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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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28
guilib/src/MainWindow.cpp
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@@ -3044,19 +3044,7 @@ void MainWindow::startDetection()
delete _odomThread;
_odomThread = 0;
}
Odometry * odom;
if(_preferencesDialog->getOdomStrategy() == 1)
{
odom = new OdometryF2F(parameters);
}
else if(_preferencesDialog->getOdomStrategy() == 2)
{
odom = new OdometryMono(parameters);
}
else
{
odom = new OdometryBOW(parameters);
}
Odometry * odom = Odometry::create(parameters);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
UEventsManager::addHandler(_odomThread);
@@ -3083,19 +3071,7 @@ void MainWindow::startDetection()
UERROR("OdomThread must be already deleted here?!");
delete _odomThread;
}
Odometry * odom;
if(_preferencesDialog->getOdomStrategy() == 1)
{
odom = new OdometryF2F(parameters);
}
else if(_preferencesDialog->getOdomStrategy() == 2)
{
odom = new OdometryMono(parameters);
}
else
{
odom = new OdometryBOW(parameters);
}
Odometry * odom = Odometry::create(parameters);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
UEventsManager::addHandler(_odomThread);

14
guilib/src/PreferencesDialog.cpp
View File

@@ -4127,19 +4127,7 @@ void PreferencesDialog::testOdometry()
ParametersMap parameters = this->getAllParameters();
Odometry * odometry;
if(this->getOdomStrategy() == 1)
{
odometry = new OdometryF2F(parameters);
}
else if(this->getOdomStrategy() == 2)
{
odometry = new OdometryMono(parameters);
}
else
{
odometry = new OdometryBOW(parameters);
}
Odometry * odometry = Odometry::create(parameters);
OdometryThread odomThread(
odometry, // take ownership of odometry

17
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>633</width>
<height>2118</height>
<y>-232</y>
<width>647</width>
<height>2050</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>2</number>
<number>11</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -6849,7 +6849,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property>
<item>
<property name="text">
<string>Features Map</string>
<string>Local Map</string>
</property>
</item>
<item>
@@ -6857,11 +6857,6 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
<string>Frame to Frame</string>
</property>
</item>
<item>
<property name="text">
<string>Mono</string>
</property>
</item>
</widget>
</item>
<item row="7" column="0">
@@ -6951,7 +6946,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
<item>
<widget class="QGroupBox" name="groupBox_odometryBOW2">
<property name="title">
<string>Features Map</string>
<string>Local Map</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_54">
<item>