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Updated CameraDatabase : loading also the associated actions with image loaded

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Memory : Saving neighbors of looped locations (for a trace in DB)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@313 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-08-25 20:22:50 +00:00
parent 2b06480278
commit 176ca33e27
9 changed files with 113 additions and 92 deletions
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14
corelib/include/rtabmap/core/Camera.h
View File

@@ -38,7 +38,7 @@ class KeypointDescriptor;
class SMState;
/**
* Only encapsulate the image in a newly created SMState.
* No treatment
*/
class RTABMAP_EXP CamPostTreatment
{
@@ -47,7 +47,7 @@ public:
this->parseParameters(parameters);
}
virtual ~CamPostTreatment() {}
virtual SMState * process(const IplImage * image) const;
virtual void process(SMState * smState) const;
virtual void parseParameters(const ParametersMap & parameters) {}
};
@@ -68,7 +68,7 @@ public:
this->parseParameters(parameters);
}
virtual ~CamKeypointTreatment();
virtual SMState * process(const IplImage * image) const;
virtual void process(SMState * smState) const;
virtual void parseParameters(const ParametersMap & parameters);
DetectorStrategy detectorStrategy() const;
private:
@@ -90,7 +90,7 @@ public:
public:
virtual ~Camera();
virtual IplImage * takeImage() = 0;
virtual SMState * takeImage() = 0;
virtual bool init() = 0;
bool isPaused() const {return !this->isRunning();}
bool isCapturing() const {return this->isRunning();}
@@ -145,7 +145,7 @@ public:
unsigned int imageHeight = 0);
virtual ~CameraImages();
virtual IplImage * takeImage();
virtual SMState * takeImage();
virtual bool init();
private:
@@ -187,7 +187,7 @@ public:
unsigned int imageHeight = 0);
virtual ~CameraVideo();
virtual IplImage * takeImage();
virtual SMState * takeImage();
virtual bool init();
private:
@@ -222,7 +222,7 @@ public:
unsigned int imageHeight = 0);
virtual ~CameraDatabase();
virtual IplImage * takeImage();
virtual SMState * takeImage();
virtual bool init();
private:

3
corelib/include/rtabmap/core/RtabmapEvent.h
View File

@@ -52,7 +52,8 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Vp_likelihood,);
RTABMAP_STATS(Loop, ReactivateId,);
RTABMAP_STATS(Loop, Hypothesis_ratio,);
RTABMAP_STATS(Loop, Retrieval_margin,)
RTABMAP_STATS(Loop, Retrieval_margin,);
RTABMAP_STATS(Loop, Actions,);
RTABMAP_STATS(Memory, Working_memory_size,);
RTABMAP_STATS(Memory, Short_time_memory_size,);