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Added OdometryOpen3D

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matlabbe
2021-11-13 19:45:57 -05:00
parent 4ba805b5b3
commit 6c07a670ee
10 changed files with 573 additions and 17 deletions
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corelib/src/Odometry.cpp
+4
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@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/odometry/OdometryMSCKF.h"
#include "rtabmap/core/odometry/OdometryVINS.h"
#include "rtabmap/core/odometry/OdometryOpenVINS.h"
#include "rtabmap/core/odometry/OdometryOpen3D.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_mapping.h"
@@ -103,6 +104,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
case Odometry::kTypeOpenVINS:
odometry = new OdometryOpenVINS(parameters);
break;
case Odometry::kTypeOpen3D:
odometry = new OdometryOpen3D(parameters);
break;
default:
UERROR("Unknown odometry type %d, using F2M instead...", (int)type);
odometry = new OdometryF2M(parameters);