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Integrated Fovis (Odom/Strategy=2)

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matlabbe
2017-05-30 09:27:31 -04:00
parent 6d6c5e2e17
commit 4ffbc0fb58
9 changed files with 519 additions and 11 deletions
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corelib/src/Odometry.cpp
+4
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/OdometryF2M.h>
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/OdometryF2F.h"
#include "rtabmap/core/OdometryFovis.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_mapping.h"
@@ -56,6 +57,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
Odometry * odometry = 0;
switch(type)
{
case Odometry::kTypeFovis:
odometry = new OdometryFovis(parameters);
break;
case Odometry::kTypeF2F:
odometry = new OdometryF2F(parameters);
break;