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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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14
guilib/src/PreferencesDialog.cpp
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@@ -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