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Refactored OdometryBOW class to handle binary descriptors too (removed OdometryBin).

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Odometry: added "local map history" option to increase precision
Added new Nearest neighbor options (LSH, brute Force, GPU brute Force)
Added FREAK/ORB features
Increased version to 0.6.5

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1431 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-22 03:33:56 +00:00
parent bff3acf273
commit 65b79cd7a2
30 changed files with 2812 additions and 3045 deletions
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corelib/src/Rtabmap.cpp
+7 -6
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@@ -26,6 +26,7 @@
#include "rtabmap/core/EpipolarGeometry.h"
#include "rtabmap/core/Memory.h"
#include "rtabmap/core/VWDictionary.h"
#include "BayesFilter.h"
#include <rtabmap/utilite/ULogger.h>
@@ -1406,7 +1407,7 @@ bool Rtabmap::process(const Image & image)
{
lcHypothesisReactivated = sLoop->isSaved()?1.0f:0.0f;
}
dictionarySize = _memory->getVWDictionarySize();
dictionarySize = _memory->getVWDictionary()->getVisualWords().size();
refWordsCount = (int)signature->getWords().size();
refUniqueWordsCount = (int)uUniqueKeys(signature->getWords()).size();
@@ -1711,6 +1712,11 @@ bool Rtabmap::process(const Image & image)
return true;
}
bool Rtabmap::process(const cv::Mat & image, int id)
{
return this->process(Image(image, id));
}
// SETTERS
void Rtabmap::setTimeThreshold(float maxTimeAllowed)
{
@@ -1804,11 +1810,6 @@ void Rtabmap::rejectLoopClosure(int oldId, int newId)
}
}
bool Rtabmap::process(const cv::Mat & image, int id)
{
return this->process(Image(image, id));
}
void Rtabmap::dumpData() const
{
UDEBUG("");