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Added image sequence to rtabmap::Image class

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@740 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-01-21 18:55:25 +00:00
parent 1836f39304
commit 0c1b8d7349
7 changed files with 39 additions and 9 deletions
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2
corelib/include/rtabmap/core/Camera.h
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@@ -59,7 +59,7 @@ public:
CameraEvent(const cv::Mat & descriptors, const std::vector<cv::KeyPoint> & keypoints, const cv::Mat & image = cv::Mat(), int cameraId = 0) :
UEvent(kCodeFeatures),
_cameraId(cameraId),
_image(image, descriptors, keypoints)
_image(image, 0, descriptors, keypoints)
{
}
CameraEvent(int cameraId = 0) :

7
corelib/include/rtabmap/core/Image.h
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@@ -16,13 +16,18 @@
namespace rtabmap
{
/**
* An id is automatically generated if id=0.
*/
class Image
{
public:
Image(const cv::Mat & image = cv::Mat(),
int id = 0,
const cv::Mat & descriptors = cv::Mat(),
const std::vector<cv::KeyPoint> & keypoints = std::vector<cv::KeyPoint>()) :
_image(image),
_id(id),
_descriptors(descriptors),
_keypoints(keypoints)
{
@@ -30,11 +35,13 @@ public:
bool empty() const {return _image.empty() && _descriptors.empty() && _keypoints.size() == 0;}
const cv::Mat & image() const {return _image;}
int id() const {return _id;};
const cv::Mat & descriptors() const {return _descriptors;}
const std::vector<cv::KeyPoint> & keypoints() const {return _keypoints;}
private:
cv::Mat _image;
int _id;
cv::Mat _descriptors;
std::vector<cv::KeyPoint> _keypoints;
};

2
corelib/include/rtabmap/core/Memory.h
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@@ -142,7 +142,7 @@ protected:
private:
void copyData(const Signature * from, Signature * to);
Signature * createSignature(int id,
Signature * createSignature(
const Image & image,
bool keepRawData=false);

3
corelib/include/rtabmap/core/Rtabmap.h
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@@ -73,7 +73,7 @@ public:
Rtabmap();
virtual ~Rtabmap();
void process(const cv::Mat & image); // for convenience
void process(const cv::Mat & image, int id=0); // for convenience, an id is automatically generated if id=0
void process(const Image & image); // for convenience
void init(const ParametersMap & param, bool deleteMemory = true);
@@ -94,6 +94,7 @@ public:
std::map<int, int> getWeights();
int getTotalMemSize();
double getLastProcessTime() const {return _lastProcessTime;};
std::multimap<int, cv::KeyPoint> getWords(int nodeId);
void setTimeThreshold(float maxTimeAllowed); // in ms