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

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@70 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/ConsoleApp/main.cpp

@@ -417,11 +417,13 @@ int main(int argc, char * argv[])
 				v[0] = 2;
 				v[1] = 0;
 				teleopActions.push_back(v);
-				smState = new SMState(image, teleopActions);
+				smState = new SMState(std::list<std::vector<float> >(), teleopActions);
+				smState->setImage(image);
 			}
 			else
 			{
-				smState = new SMState(image, actions);
+				smState = new SMState(std::list<std::vector<float> >(), actions);
+				smState->setImage(image);
 			}
 			rtabmap->process(smState);
 			loopClosureId = rtabmap->getLoopClosureId();

corelib/include/rtabmap/core/Camera.h

@@ -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:

corelib/include/rtabmap/core/Rtabmap.h

@@ -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();

corelib/include/rtabmap/core/SMState.h

@@ -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)
+	SMState(const std::list<std::vector<float> > & sensors, const std::list<std::vector<float> > & actuators) :
-	// 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>()) :
 		_sensors(sensors),
 		_actuators(actuators),
-		_image(image),
+		_image(0)
-		_keypoints(keypoints)
 	{}
 	// 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)
+	SMState(const std::vector<float> & sensors, int sensorStep, const std::vector<float> & actuators, int actuatorStep) :
-	// take image ownership
+		_image(0)
-	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)
 	{
 		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
 	{

corelib/src/Camera.cpp

@@ -36,13 +36,10 @@
 namespace rtabmap
 {
 
-SMState * CamPostTreatment::process(IplImage * image)
+SMState * CamPostTreatment::process(const IplImage * image) const
 {
-	if(image)
+	//no threatment...
-	{
+	return new SMState();
-		return new SMState(image);
-	}
-	return 0;
 }
 
 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();

corelib/src/Rtabmap.cpp

@@ -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())