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

corelib/src/VisualWord.cpp

@@ -0,0 +1,78 @@
+/*
+ * 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/>.
+ */
+
+#include "VisualWord.h"
+#include "utilite/ULogger.h"
+#include "utilite/UStl.h"
+
+namespace rtabmap
+{
+
+VisualWord::VisualWord(int id, const float * descriptor, unsigned int dim, int signatureId) :
+	_id(id),
+	_saved(false),
+	_totalReferences(0)
+{
+	_descriptor = new float[dim];
+	if(_descriptor && descriptor)
+	{
+		memcpy(_descriptor, descriptor, dim*sizeof(float));
+	}
+	else
+	{
+		ULOGGER_ERROR("not enough memory to create the descriptor...");
+	}
+	_dim = dim;
+
+	if(signatureId)
+	{
+		addRef(signatureId);
+	}
+}
+
+VisualWord::~VisualWord()
+{
+	if(_descriptor)
+	{
+		delete [] _descriptor;
+	}
+}
+
+void VisualWord::addRef(int signatureId)
+{
+	std::map<int, int>::iterator iter = _references.find(signatureId);
+	if(iter != _references.end())
+	{
+		(*iter).second += 1;
+	}
+	else
+	{
+		_references.insert(std::pair<int, int>(signatureId, 1));
+	}
+	++_totalReferences;
+}
+
+int VisualWord::removeAllRef(int signatureId)
+{
+	int removed = uTake(_references, signatureId, 0);
+	_totalReferences -= removed;
+	return removed;
+}
+
+} // namespace rtabmap