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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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15
corelib/src/Camera.cpp
View File

@@ -36,13 +36,10 @@
namespace rtabmap
{
SMState * CamPostTreatment::process(IplImage * image)
SMState * CamPostTreatment::process(const IplImage * image) const
{
if(image)
{
return new SMState(image);
}
return 0;
//no threatment...
return new SMState();
}
CamKeypointTreatment::~CamKeypointTreatment()
@@ -56,13 +53,14 @@ CamKeypointTreatment::~CamKeypointTreatment()
delete _keypointDescriptor;
}
}
SMState * CamKeypointTreatment::process(IplImage * image)
SMState * CamKeypointTreatment::process(const IplImage * image) const
{
if(image)
{
std::list<cv::KeyPoint> keypoints = _keypointDetector->generateKeypoints(image);
std::list<std::vector<float> > descriptors = _keypointDescriptor->generateDescriptors(image, keypoints);
SMState * smState = new SMState(descriptors, std::list<std::vector<float> >(), image, keypoints);
SMState * smState = new SMState(descriptors, std::list<std::vector<float> >());
smState->setKeypoints(keypoints);
return smState;
}
return 0;
@@ -292,6 +290,7 @@ void Camera::process()
SMState * smState = _postThreatement->process(image);
if(smState)
{
smState->setImage(image);
this->post(new SMStateEvent(smState));
}
double elapsed = timer.ticks();

2
corelib/src/Rtabmap.cpp
View File

@@ -1243,6 +1243,7 @@ void Rtabmap::process()
delete smState;
}
// ownership is transferred
void Rtabmap::addSMState(SMState * data)
{
ULOGGER_DEBUG("");
@@ -1361,6 +1362,7 @@ void Rtabmap::setWorkingDirectory(std::string path)
}
}
// ownership is transferred
void Rtabmap::process(SMState * data)
{
if(!this->isRunning())