i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-06 18:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Integrated ORB_SLAM2 as an odometry approach Odom/Strategy=5.

Browse Source
This commit is contained in:
matlabbe
2017-06-05 19:04:23 -04:00
parent de797b644e
commit c4ca6a0bac
17 changed files with 2036 additions and 348 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Graph.cpp
+3 -3
View File
@@ -442,7 +442,7 @@ struct errors {
std::vector<float> trajectoryDistances (const std::vector<Transform> &poses) {
std::vector<float> dist;
dist.push_back(0);
for (int32_t i=1; i<poses.size(); i++) {
for (unsigned int i=1; i<poses.size(); i++) {
Transform P1 = poses[i-1];
Transform P2 = poses[i];
float dx = P1.x()-P2.x();
@@ -454,7 +454,7 @@ std::vector<float> trajectoryDistances (const std::vector<Transform> &poses) {
}
int32_t lastFrameFromSegmentLength(std::vector<float> &dist,int32_t first_frame,float len) {
for (int32_t i=first_frame; i<dist.size(); i++)
for (unsigned int i=first_frame; i<dist.size(); i++)
if (dist[i]>dist[first_frame]+len)
return i;
return -1;
@@ -493,7 +493,7 @@ void calcKittiSequenceErrors (
std::vector<float> dist = trajectoryDistances(poses_gt);
// for all start positions do
for (int32_t first_frame=0; first_frame<poses_gt.size(); first_frame+=step_size) {
for (unsigned int first_frame=0; first_frame<poses_gt.size(); first_frame+=step_size) {
// for all segment lengths do
for (int32_t i=0; i<num_lengths; i++) {