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VINS Fusion overhaul (#1580)

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* Updated correct focal length used by VINS, updated VINS visualization.

* Renamed OdometryVINS to OdometryVINSFusion
This commit is contained in:
matlabbe
2025-09-14 19:29:28 -07:00
committed by GitHub
parent 6a435c968f
commit cb0cc9ed18
15 changed files with 245 additions and 211 deletions
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corelib/src/Odometry.cpp
+3 -3
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@@ -36,7 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/odometry/OdometryLOAM.h"
#include "rtabmap/core/odometry/OdometryFLOAM.h"
#include "rtabmap/core/odometry/OdometryMSCKF.h"
#include "rtabmap/core/odometry/OdometryVINS.h"
#include "rtabmap/core/odometry/OdometryVINSFusion.h"
#include "rtabmap/core/odometry/OdometryOpenVINS.h"
#include "rtabmap/core/odometry/OdometryOpen3D.h"
#include "rtabmap/core/OdometryInfo.h"
@@ -103,8 +103,8 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
case Odometry::kTypeMSCKF:
odometry = new OdometryMSCKF(parameters);
break;
case Odometry::kTypeVINS:
odometry = new OdometryVINS(parameters);
case Odometry::kTypeVINSFusion:
odometry = new OdometryVINSFusion(parameters);
break;
case Odometry::kTypeOpenVINS:
odometry = new OdometryOpenVINS(parameters);