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).

corelib/include/rtabmap/core/Odometry.h

@@ -33,22 +33,25 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/Transform.h>
 #include <rtabmap/core/SensorData.h>
 #include <rtabmap/core/Parameters.h>
-#include <rtabmap/core/Signature.h>
-#include <rtabmap/core/RegistrationVis.h>
-#include <pcl/point_types.h>
-#include <pcl/point_cloud.h>
-
-class UTimer;
 
 namespace rtabmap {
 
-class Feature2D;
 class OdometryInfo;
 class ParticleFilter;
-class Stereo;
 
 class RTABMAP_EXP Odometry
 {
+public:
+	enum Type {
+		kTypeUndef = -1,
+		kTypeLocalMap = 0,
+		kTypeF2F = 1
+	};
+
+public:
+	static Odometry * create(const ParametersMap & parameters);
+	static Odometry * create(Type & type, const ParametersMap & parameters);
+
 public:
 	virtual ~Odometry();
 	Transform process(const SensorData & data, OdometryInfo * info = 0);
@@ -116,116 +119,5 @@ protected:
 	Odometry(const rtabmap::ParametersMap & parameters);
 };
 
-class Memory;
-
-class RTABMAP_EXP OdometryBOW : public Odometry
-{
-public:
-	OdometryBOW(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
-	virtual ~OdometryBOW();
-
-	virtual void reset(const Transform & initialPose = Transform::getIdentity());
-	const std::map<int, cv::Point3f> & getLocalMap() const {return localMap_;}
-	const Memory * getMemory() const {return _memory;}
-
-private:
-	virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
-
-private:
-	//Parameters
-	int _localHistoryMaxSize;
-	std::string _fixedLocalMapPath;
-
-	Memory * _memory;
-	std::map<int, cv::Point3f> localMap_;
-};
-
-class RTABMAP_EXP OdometryF2F : public Odometry
-{
-public:
-	OdometryF2F(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
-	virtual ~OdometryF2F();
-
-	virtual void reset(const Transform & initialPose = Transform::getIdentity());
-
-	const Signature & getRefFrame() const {return refFrame_;}
-
-private:
-	virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
-
-private:
-	//Parameters:
-	int keyFrameThr_;
-	bool guessFromMotion_;
-
-	RegistrationVis registration_;
-	Signature refFrame_;
-	Transform motionSinceLastKeyFrame_;
-};
-
-
-class RTABMAP_EXP OdometryMono : public Odometry
-{
-public:
-	OdometryMono(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
-	virtual ~OdometryMono();
-	virtual void reset(const Transform & initialPose);
-
-private:
-	virtual Transform computeTransform(const SensorData & data, OdometryInfo * info = 0);
-private:
-	//Parameters:
-	int flowWinSize_;
-	int flowIterations_;
-	double flowEps_;
-	int flowMaxLevel_;
-
-	Stereo * stereo_;
-
-	Memory * memory_;
-	int localHistoryMaxSize_;
-	float initMinFlow_;
-	float initMinTranslation_;
-	float minTranslation_;
-	float fundMatrixReprojError_;
-	float fundMatrixConfidence_;
-
-	cv::Mat refDepthOrRight_;
-	std::map<int, cv::Point2f> cornersMap_;
-	std::map<int, cv::Point3f> localMap_;
-	std::map<int, std::map<int, cv::Point3f> > keyFrameWords3D_;
-	std::map<int, Transform> keyFramePoses_;
-	float maxVariance_;
-};
-
-class RTABMAP_EXP OdometryICP : public Odometry
-{
-public:
-	OdometryICP(int decimation = 4,
-			float voxelSize = 0.005f,
-			int samples = 0,
-			float maxCorrespondenceDistance = 0.05f,
-			int maxIterations = 30,
-			float correspondenceRatio = 0.7f,
-			bool pointToPlane = true,
-			const ParametersMap & odometryParameter = rtabmap::ParametersMap());
-	virtual void reset(const Transform & initialPose = Transform::getIdentity());
-
-private:
-	virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
-
-private:
-	int _decimation;
-	float _voxelSize;
-	float _samples;
-	float _maxCorrespondenceDistance;
-	int	_maxIterations;
-	float _correspondenceRatio;
-	bool _pointToPlane;
-
-	pcl::PointCloud<pcl::PointNormal>::Ptr _previousCloudNormal; // for point ot plane
-	pcl::PointCloud<pcl::PointXYZ>::Ptr _previousCloud; // for point to point
-};
-
 } /* namespace rtabmap */
 #endif /* ODOMETRY_H_ */

