryMSCKF.h"
#include "rtabmap/core/odometry/OdometryVINS.h"
#include "rtabmap/core/odometry/OdometryOpenVINS.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_mapping.h"
@@ -95,6 +96,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
case Odometry::kTypeVINS:
odometry = new OdometryVINS(parameters);
break;
case Odometry::kTypeOpenVINS:
odometry = new OdometryOpenVINS(parameters);
break;
default:
UERROR("Unknown odometry type %d, using F2M instead...", (int)type);
odometry = new OdometryF2M(parameters);