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matlabbe
2018-07-18 16:15:41 -04:00
parent 15e09cd0a8
commit 9ae47b79f9
16 changed files with 1077 additions and 847 deletions
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corelib/src/Odometry.cpp
+4
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@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OdometryOkvis.h"
#include "rtabmap/core/OdometryORBSLAM2.h"
#include "rtabmap/core/OdometryLOAM.h"
#include "rtabmap/core/OdometryMSCKF.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_mapping.h"
@@ -84,6 +85,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
case Odometry::kTypeLOAM:
odometry = new OdometryLOAM(parameters);
break;
case Odometry::kTypeMSCKF:
odometry = new OdometryMSCKF(parameters);
break;
default:
odometry = new OdometryF2M(parameters);
type = Odometry::kTypeF2M;