corelib/include/rtabmap/core/OdometryF2F.h

@@ -0,0 +1,61 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYF2F_H_
+#define ODOMETRYF2F_H_
+
+#include <rtabmap/core/Odometry.h>
+#include <rtabmap/core/RegistrationVis.h>
+
+namespace rtabmap {
+
+class RTABMAP_EXP OdometryF2F : public Odometry
+{
+public:
+	OdometryF2F(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryF2F();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
+	const Signature & getRefFrame() const {return refFrame_;}
+
+private:
+	virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
+
+private:
+	//Parameters:
+	int keyFrameThr_;
+	bool guessFromMotion_;
+
+	RegistrationVis registration_;
+	Signature refFrame_;
+	Transform motionSinceLastKeyFrame_;
+};
+
+}
+
+#endif /* ODOMETRYF2F_H_ */

corelib/include/rtabmap/core/OdometryICP.h

@@ -0,0 +1,68 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYICP_H_
+#define ODOMETRYICP_H_
+
+#include <rtabmap/core/Odometry.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+
+namespace rtabmap {
+
+class RTABMAP_EXP OdometryICP : public Odometry
+{
+public:
+	OdometryICP(int decimation = 4,
+			float voxelSize = 0.005f,
+			int samples = 0,
+			float maxCorrespondenceDistance = 0.05f,
+			int maxIterations = 30,
+			float correspondenceRatio = 0.7f,
+			bool pointToPlane = true,
+			const ParametersMap & odometryParameter = rtabmap::ParametersMap());
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
+private:
+	virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
+
+private:
+	int _decimation;
+	float _voxelSize;
+	float _samples;
+	float _maxCorrespondenceDistance;
+	int	_maxIterations;
+	float _correspondenceRatio;
+	bool _pointToPlane;
+
+	pcl::PointCloud<pcl::PointNormal>::Ptr _previousCloudNormal; // for point ot plane
+	pcl::PointCloud<pcl::PointXYZ>::Ptr _previousCloud; // for point to point
+};
+
+}
+
+#endif /* ODOMETRYICP_H_ */

corelib/include/rtabmap/core/OdometryLocalMap.h

@@ -0,0 +1,61 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYLOCALMAP_H_
+#define ODOMETRYLOCALMAP_H_
+
+#include <rtabmap/core/Odometry.h>
+
+namespace rtabmap {
+
+class Memory;
+
+class RTABMAP_EXP OdometryLocalMap : public Odometry
+{
+public:
+	OdometryLocalMap(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryLocalMap();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	const std::map<int, cv::Point3f> & getLocalMap() const {return localMap_;}
+	const Memory * getMemory() const {return _memory;}
+
+private:
+	virtual Transform computeTransform(const SensorData & image, OdometryInfo * info = 0);
+
+private:
+	//Parameters
+	int _localHistoryMaxSize;
+	std::string _fixedLocalMapPath;
+
+	Memory * _memory;
+	std::map<int, cv::Point3f> localMap_;
+};
+
+}
+
+#endif /* ODOMETRYLOCALMAP_H_ */

corelib/include/rtabmap/core/OdometryMono.h

@@ -0,0 +1,74 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYMONO_H_
+#define ODOMETRYMONO_H_
+
+#include <rtabmap/core/Odometry.h>
+
+namespace rtabmap {
+
+class Memory;
+class Stereo;
+
+class RTABMAP_EXP OdometryMono : public Odometry
+{
+public:
+	OdometryMono(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryMono();
+	virtual void reset(const Transform & initialPose);
+
+private:
+	virtual Transform computeTransform(const SensorData & data, OdometryInfo * info = 0);
+private:
+	//Parameters:
+	int flowWinSize_;
+	int flowIterations_;
+	double flowEps_;
+	int flowMaxLevel_;
+
+	Stereo * stereo_;
+
+	Memory * memory_;
+	int localHistoryMaxSize_;
+	float initMinFlow_;
+	float initMinTranslation_;
+	float minTranslation_;
+	float fundMatrixReprojError_;
+	float fundMatrixConfidence_;
+
+	cv::Mat refDepthOrRight_;
+	std::map<int, cv::Point2f> cornersMap_;
+	std::map<int, cv::Point3f> localMap_;
+	std::map<int, std::map<int, cv::Point3f> > keyFrameWords3D_;
+	std::map<int, Transform> keyFramePoses_;
+	float maxVariance_;
+};
+
+}
+
+#endif /* ODOMETRYMONO_H_ */

corelib/include/rtabmap/core/Parameters.h

@@ -331,7 +331,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Optimizer, Robust,            bool, true,      "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
 
