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0.11.2: First Google Tango release

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matlabbe
2016-02-15 19:35:24 -05:00
parent 8dc01c491b
commit c6a46a7238
415 changed files with 73300 additions and 3193 deletions
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corelib/src/Signature.cpp
+8
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@@ -195,8 +195,10 @@ void Signature::changeWordsRef(int oldWordId, int activeWordId)
if(kps.size())
{
std::list<cv::Point3f> pts = uValues(_words3, oldWordId);
std::list<cv::Mat> descriptors = uValues(_wordsDescriptors, oldWordId);
_words.erase(oldWordId);
_words3.erase(oldWordId);
_wordsDescriptors.erase(oldWordId);
_wordsChanged.insert(std::make_pair(oldWordId, activeWordId));
for(std::list<cv::KeyPoint>::const_iterator iter=kps.begin(); iter!=kps.end(); ++iter)
{
@@ -206,6 +208,10 @@ void Signature::changeWordsRef(int oldWordId, int activeWordId)
{
_words3.insert(std::pair<int, cv::Point3f>(activeWordId, (*iter)));
}
for(std::list<cv::Mat>::const_iterator iter=descriptors.begin(); iter!=descriptors.end(); ++iter)
{
_wordsDescriptors.insert(std::pair<int, cv::Mat>(activeWordId, (*iter)));
}
}
}
@@ -218,12 +224,14 @@ void Signature::removeAllWords()
{
_words.clear();
_words3.clear();
_wordsDescriptors.clear();
}
void Signature::removeWord(int wordId)
{
_words.erase(wordId);
_words3.erase(wordId);
_wordsDescriptors.clear();
}
cv::Mat Signature::getPoseCovariance() const