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Refactoring: Split Odometry classes in multiple headers. Added Odometry::create(type) for convenience, working with "Odom/Strategy" parameter. Renamed OdometryBOW to OdometryLocalMap (more descriptive name).

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matlabbe
2016-01-05 16:37:14 -05:00
parent 1b2f1baf3d
commit 703b7181d9
21 changed files with 339 additions and 219 deletions
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corelib/src/Odometry.cpp
+27
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@@ -26,6 +26,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/OdometryF2F.h"
#include "rtabmap/core/OdometryLocalMap.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
@@ -34,6 +36,31 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
Odometry * Odometry::create(const ParametersMap & parameters)
{
int odomTypeInt = Parameters::defaultOdomStrategy();
Parameters::parse(parameters, Parameters::kOdomStrategy(), odomTypeInt);
Odometry::Type type = (Odometry::Type)odomTypeInt;
return create(type, parameters);
}
Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & parameters)
{
UDEBUG("type=%d", (int)type);
Odometry * odometry = 0;
switch(type)
{
case Odometry::kTypeF2F:
odometry = new OdometryF2F(parameters);
break;
default:
odometry = new OdometryLocalMap(parameters);
type = Odometry::kTypeLocalMap;
break;
}
return odometry;
}
Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
_roiRatios(Parameters::defaultVisRoiRatios()),
_minInliers(Parameters::defaultVisMinInliers()),