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Refactored OdometryBOW class to handle binary descriptors too (removed OdometryBin).

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Odometry: added "local map history" option to increase precision
Added new Nearest neighbor options (LSH, brute Force, GPU brute Force)
Added FREAK/ORB features
Increased version to 0.6.5

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1431 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-06-22 03:33:56 +00:00
parent bff3acf273
commit 65b79cd7a2
30 changed files with 2812 additions and 3045 deletions
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examples/RGBDMapping/main.cpp
+1 -1
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@@ -53,7 +53,7 @@ int main(int argc, char * argv[])
}
// Create an odometry thread to process camera events, it will send OdometryEvent.
OdometryThread odomThread(new OdometryBOW(0)); // 0=SURF 1=SIFT
OdometryThread odomThread(new OdometryBOW()); // 0=SURF 1=SIFT
// Create RTAB-Map to process OdometryEvent