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Added Monocular SLAM (experimental), Odometry classes refactoring

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Mathieu Labbe
2015-04-23 22:01:41 -04:00
parent 39dce825d6
commit fa3a2421f6
39 changed files with 4138 additions and 2702 deletions
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corelib/include/rtabmap/core/OdometryInfo.h
+3 -2
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@@ -57,10 +57,11 @@ public:
std::multimap<int, cv::KeyPoint> words;
std::vector<int> wordMatches;
std::vector<int> wordInliers;
std::multimap<int, cv::Point3f> localMap;
// Optical Flow odometry
std::vector<cv::KeyPoint> refCorners;
std::vector<cv::KeyPoint> newCorners;
std::vector<cv::Point2f> refCorners;
std::vector<cv::Point2f> newCorners;
std::vector<int> cornerInliers;
};