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Changed SMState interface (how the ownership of the image is transferred)

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@70 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-07 19:15:27 +00:00
parent 4ceeb78c8b
commit a0576be506
6 changed files with 36 additions and 36 deletions
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4
corelib/include/rtabmap/core/Camera.h
View File

@@ -47,7 +47,7 @@ public:
this->parseParameters(parameters);
}
virtual ~CamPostTreatment() {}
virtual SMState * process(IplImage * image);
virtual SMState * process(const IplImage * image) const;
virtual void parseParameters(const ParametersMap & parameters) {}
};
@@ -68,7 +68,7 @@ public:
this->parseParameters(parameters);
}
virtual ~CamKeypointTreatment();
virtual SMState * process(IplImage * image);
virtual SMState * process(const IplImage * image) const;
virtual void parseParameters(const ParametersMap & parameters);
DetectorStrategy detectorStrategy() const;
private:

3
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -75,6 +75,7 @@ public:
Rtabmap();
virtual ~Rtabmap();
// ownership is transferred
void process(SMState * data);
void dumpData();
@@ -110,7 +111,7 @@ private:
virtual void killCleanup();
virtual void startInit();
void process();
void addSMState(SMState * data);
void addSMState(SMState * data); // ownership is transferred
SMState * getSMState();
void setupLogFiles();
void releaseAllStrategies();

42
corelib/include/rtabmap/core/SMState.h
View File

@@ -34,22 +34,20 @@ namespace rtabmap {
class SMState
{
public:
// Constructor 0 : ownership is transferred
SMState(IplImage * image = 0) :
_image(image)
{}
// 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> > & sensors, const std::list<std::vector<float> > & actuators, IplImage * image = 0, const std::list<cv::KeyPoint> & keypoints = std::list<cv::KeyPoint>()) :
SMState(const std::list<std::vector<float> > & sensors, const std::list<std::vector<float> > & actuators) :
_sensors(sensors),
_actuators(actuators),
_image(image),
_keypoints(keypoints)
_image(0)
{}
// Constructor 2 : for convenience with ROS conversion...
// Sensors and actuators vectors will be split into a list with smaller vectors of length sensorStep and actuatorStep respectively.
// 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::vector<float> & sensors, int sensorStep, const std::vector<float> & actuators, int actuatorStep, IplImage * image = 0, const std::list<cv::KeyPoint> & keypoints = std::list<cv::KeyPoint>()) :
_image(image),
_keypoints(keypoints)
SMState(const std::vector<float> & sensors, int sensorStep, const std::vector<float> & actuators, int actuatorStep) :
_image(0)
{
if(sensorStep && sensors.size() % sensorStep != 0)
{
@@ -68,19 +66,6 @@ public:
_actuators.push_back(std::vector<float>(actuators.data()+i, actuators.data()+i+actuatorStep));
}
}
// Constructor 3 :
// rtabmap will automatically extract keypoints and descriptors from the image...
// take image ownership
SMState(IplImage * image) :
_image(image)
{}
// Constructor 4 :
// rtabmap will automatically extract keypoints and descriptors from the image...
// take image ownership
SMState(IplImage * image, const std::list<std::vector<float> > & actuators) :
_actuators(actuators),
_image(image)
{}
virtual ~SMState()
{
@@ -96,6 +81,17 @@ public:
const std::list<std::vector<float> > & getActuators() const {return _actuators;}
void setSensors(const std::list<std::vector<float> > & sensors) {_sensors=sensors;}
void setActuators(const std::list<std::vector<float> > & actuators) {_actuators=actuators;}
void setKeypoints(const std::list<cv::KeyPoint> & keypoints) {_keypoints = keypoints;}
//ownership is transferred
void setImage(IplImage * image)
{
if(_image)
{
cvReleaseImage(&_image);
}
_image = image;
}
void getSensorsMerged(std::vector<float> & sensors, int & step) const
{