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Refactoring: Split Odometry classes in multiple headers. Added Odometry::create(type) for convenience, working with "Odom/Strategy" parameter. Renamed OdometryBOW to OdometryLocalMap (more descriptive name).

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This commit is contained in:
matlabbe
2016-01-05 16:37:14 -05:00
parent 1b2f1baf3d
commit 703b7181d9
21 changed files with 339 additions and 219 deletions
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guilib/src/MainWindow.cpp
+2 -26
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@@ -3044,19 +3044,7 @@ void MainWindow::startDetection()
delete _odomThread;
_odomThread = 0;
}
Odometry * odom;
if(_preferencesDialog->getOdomStrategy() == 1)
{
odom = new OdometryF2F(parameters);
}
else if(_preferencesDialog->getOdomStrategy() == 2)
{
odom = new OdometryMono(parameters);
}
else
{
odom = new OdometryBOW(parameters);
}
Odometry * odom = Odometry::create(parameters);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
UEventsManager::addHandler(_odomThread);
@@ -3083,19 +3071,7 @@ void MainWindow::startDetection()
UERROR("OdomThread must be already deleted here?!");
delete _odomThread;
}
Odometry * odom;
if(_preferencesDialog->getOdomStrategy() == 1)
{
odom = new OdometryF2F(parameters);
}
else if(_preferencesDialog->getOdomStrategy() == 2)
{
odom = new OdometryMono(parameters);
}
else
{
odom = new OdometryBOW(parameters);
}
Odometry * odom = Odometry::create(parameters);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
UEventsManager::addHandler(_odomThread);