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0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9)

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matlabbe
2019-03-18 20:45:34 -04:00
parent 9c1c88d35e
commit c0a7c3a344
13 changed files with 727 additions and 69 deletions
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corelib/src/Odometry.cpp
+17 -9
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@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/odometry/OdometryORBSLAM2.h"
#include "rtabmap/core/odometry/OdometryLOAM.h"
#include "rtabmap/core/odometry/OdometryMSCKF.h"
#include "rtabmap/core/odometry/OdometryVINS.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_mapping.h"
@@ -64,20 +65,23 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
Odometry * odometry = 0;
switch(type)
{
case Odometry::kTypeORBSLAM2:
odometry = new OdometryORBSLAM2(parameters);
case Odometry::kTypeF2M:
odometry = new OdometryF2M(parameters);
break;
case Odometry::kTypeDVO:
odometry = new OdometryDVO(parameters);
break;
case Odometry::kTypeViso2:
odometry = new OdometryViso2(parameters);
case Odometry::kTypeF2F:
odometry = new OdometryF2F(parameters);
break;
case Odometry::kTypeFovis:
odometry = new OdometryFovis(parameters);
break;
case Odometry::kTypeF2F:
odometry = new OdometryF2F(parameters);
case Odometry::kTypeViso2:
odometry = new OdometryViso2(parameters);
break;
case Odometry::kTypeDVO:
odometry = new OdometryDVO(parameters);
break;
case Odometry::kTypeORBSLAM2:
odometry = new OdometryORBSLAM2(parameters);
break;
case Odometry::kTypeOkvis:
odometry = new OdometryOkvis(parameters);
@@ -88,7 +92,11 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
case Odometry::kTypeMSCKF:
odometry = new OdometryMSCKF(parameters);
break;
case Odometry::kTypeVINS:
odometry = new OdometryVINS(parameters);
break;
default:
UERROR("Unknown odometry type %d, using F2M instead...", (int)type);
odometry = new OdometryF2M(parameters);
type = Odometry::kTypeF2M;
break;