 	// Odometry
-	RTABMAP_PARAM(Odom, Strategy,           	int, 0, 		"0=Features Map 1=Frame-to-Frame");
+	RTABMAP_PARAM(Odom, Strategy,           	int, 0, 		"0=Local Map 1=Frame-to-Frame");
 	RTABMAP_PARAM(Odom, ResetCountdown,         int, 0,         "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
 	RTABMAP_PARAM(Odom, Holonomic, 		        bool, true,     "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
 	RTABMAP_PARAM(Odom, FillInfoData, 		    bool, true,     "Fill info with data (inliers/outliers features).");

corelib/src/CMakeLists.txt

@@ -55,7 +55,7 @@ SET(SRC_FILES
 	
 	Odometry.cpp
 	OdometryThread.cpp
-	OdometryBOW.cpp
+	OdometryLocalMap.cpp
 	OdometryMono.cpp
 	OdometryICP.cpp
 	OdometryF2F.cpp

corelib/src/Odometry.cpp

@@ -26,6 +26,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
 #include "rtabmap/core/Odometry.h"
+#include "rtabmap/core/OdometryF2F.h"
+#include "rtabmap/core/OdometryLocalMap.h"
 #include "rtabmap/core/OdometryInfo.h"
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/utilite/UTimer.h"
@@ -34,6 +36,31 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 namespace rtabmap {
 
+Odometry * Odometry::create(const ParametersMap & parameters)
+{
+	int odomTypeInt = Parameters::defaultOdomStrategy();
+	Parameters::parse(parameters, Parameters::kOdomStrategy(), odomTypeInt);
+	Odometry::Type type = (Odometry::Type)odomTypeInt;
+	return create(type, parameters);
+}
+
+Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & parameters)
+{
+	UDEBUG("type=%d", (int)type);
+	Odometry * odometry = 0;
+	switch(type)
+	{
+	case Odometry::kTypeF2F:
+		odometry = new OdometryF2F(parameters);
+		break;
+	default:
+		odometry = new OdometryLocalMap(parameters);
+		type = Odometry::kTypeLocalMap;
+		break;
+	}
+	return odometry;
+}
+
 Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
 		_roiRatios(Parameters::defaultVisRoiRatios()),
 		_minInliers(Parameters::defaultVisMinInliers()),

corelib/src/OdometryF2F.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "rtabmap/core/Odometry.h"
+#include "rtabmap/core/OdometryF2F.h"
 #include "rtabmap/core/OdometryInfo.h"
 #include "rtabmap/core/EpipolarGeometry.h"
 #include "rtabmap/utilite/ULogger.h"

corelib/src/OdometryICP.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "rtabmap/core/Odometry.h"
+#include "rtabmap/core/OdometryICP.h"
 #include "rtabmap/core/util3d_registration.h"
 #include "rtabmap/core/util3d_filtering.h"
 #include "rtabmap/core/util3d_surface.h"

corelib/src/OdometryLocalMap.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "rtabmap/core/Odometry.h"
+#include "rtabmap/core/OdometryLocalMap.h"
 #include "rtabmap/core/OdometryInfo.h"
 #include "rtabmap/core/Memory.h"
 #include "rtabmap/core/Signature.h"
@@ -49,7 +49,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 namespace rtabmap {
 
-OdometryBOW::OdometryBOW(const ParametersMap & parameters) :
+OdometryLocalMap::OdometryLocalMap(const ParametersMap & parameters) :
 	Odometry(parameters),
 	_localHistoryMaxSize(Parameters::defaultOdomBowLocalHistorySize()),
 	_fixedLocalMapPath(Parameters::defaultOdomBowFixedLocalMapPath()),
@@ -172,14 +172,14 @@ OdometryBOW::OdometryBOW(const ParametersMap & parameters) :
 	}
 }
 
-OdometryBOW::~OdometryBOW()
+OdometryLocalMap::~OdometryLocalMap()
 {
 	delete _memory;
 	UDEBUG("");
 }
 
 
-void OdometryBOW::reset(const Transform & initialPose)
+void OdometryLocalMap::reset(const Transform & initialPose)
 {
 	if(_fixedLocalMapPath.empty())
 	{
@@ -194,7 +194,7 @@ void OdometryBOW::reset(const Transform & initialPose)
 }
 
