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

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matlabbe
2017-06-05 19:04:23 -04:00
parent de797b644e
commit c4ca6a0bac
17 changed files with 2036 additions and 348 deletions
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corelib/src/Odometry.cpp
+4
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OdometryFovis.h"
#include "rtabmap/core/OdometryViso2.h"
#include "rtabmap/core/OdometryDVO.h"
#include "rtabmap/core/OdometryORBSLAM2.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_mapping.h"
@@ -59,6 +60,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
Odometry * odometry = 0;
switch(type)
{
case Odometry::kTypeORBSLAM2:
odometry = new OdometryORBSLAM2(parameters);
break;
case Odometry::kTypeDVO:
odometry = new OdometryDVO(parameters);
break;