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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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4
tools/ConsoleApp/main.cpp
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@@ -435,7 +435,7 @@ int main(int argc, char * argv[])
cv::Mat descriptors;
std::vector<cv::KeyPoint> keypoints;
cv::Mat cvImg = camera->takeImage(descriptors, keypoints);
Image img(cvImg, descriptors, keypoints);
Image img(cvImg, 0, descriptors, keypoints);
int i=0;
double maxIterationTime = 0.0;
int maxIterationTimeId = 0;
@@ -452,7 +452,7 @@ int main(int argc, char * argv[])
++countLoopDetected;
}
cvImg = camera->takeImage(descriptors, keypoints);
img = Image(cvImg, descriptors, keypoints);
img = Image(cvImg, 0, descriptors, keypoints);
if(++count % 100 == 0)
{
printf(" count = %d, loop closures = %d, max time (at %d) = %fs\n",