i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

moved rtabmap-ros-pkg project in this project

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-05 14:45:39 +00:00
commit 2d73090f3a
338 changed files with 56859 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
Matlab/updateDictionary.m Normal file
View File

@@ -0,0 +1,29 @@
function DU = updateDictionary(Dict, Sign)
%UPDATEDICTIONARY Update the dictionary with the new signature (place)
% DU = updateDictionary(Dict, Sign)
%
% DU = dictionary updated
% dictionary = [wordId1 SignRefIds...; wordId2 SignRefIds...; ...]
% sign = [signId WordRefIds...]
signId = Sign(1);
Sign = Sign(Sign~=0);
for i=2:length(Sign)
indexWord = [];
if isempty(Dict) ~= 1
indexWord = find(Dict(:,1) == Sign(i),1);
end
if isempty(indexWord) == 1
Dict(size(Dict,1)+1,1) = Sign(i); %Word id
Dict(size(Dict,1),2) = signId; %Signature id ref
else
ii = 1:length(Dict(indexWord,1:end));
indexesZero = ii(Dict(indexWord,1:end) == 0);
if isempty(indexesZero)
Dict(indexWord, size(Dict,2)+1) = signId;
else
Dict(indexWord, indexesZero(1)) = signId;
end
end
end
DU = Dict;