merged attention branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-10-07 18:47:48 +08:00 · 2012-12-11 18:05:05 +00:00
parent f9033809a2
commit 2836d4c48c
216 changed files with 7981 additions and 94889 deletions
@@ -0,0 +1,108 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <map>
+#include <list>
+#include <vector>
+#include <set>
+
+namespace rtabmap
+{
+
+class Memory;
+
+class RTABMAP_EXP Signature
+{
+public:
+	Signature(int id,
+			const std::multimap<int, cv::KeyPoint> & words,
+			const cv::Mat & image = cv::Mat());
+	virtual ~Signature();
+
+	/**
+	 * Must return a value between >=0 and <=1 (1 means 100% similarity).
+	 */
+	float compareTo(const Signature * signature) const;
+	bool isBadSignature() const;
+
+	int id() const {return _id;}
+
+	void addNeighbors(const std::set<int> & neighbors);
+	void addNeighbor(int neighbor);
+	void removeNeighbor(int neighborId);
+	void removeNeighbors();
+	bool hasNeighbor(int neighborId) const {return _neighbors.find(neighborId) != _neighbors.end();}
+	void setWeight(int weight) {if(_weight!=weight)_modified=true;_weight = weight;}
+	void setLoopClosureIds(const std::set<int> & loopClosureIds) {_loopClosureIds = loopClosureIds;_neighborsModified=true;}
+	void addLoopClosureId(int loopClosureId) {if(loopClosureId && _loopClosureIds.insert(loopClosureId).second)_neighborsModified=true;}
+	void removeLoopClosureId(int loopClosureId) {if(loopClosureId && _loopClosureIds.erase(loopClosureId))_neighborsModified=true;}
+	bool hasLoopClosureId(int loopClosureId) const {return _loopClosureIds.find(loopClosureId) != _loopClosureIds.end();}
+	void setChildLoopClosureIds(std::set<int> & childLoopClosureIds) {_childLoopClosureIds = childLoopClosureIds;_neighborsModified=true;}
+	void addChildLoopClosureId(int childLoopClosureId) {if(childLoopClosureId && _childLoopClosureIds.insert(childLoopClosureId).second)_neighborsModified=true;}
+	void setSaved(bool saved) {_saved = saved;}
+	void setModified(bool modified) {_modified = modified; _neighborsModified = modified;}
+	void changeNeighborIds(int idFrom, int idTo);
+
+	const std::set<int> & getNeighbors() const {return _neighbors;}
+	int getWeight() const {return _weight;}
+	const std::set<int> & getLoopClosureIds() const {return _loopClosureIds;}
+	const std::set<int> & getChildLoopClosureIds() const {return _childLoopClosureIds;}
+	bool isSaved() const {return _saved;}
+	bool isModified() const {return _modified || _neighborsModified;}
+	bool isNeighborsModified() const {return _neighborsModified;}
+
+	//visual words stuff
+	void removeAllWords();
+	void removeWord(int wordId);
+	void changeWordsRef(int oldWordId, int activeWordId);
+	void setWords(const std::multimap<int, cv::KeyPoint> & words) {_enabled = false;_words = words;}
+	bool isEnabled() const {return _enabled;}
+	void setEnabled(bool enabled) {_enabled = enabled;}
+	const std::multimap<int, cv::KeyPoint> & getWords() const {return _words;}
+	const std::map<int, int> & getWordsChanged() const {return _wordsChanged;}
+	void setImage(const cv::Mat & image) {_image = image;}
+	const cv::Mat & getImage() const {return _image;}
+
+private:
+	int _id;
+	std::set<int> _neighbors; // id
+	int _weight;
+	std::set<int> _loopClosureIds;
+	std::set<int> _childLoopClosureIds;
+	bool _saved; // If it's saved to bd
+	bool _modified;
+	bool _neighborsModified; // Optimization when updating signatures in database
+
+	// Contains all words (Some can be duplicates -> if a word appears 2
+	// times in the signature, it will be 2 times in this list)
+	// Words match with the CvSeq keypoints and descriptors
+	std::multimap<int, cv::KeyPoint> _words; // word <id, keypoint>
+	std::map<int, int> _wordsChanged; // <oldId, newId>
+	bool _enabled;
+	cv::Mat _image;
+};
+
+} // namespace rtabmap