moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-10-10 03:49:50 +08:00 · 2011-06-05 14:45:39 +00:00
commit 2d73090f3a
338 changed files with 56859 additions and 0 deletions
@@ -0,0 +1,97 @@
+/*
+ * 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/>.
+ */
+
+#ifndef SMPAIRVARIANT_H_
+#define SMPAIRVARIANT_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <list>
+#include <vector>
+
+namespace rtabmap {
+
+// SensoriMotor state
+class SMState
+{
+public:
+	// Constructor 1
+	// image and/or keypoints can be passed for debugging (rtabmap will not re-extract keypoints/descriptors from the image if not null, only for debug/visualization)
+	// take image ownership
+	SMState(const std::list<std::vector<float> > & sensorStates, const std::list<std::vector<float> > & actuatorStates, IplImage * image = 0, const std::list<cv::KeyPoint> & keypoints = std::list<cv::KeyPoint>()) :
+		_sensorStates(sensorStates),
+		_actuatorStates(actuatorStates),
+		_image(image),
+		_keypoints(keypoints),
+		_descriptorsProvided(true)
+	{}
+	// Constructor 2 :
+	// rtabmap will automatically extract keypoints and descriptors from the image...
+	// take image ownership
+	SMState(IplImage * image, const std::list<std::vector<float> > & actuatorStates = std::list<std::vector<float> >()) :
+		_actuatorStates(actuatorStates),
+		_image(image),
+		_descriptorsProvided(false)
+	{}
+	virtual ~SMState()
+	{
+		if(_image)
+			cvReleaseImage(&_image);
+	}
+
+	bool isDescriptorsProvided() const {return _descriptorsProvided;}
+	const IplImage * getImage() const {return _image;}
+	const std::list<cv::KeyPoint> & getKeypoints() const {return _keypoints;}
+	const std::list<std::vector<float> > & getSensorStates() const {return _sensorStates;}
+	const std::list<std::vector<float> > & getActuatorStates() const {return _actuatorStates;}
+
+	void setSensorStates(const std::list<std::vector<float> > & sensorStates) {_sensorStates=sensorStates;}
+	void setActuatorStates(const std::list<std::vector<float> > & actuatorStates) {_actuatorStates=actuatorStates;}
+
+private:
+	std::list<std::vector<float> > _sensorStates; // descriptors
+	std::list<std::vector<float> > _actuatorStates;
+	IplImage * _image;
+	std::list<cv::KeyPoint> _keypoints;
+	bool _descriptorsProvided;
+};
+
+// Sensorimotor state event
+// Take ownership of the state
+class SMStateEvent : public UEvent
+{
+public:
+	SMStateEvent(SMState * state) :
+		UEvent(0),
+		_state(state) {}
+
+	virtual ~SMStateEvent() {if(_state) delete _state;}
+	const SMState * getData() const {return _state;}
+	SMState * getDataOwnership() {SMState * state = _state; _state=0; return state;}
+	virtual std::string getClassName() const {return "SMStateEvent";} // TODO : macro?
+
+private:
+	SMState * _state;
+};
+
+}
+
+#endif /* SMPAIRVARIANT_H_ */