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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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4
guilib/src/OdometryViewer.cpp
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@@ -380,7 +380,7 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
if(!odom.data().imageRaw().empty())
{
if(odom.info().type == (int)Odometry::kTypeF2M)
if(odom.info().type == (int)Odometry::kTypeF2M || odom.info().type == (int)Odometry::kTypeORBSLAM2)
{
imageView_->setFeatures(odom.info().words, odom.data().depthRaw(), Qt::yellow);
}
@@ -421,7 +421,7 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
imageView_->setImageDepth(uCvMat2QImage(odom.data().depthOrRightRaw()));
}
if(odom.info().type == Odometry::kTypeF2M)
if(odom.info().type == Odometry::kTypeF2M || odom.info().type == (int)Odometry::kTypeORBSLAM2)
{
if(imageView_->isFeaturesShown())
{