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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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This commit is contained in:
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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examples/NoEventsExample/main.cpp
+2 -2
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@@ -27,7 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/CameraStereo.h>
#include <rtabmap/core/Odometry.h>
#include <rtabmap/core/OdometryLocalMap.h>
#include <rtabmap/utilite/UThread.h>
#include "MapBuilder.h"
#include <pcl/visualization/cloud_viewer.h>
@@ -103,7 +103,7 @@ int main(int argc, char * argv[])
if(camera.init(calibrationDir, calibrationName))
{
OdometryBOW odom;
OdometryLocalMap odom;
Rtabmap rtabmap;
rtabmap.init();
examples/RGBDMapping/main.cpp
+2 -2
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@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/RtabmapThread.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/OdometryLocalMap.h"
#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/utilite/UEventsManager.h"
#include <QApplication>
@@ -128,7 +128,7 @@ int main(int argc, char * argv[])
MapBuilder mapBuilder(&cameraThread);
// Create an odometry thread to process camera events, it will send OdometryEvent.
OdometryThread odomThread(new OdometryBOW());
OdometryThread odomThread(new OdometryLocalMap());
// Create RTAB-Map to process OdometryEvent
examples/WifiMapping/main.cpp
+2 -2
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@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/RtabmapThread.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/OdometryLocalMap.h"
#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/utilite/UEventsManager.h"
#include <QApplication>
@@ -171,7 +171,7 @@ int main(int argc, char * argv[])
MapBuilderWifi mapBuilderWifi(&cameraThread);
// Create an odometry thread to process camera events, it will send OdometryEvent.
OdometryThread odomThread(new OdometryBOW());
OdometryThread odomThread(new OdometryLocalMap());
// Create RTAB-Map to process OdometryEvent
Rtabmap * rtabmap = new Rtabmap();