 // return not null transform if odometry is correctly computed
-Transform OdometryBOW::computeTransform(
+Transform OdometryLocalMap::computeTransform(
 		const SensorData & data,
 		OdometryInfo * info)
 {

corelib/src/OdometryMono.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "rtabmap/core/Odometry.h"
+#include "rtabmap/core/OdometryMono.h"
 #include "rtabmap/core/OdometryInfo.h"
 #include "rtabmap/core/Memory.h"
 #include "rtabmap/core/Signature.h"

corelib/src/OdometryThread.cpp

@@ -27,6 +27,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "rtabmap/core/OdometryThread.h"
 #include "rtabmap/core/Odometry.h"
+#include "rtabmap/core/OdometryMono.h"
+#include "rtabmap/core/OdometryLocalMap.h"
 #include "rtabmap/core/OdometryInfo.h"
 #include "rtabmap/core/CameraEvent.h"
 #include "rtabmap/core/OdometryEvent.h"
@@ -101,7 +103,7 @@ void OdometryThread::mainLoop()
 
 void OdometryThread::addData(const SensorData & data)
 {
-	if(dynamic_cast<OdometryMono*>(_odometry) == 0 && dynamic_cast<OdometryBOW*>(_odometry) == 0)
+	if(dynamic_cast<OdometryMono*>(_odometry) == 0 && dynamic_cast<OdometryLocalMap*>(_odometry) == 0)
 	{
 		if(data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValid()))
 		{

corelib/src/Optimizer.cpp

@@ -67,7 +67,11 @@ Optimizer * Optimizer::create(const ParametersMap & parameters)
 	int optimizerTypeInt = Parameters::defaultOptimizerStrategy();
 	Parameters::parse(parameters, Parameters::kOptimizerStrategy(), optimizerTypeInt);
 	Optimizer::Type type = (Optimizer::Type)optimizerTypeInt;
+	return create(type, parameters);
+}
 
+Optimizer * Optimizer::create(Optimizer::Type & type, const ParametersMap & parameters)
+{
 	if(!OptimizerG2O::available() && type == Optimizer::kTypeG2O)
 	{
 		UWARN("g2o optimizer not available. TORO will be used instead.");
@@ -104,37 +108,6 @@ Optimizer * Optimizer::create(const ParametersMap & parameters)
 	return optimizer;
 }
 
-Optimizer * Optimizer::create(Optimizer::Type & type, const ParametersMap & parameters)
-{
-	if(!OptimizerG2O::available() && type == Optimizer::kTypeG2O)
-	{
-		UWARN("g2o optimizer not available. TORO will be used instead.");
-		type = Optimizer::kTypeTORO;
-	}
-	if(!OptimizerGTSAM::available() && type == Optimizer::kTypeGTSAM)
-	{
-		UWARN("GTSAM optimizer not available. TORO will be used instead.");
-		type = Optimizer::kTypeTORO;
-	}
-	Optimizer * optimizer = 0;
-	switch(type)
-	{
-	case Optimizer::kTypeGTSAM:
-		optimizer = new OptimizerGTSAM(parameters);
-		break;
-	case Optimizer::kTypeG2O:
-		optimizer = new OptimizerG2O(parameters);
-		break;
-	case Optimizer::kTypeTORO:
-	default:
-		optimizer = new OptimizerTORO(parameters);
-		type = Optimizer::kTypeTORO;
-		break;
-
-	}
-	return optimizer;
-}
-
 Optimizer::Optimizer(int iterations, bool slam2d, bool covarianceIgnored, double epsilon, bool robust) :
 		iterations_(iterations),
 		slam2d_(slam2d),

examples/NoEventsExample/main.cpp

@@ -27,7 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/core/Rtabmap.h>
 #include <rtabmap/core/CameraStereo.h>
-#include <rtabmap/core/Odometry.h>
+#include <rtabmap/core/OdometryLocalMap.h>
 #include <rtabmap/utilite/UThread.h>
 #include "MapBuilder.h"
 #include <pcl/visualization/cloud_viewer.h>
@@ -103,7 +103,7 @@ int main(int argc, char * argv[])
 
 	if(camera.init(calibrationDir, calibrationName))
 	{
-		OdometryBOW odom;
+		OdometryLocalMap odom;
 		Rtabmap rtabmap;
 		rtabmap.init();
 

examples/RGBDMapping/main.cpp

@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/RtabmapThread.h"
 #include "rtabmap/core/CameraRGBD.h"
 #include "rtabmap/core/CameraThread.h"
-#include "rtabmap/core/Odometry.h"
+#include "rtabmap/core/OdometryLocalMap.h"
 #include "rtabmap/core/OdometryThread.h"
 #include "rtabmap/utilite/UEventsManager.h"
 #include <QApplication>
@@ -128,7 +128,7 @@ int main(int argc, char * argv[])
 	MapBuilder mapBuilder(&cameraThread);
 
 	// Create an odometry thread to process camera events, it will send OdometryEvent.
-	OdometryThread odomThread(new OdometryBOW());
+	OdometryThread odomThread(new OdometryLocalMap());
 
