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
2026-10-04 09:07:47 +08:00 · 2011-06-05 14:45:39 +00:00
commit 2d73090f3a
338 changed files with 56859 additions and 0 deletions
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+/*
+ * 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>
+
+//TODO : add copy constructor
+
+namespace rtabmap
+{
+
+class Memory;
+typedef std::map<int, std::list<std::vector<float> > > NeighborsMap;
+
+class RTABMAP_EXP Signature
+{
+public:
+	static CvMat * compressImage(const IplImage * image);
+	static IplImage * decompressImage(const CvMat * imageCompressed);
+
+public:
+	virtual ~Signature();
+
+	/**
+	 * Must return a value between >=0 and <=1 (1 means 100% similarity)
+	 */
+	virtual float compareTo(const Signature * signature) const = 0;
+	virtual bool isBadSignature() const = 0;
+	virtual std::string signatureType() const = 0;
+
+	const IplImage * getImage() const;
+	void setImage(const IplImage * image);
+
+	int id() const {return _id;}
+
+	void addNeighbors(const NeighborsMap & neighbors);
+	void addNeighbor(int neighborId, const std::list<std::vector<float> > & actions);
+	void removeNeighbor(int neighborId);
+	bool hasNeighbor(int neighborId) const {return _neighbors.find(neighborId) != _neighbors.end();}
+	void setWeight(int weight) {_weight = weight;}
+	void setLoopClosureId(int loopClosureId) {_loopClosureId = loopClosureId;}
+	void setWidth(int width) {_width = width;}
+	void setHeight(int height) {_height = height;}
+	void setSaved(bool saved) {_saved = saved;}
+
+	const NeighborsMap & getNeighbors() const {return _neighbors;}
+	int getWeight() const {return _weight;}
+	int getLoopClosureId() const {return _loopClosureId;}
+	int getWidth() const {return _width;}
+	int getHeight() const {return _height;}
+	bool isSaved() const {return _saved;}
+
+protected:
+	Signature(int id, const IplImage * image = 0, bool keepImage = false);
+
+private:
+	int _id;
+	NeighborsMap _neighbors; // id, [action1, action2, ...] All actions must have the same length
+	int _weight;
+	int _loopClosureId;
+	IplImage * _image;
+	bool _saved; // If it's saved to bd
+	int _width; // pixels
+	int _height; // pixels
+};
+
+
+class KeypointDetector;
+class VWDictionary;
+
+class RTABMAP_EXP KeypointSignature :
+	public Signature
+{
+public:
+	KeypointSignature(
+			const std::multimap<int, cv::KeyPoint> & words,
+			int id,
+			const IplImage * image = 0,
+			bool keepRawData = false);
+	KeypointSignature(int id);
+
+	virtual ~KeypointSignature();
+
+	virtual float compareTo(const Signature * signature) const;
+	virtual bool isBadSignature() const;
+	virtual std::string signatureType() const {return "KeypointSignature";};
+
+	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;}
+
+private:
+	// 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>
+	bool _enabled;
+
+};
+
+
+} // namespace rtabmap