i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +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

8
guilib/src/MainWindow.cpp
View File

@@ -1188,7 +1188,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
{
if(_ui->imageView_odometry->isFeaturesShown())
{
if(odom.info().type == (int)Odometry::kTypeF2M)
if(odom.info().type == (int)Odometry::kTypeF2M || odom.info().type == (int)Odometry::kTypeORBSLAM2)
{
if(_preferencesDialog->isOdomOnlyInliersShown())
{
@@ -1223,9 +1223,9 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
}
//detect if it is OdometryMono intitialization
//detect if it is OdometryMono initialization
bool monoInitialization = false;
if(_preferencesDialog->getOdomStrategy() == 5 && odom.info().type == (int)Odometry::kTypeF2F)
if(_preferencesDialog->getOdomStrategy() == 6 && odom.info().type == (int)Odometry::kTypeF2F)
{
monoInitialization = true;
}
@@ -1258,7 +1258,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_ui->imageView_odometry->setImageDepth(uCvMat2QImage(odom.data().depthOrRightRaw()));
}
if(odom.info().type == (int)Odometry::kTypeF2M)
if(odom.info().type == (int)Odometry::kTypeF2M || odom.info().type == (int)Odometry::kTypeORBSLAM2)
{
if(_ui->imageView_odometry->isFeaturesShown() && !_preferencesDialog->isOdomOnlyInliersShown())
{