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Merged Audio branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-06-24 17:19:34 +00:00
parent 06fb556e78
commit 17b8e10ed8
111 changed files with 8370 additions and 9779 deletions
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corelib/src/VWDictionary.cpp
+23 -6
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@@ -17,12 +17,12 @@
* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
*/
#include "VWDictionary.h"
#include "rtabmap/core/VWDictionary.h"
#include "rtabmap/core/VisualWord.h"
#include "VisualWord.h"
#include "rtabmap/core/Signature.h"
#include "rtabmap/core/DBDriver.h"
#include "NearestNeighbor.h"
#include "rtabmap/core/NearestNeighbor.h"
#include "rtabmap/core/Parameters.h"
#include "utilite/UtiLite.h"
@@ -232,7 +232,11 @@ void VWDictionary::setNNStrategy(NNStrategy strategy, const ParametersMap & para
switch(strategy)
{
case kNNKdTree:
_nn = new KdTreeNN(parameters);
//FIXME KdTreeNN is broken...
//_nn = new KdTreeNN(parameters);
//break;
UWARN("KdTree OpenCV is broken, setting nearest neighbor strategy to KdForest FLANN...");
_nn = new FlannKdTreeNN(parameters);
break;
case kNNFlannKdTree:
_nn = new FlannKdTreeNN(parameters);
@@ -248,9 +252,9 @@ void VWDictionary::setNNStrategy(NNStrategy strategy, const ParametersMap & para
}
else if(!_nn)
{
this->update();
_dataTree = cv::Mat();
}
this->update();
}
}
@@ -364,7 +368,10 @@ void VWDictionary::update()
void VWDictionary::clear()
{
ULOGGER_DEBUG("%d words destroyed", _visualWords.size());
if(_visualWords.size())
{
UWARN("Visual dictionary would be already empty here (%d words still in dictionary).", _visualWords.size());
}
for(std::map<int, VisualWord *>::iterator i=_visualWords.begin(); i!=_visualWords.end(); ++i)
{
delete (*i).second;
@@ -373,6 +380,9 @@ void VWDictionary::clear()
_lastNewWordsAddedCount = 0;
_totalActiveReferences = 0;
_lastWordId = 0;
_dataTree = cv::Mat();
_mapIndexId.clear();
_unusedWords.clear();
}
int VWDictionary::getNextId()
@@ -467,6 +477,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
if(!_dataTree.empty())
{
//Find nearest neighbors
UDEBUG("newPts.total()=%d ", newPts.total());
_nn->search(newPts, results, dists, k, _maxLeafs);
ULOGGER_DEBUG("Time to find nn = %f s", timerLocal.ticks());
}
@@ -537,6 +548,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
_visualWords.insert(_visualWords.end(), std::pair<int, VisualWord *>(vw->id(), vw));
newWords.push_back(vw);
wordIds.push_back(vw->id());
UASSERT(vw->id()>0);
++newWordsCount;
}
else
@@ -544,6 +556,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
++dupWordsCount;
this->addWordRef(fullResults.begin()->second, signatureId);
wordIds.push_back(fullResults.begin()->second);
UASSERT(fullResults.begin()->second>0);
}
}
else if(fullResults.size())
@@ -552,6 +565,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
++dupWordsCount;
this->addWordRef(fullResults.begin()->second, signatureId);
wordIds.push_back(fullResults.begin()->second);
UASSERT(fullResults.begin()->second>0);
}
}
ULOGGER_DEBUG("naive search and add ref/words time = %f s", timerLocal.ticks());
@@ -601,12 +615,14 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
VisualWord * vw = new VisualWord(getNextId(), d, _dim, signatureId);
_visualWords.insert(_visualWords.end(), std::pair<int, VisualWord *>(vw->id(), vw));
wordIds.push_back(vw->id());
UASSERT(vw->id()>0);
}
else
{
++dupWordsCount;
this->addWordRef(results.begin()->second, signatureId);
wordIds.push_back(results.begin()->second);
UASSERT(results.begin()->second>0);
}
}
else if(results.size())
@@ -615,6 +631,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
++dupWordsCount;
this->addWordRef(results.begin()->second, signatureId);
wordIds.push_back(results.begin()->second);
UASSERT(results.begin()->second>0);
}
}
ULOGGER_DEBUG("Naive search time = %fs", timer.ticks());