i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 17:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated EpipolarGeometry methods

Browse Source 
Experimental: added OdometryMono in epipolar geometry test

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1982 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-12 15:25:15 +00:00
parent 6608ee5ef6
commit af31410590
9 changed files with 793 additions and 224 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/VWDictionary.cpp
+15 -2
View File
@@ -380,6 +380,8 @@ void VWDictionary::removeAllWordRef(int wordId, int signatureId)
std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
int signatureId)
{
UASSERT(signatureId > 0);
UDEBUG("id=%d descriptors=%d", signatureId, descriptors.rows);
UTimer timer;
std::list<int> wordIds;
@@ -389,11 +391,12 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
return wordIds;
}
int dim = 0;
int type = 0;
int type = -1;
if(_visualWords.size())
{
dim = _visualWords.begin()->second->getDescriptor().cols;
type = _visualWords.begin()->second->getDescriptor().type();
UASSERT(type == CV_32F || type == CV_8U);
}
if(dim && dim != descriptors.cols)
@@ -403,7 +406,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
}
dim = descriptors.cols;
if(type && type != descriptors.type())
if(type>=0 && type != descriptors.type())
{
UERROR("Descriptors (type=%d) are not the same type as already added words in dictionary(type=%d)", descriptors.type(), type);
return wordIds;
@@ -859,6 +862,16 @@ void VWDictionary::removeWords(const std::vector<VisualWord*> & words)
}
}
void VWDictionary::deleteUnusedWords()
{
std::vector<VisualWord*> unusedWords = uValues(_unusedWords);
removeWords(unusedWords);
for(unsigned int i=0; i<unusedWords.size(); ++i)
{
delete unusedWords[i];
}
}
void VWDictionary::exportDictionary(const char * fileNameReferences, const char * fileNameDescriptors) const
{
FILE* foutRef = 0;