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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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7
tools/OdometryViewer/main.cpp
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@@ -29,7 +29,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/Odometry.h>
#include <rtabmap/core/OdometryICP.h>
#include <rtabmap/core/OdometryLocalMap.h>
#include <rtabmap/core/OdometryF2F.h>
#include <rtabmap/core/OdometryMono.h>
#include <rtabmap/core/OdometryThread.h>
#include <rtabmap/gui/OdometryViewer.h>
#include <rtabmap/core/CameraThread.h>
@@ -680,7 +683,7 @@ int main (int argc, char * argv[])
}
else
{
odom = new rtabmap::OdometryBOW(parameters);
odom = new rtabmap::OdometryLocalMap(parameters);
}
}
}