 
 	// Create RTAB-Map to process OdometryEvent

examples/WifiMapping/main.cpp

@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/RtabmapThread.h"
 #include "rtabmap/core/CameraRGBD.h"
 #include "rtabmap/core/CameraThread.h"
-#include "rtabmap/core/Odometry.h"
+#include "rtabmap/core/OdometryLocalMap.h"
 #include "rtabmap/core/OdometryThread.h"
 #include "rtabmap/utilite/UEventsManager.h"
 #include <QApplication>
@@ -171,7 +171,7 @@ int main(int argc, char * argv[])
 	MapBuilderWifi mapBuilderWifi(&cameraThread);
 
 	// Create an odometry thread to process camera events, it will send OdometryEvent.
-	OdometryThread odomThread(new OdometryBOW());
+	OdometryThread odomThread(new OdometryLocalMap());
 
 	// Create RTAB-Map to process OdometryEvent
 	Rtabmap * rtabmap = new Rtabmap();

guilib/src/MainWindow.cpp

@@ -3044,19 +3044,7 @@ void MainWindow::startDetection()
 					delete _odomThread;
 					_odomThread = 0;
 				}
-				Odometry * odom;
+				Odometry * odom = Odometry::create(parameters);
-				if(_preferencesDialog->getOdomStrategy() == 1)
-				{
-					odom = new OdometryF2F(parameters);
-				}
-				else if(_preferencesDialog->getOdomStrategy() == 2)
-				{
-					odom = new OdometryMono(parameters);
-				}
-				else
-				{
-					odom = new OdometryBOW(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;
+			Odometry * odom = Odometry::create(parameters);
-			if(_preferencesDialog->getOdomStrategy() == 1)
-			{
-				odom = new OdometryF2F(parameters);
-			}
-			else if(_preferencesDialog->getOdomStrategy() == 2)
-			{
-				odom = new OdometryMono(parameters);
-			}
-			else
-			{
-				odom = new OdometryBOW(parameters);
-			}
 			_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
 
 			UEventsManager::addHandler(_odomThread);

guilib/src/PreferencesDialog.cpp

@@ -4127,19 +4127,7 @@ void PreferencesDialog::testOdometry()
 
 
 	ParametersMap parameters = this->getAllParameters();
-	Odometry * odometry;
+	Odometry * odometry = Odometry::create(parameters);
-	if(this->getOdomStrategy() == 1)
-	{
-		odometry = new OdometryF2F(parameters);
-	}
-	else if(this->getOdomStrategy() == 2)
-	{
-		odometry = new OdometryMono(parameters);
-	}
-	else
-	{
-		odometry = new OdometryBOW(parameters);
-	}
 
 	OdometryThread odomThread(
 			odometry, // take ownership of odometry

guilib/src/ui/preferencesDialog.ui

@@ -63,9 +63,9 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-232</y>
-            <width>633</width>
+            <width>647</width>
-            <height>2118</height>
+            <height>2050</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>2</number>
+                <number>11</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -6849,7 +6849,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
                         </property>
                         <item>
                          <property name="text">
-                          <string>Features Map</string>
+                          <string>Local Map</string>
                          </property>
                         </item>
                         <item>
@@ -6857,11 +6857,6 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
                           <string>Frame to Frame</string>
                          </property>
                         </item>
-                        <item>
-                         <property name="text">
-                          <string>Mono</string>
-                         </property>
-                        </item>
                        </widget>
                       </item>
                       <item row="7" column="0">
@@ -6951,7 +6946,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
                         <item>
                          <widget class="QGroupBox" name="groupBox_odometryBOW2">
                           <property name="title">
-                           <string>Features Map</string>
+                           <string>Local Map</string>
                           </property>
                           <layout class="QVBoxLayout" name="verticalLayout_54">
                            <item>

tools/OdometryViewer/main.cpp

@@ -29,7 +29,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UEventsManager.h>
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UConversion.h>
-#include <rtabmap/core/Odometry.h>
+#include <rtabmap/core/OdometryICP.h>
+#include <rtabmap/core/OdometryLocalMap.h>
+#include <rtabmap/core/OdometryF2F.h>
+#include <rtabmap/core/OdometryMono.h>
 #include <rtabmap/core/OdometryThread.h>
 #include <rtabmap/gui/OdometryViewer.h>
 #include <rtabmap/core/CameraThread.h>
@@ -680,7 +683,7 @@ int main (int argc, char * argv[])
 			}
 			else
 			{
-				odom = new rtabmap::OdometryBOW(parameters);
+				odom = new rtabmap::OdometryLocalMap(parameters);
 			}
 		}
 	}