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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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35
corelib/tests/Tests.cpp
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@@ -81,20 +81,21 @@ void Tests::testAvpd()
/* Start thread's task */
IplImage * image = 0;
SMState * smState = 0;
image = camera.takeImage();
smState = camera.takeImage();
int imgCount = 0;
while(image)
while(smState)
{
++imgCount;
printf("Processing image %d/84...\n", imgCount);
ctabmap.process(new SMState(image));
image = camera.takeImage();
ctabmap.process(smState);
smState = camera.takeImage();
}
if(image)
if(smState)
{
cvReleaseImage(&image);
delete smState;
smState = 0;
}
CPPUNIT_ASSERT(imgCount == 84);
@@ -141,7 +142,7 @@ void Tests::testCamera()
{
//Logger::setType(Logger::kTypeFile, "LogTestAvpdCore/testCamera.txt", false);
std::string path;
IplImage * image = 0;
SMState * smState = 0;
int count;
//CameraVideo class FIXME add a video in svn and reactivate this test
@@ -171,13 +172,14 @@ void Tests::testCamera()
CameraImages cameraImages(path, false, 0, false, 80);
CPPUNIT_ASSERT( cameraImages.init() );
CPPUNIT_ASSERT( cameraImages.isIdle() == true);
image = cameraImages.takeImage();
smState = cameraImages.takeImage();
count = 0;
while(image)
while(smState)
{
cvReleaseImage(&image);
delete smState;
smState = 0;
++count;
image = cameraImages.takeImage();
smState = cameraImages.takeImage();
}
CPPUNIT_ASSERT( count == 5 );
@@ -186,13 +188,14 @@ void Tests::testCamera()
CameraDatabase cameraDatabase(path, false); // ignoreChildren=false;
CPPUNIT_ASSERT( cameraDatabase.init() );
CPPUNIT_ASSERT( cameraDatabase.isIdle() == true);
image = cameraDatabase.takeImage();
smState = cameraDatabase.takeImage();
count = 0;
while(image)
while(smState)
{
++count;
cvReleaseImage(&image);
image = cameraDatabase.takeImage();
delete smState;
smState = 0;
smState = cameraDatabase.takeImage();
}
//ULOGGER_INFO("%d", count);
CPPUNIT_ASSERT( count == 82 );