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rtabmap: localization mode (run under fixed memory and fixed dictionary), optional retrieving of the last extracted words when calling rtabmap.process() (useful when in localization mode where the last location is deleted after the rtabmap process)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@882 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2013-06-10 18:54:11 +00:00
parent 30ab6dca0e
commit 6c656e7c57
6 changed files with 56 additions and 23 deletions
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3
corelib/include/rtabmap/core/Memory.h
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@@ -93,7 +93,8 @@ public:
float getSimilarityThreshold() const {return _similarityThreshold;}
std::map<int, int> getWeights() const;
float getSimilarityOnlyWithLast() const {return _rehearsalOnlyWithLast;}
const Signature * getLastSignature() const;
int getLastSignatureId() const;
const Signature * getLastWorkingSignature() const;
int getDatabaseMemoryUsed() const; // in bytes
double getDbSavingTime() const;
cv::Mat getImage(int signatureId) const;

4
corelib/include/rtabmap/core/Rtabmap.h
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@@ -53,8 +53,8 @@ public:
Rtabmap();
virtual ~Rtabmap();
void process(const cv::Mat & image, int id=0); // for convenience, an id is automatically generated if id=0
void process(const Image & image); // for convenience
void process(const cv::Mat & image, int id=0, std::multimap<int, cv::KeyPoint> * words = 0); // for convenience, an id is automatically generated if id=0
void process(const Image & image, std::multimap<int, cv::KeyPoint> * words = 0); // for convenience
void init(const ParametersMap & param, bool deleteMemory = true);
void init(const std::string & configFile = "", bool deleteMemory = true);