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merged attention branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-11 18:05:05 +00:00
parent f9033809a2
commit 2836d4c48c
216 changed files with 7983 additions and 94891 deletions
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26
tools/ImagesDbExtractor/main.cpp
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@@ -7,7 +7,7 @@
#include <utilite/UTimer.h>
#include <utilite/UConversion.h>
#include <utilite/UDirectory.h>
#include "rtabmap/core/SMMemory.h"
#include "rtabmap/core/Memory.h"
int main(int argc, char** argv)
{
@@ -22,15 +22,10 @@ int main(int argc, char** argv)
// Open database
std::string driverType = "sqlite3";
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), "false"));
rtabmap::SMMemory * memory = new rtabmap::SMMemory(parameters);
if(!memory)
{
UWARN("Can't create database driver \"%s\"", driverType.c_str());
}
else if(!memory->init(driverType, path))
rtabmap::Memory * memory = new rtabmap::Memory(parameters);
if(!memory->init(path))
{
UWARN("Can't open database \"%s\"", path.c_str());
}
@@ -46,17 +41,10 @@ int main(int argc, char** argv)
std::set<int> ids = memory->getAllSignatureIds();
for(std::set<int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
{
std::list<rtabmap::Sensor> sensors = memory->getRawData(*iter);
for(std::list<rtabmap::Sensor>::const_iterator jter=sensors.begin(); jter!=sensors.end(); ++jter)
{
int k=0;
if(jter->type() == rtabmap::Sensor::kTypeImage)
{
std::string fileName = uFormat("%d-%d.png", *iter, k++);
cv::imwrite(saveDirectory+fileName, jter->data());
UINFO("Saved %s", (saveDirectory+fileName).c_str());
}
}
cv::Mat image = memory->getImage(*iter);
std::string fileName = uFormat("%d.png", *iter);
cv::imwrite(saveDirectory+fileName, image);
UINFO("Saved %s", (saveDirectory+fileName).c_str());
}
}