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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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9
corelib/src/Memory.cpp
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@@ -386,7 +386,7 @@ bool Memory::update(const Image & image, std::map<std::string, float> & stats)
//============================================================
// Create a signature with the image received.
//============================================================
Signature * signature = this->createSignature(this->getNextId(), image, this->isRawDataKept());
Signature * signature = this->createSignature(image, this->isRawDataKept());
if (signature == 0)
{
UERROR("Failed to create a signature");
@@ -2094,7 +2094,7 @@ private:
VWDictionary * _vwp;
};
Signature * Memory::createSignature(int id, const Image & image, bool keepRawData)
Signature * Memory::createSignature(const Image & image, bool keepRawData)
{
PreUpdateThread preUpdateThread(_vwd);
@@ -2102,6 +2102,11 @@ Signature * Memory::createSignature(int id, const Image & image, bool keepRawDat
timer.start();
std::vector<cv::KeyPoint> keypoints;
cv::Mat descriptors;
int id = image.id();
if(!id)
{
id = this->getNextId();
}
int treeSize= _workingMem.size() + _stMem.size();
int nbCommonWords = 0;

21
corelib/src/Rtabmap.cpp
View File

@@ -502,6 +502,23 @@ int Rtabmap::getTotalMemSize()
return memSize;
}
std::multimap<int, cv::KeyPoint> Rtabmap::getWords(int nodeId)
{
UScopeMutex s(&_threadMutex);
std::multimap<int, cv::KeyPoint> words;
if(_memory)
{
const Signature * s = _memory->getSignature(nodeId);
if(s)
{
words = s->getWords();
}
}
return words;
}
void Rtabmap::clearBufferedSensors()
{
_imageMutex.lock();
@@ -1466,10 +1483,10 @@ void Rtabmap::setWorkingDirectory(std::string path)
}
}
void Rtabmap::process(const cv::Mat & image)
void Rtabmap::process(const cv::Mat & image, int id)
{
UScopeMutex s(&_threadMutex);
this->process(Image(image));
this->process(Image(image, id));
}
void Rtabmap::process(const Image & image)