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Added parameter "Mem/UseOdometryFeatures=false" to use directly features already extracted from odometry for the vocabulary (issue #32)

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matlabbe
2016-02-22 17:57:40 -05:00
parent ccc4b4a6c2
commit d7ef170d33
15 changed files with 175 additions and 73 deletions
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2
corelib/src/OdometryMono.cpp
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@@ -170,7 +170,7 @@ void OdometryMono::reset(const Transform & initialPose)
keyFramePoses_.clear();
}
Transform OdometryMono::computeTransform(const SensorData & data, OdometryInfo * info)
Transform OdometryMono::computeTransform(SensorData & data, OdometryInfo * info)
{
Transform output;