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Enabled binary visual words for dictionary (for loop closure detection).

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1677 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-09 21:54:32 +00:00
parent e687302ce0
commit c8593df7eb
10 changed files with 102 additions and 30 deletions
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corelib/src/DBDriverSqlite3.cpp
+38 -7
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@@ -1271,11 +1271,22 @@ void DBDriverSqlite3::loadQuery(VWDictionary * dictionary) const
descriptor = sqlite3_column_blob(ppStmt, index); // VisualWord descriptor array
dRealSize = sqlite3_column_bytes(ppStmt, index++);
if(dRealSize/int(sizeof(float)) != descriptorSize)
cv::Mat d;
if(dRealSize == descriptorSize)
{
UERROR("Saved buffer size (%d) is not the same as descriptor size (%d)", dRealSize/sizeof(float), descriptorSize);
// CV_8U binary descriptors
d = cv::Mat(1, descriptorSize, CV_8U);
}
cv::Mat d(1, descriptorSize, CV_32F);
else if(dRealSize/int(sizeof(float)) == descriptorSize)
{
// CV_32F
d = cv::Mat(1, descriptorSize, CV_32F);
}
else
{
UFATAL("Saved buffer size (%d bytes) is not the same as descriptor size (%d)", dRealSize, descriptorSize);
}
memcpy(d.data, descriptor, dRealSize);
VisualWord * vw = new VisualWord(id, d);
vw->setSaved(true);
@@ -1344,12 +1355,22 @@ void DBDriverSqlite3::loadWordsQuery(const std::set<int> & wordIds, std::list<Vi
descriptor = sqlite3_column_blob(ppStmt, index); // VisualWord descriptor array
dRealSize = sqlite3_column_bytes(ppStmt, index++);
if(dRealSize/int(sizeof(float)) != descriptorSize)
cv::Mat d;
if(dRealSize == descriptorSize)
{
UERROR("Saved buffer size (%d) is not the same as descriptor size (%d)", dRealSize/sizeof(float), descriptorSize);
// CV_8U binary descriptors
d = cv::Mat(1, descriptorSize, CV_8U);
}
else if(dRealSize/int(sizeof(float)) == descriptorSize)
{
// CV_32F
d = cv::Mat(1, descriptorSize, CV_32F);
}
else
{
UFATAL("Saved buffer size (%d bytes) is not the same as descriptor size (%d)", dRealSize, descriptorSize);
}
cv::Mat d(1, descriptorSize, CV_32F);
memcpy(d.data, descriptor, dRealSize);
VisualWord * vw = new VisualWord(*iter, d);
if(vw)
@@ -1848,7 +1869,17 @@ void DBDriverSqlite3::saveQuery(const std::list<VisualWord *> & words) const
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_int(ppStmt, 2, w->getDescriptor().cols);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_blob(ppStmt, 3, w->getDescriptor().data, w->getDescriptor().cols*sizeof(float), SQLITE_STATIC);
UASSERT(w->getDescriptor().type() == CV_32F || w->getDescriptor().type() == CV_8U);
if(w->getDescriptor().type() == CV_32F)
{
// CV_32F
rc = sqlite3_bind_blob(ppStmt, 3, w->getDescriptor().data, w->getDescriptor().cols*sizeof(float), SQLITE_STATIC);
}
else
{
// CV_8U
rc = sqlite3_bind_blob(ppStmt, 3, w->getDescriptor().data, w->getDescriptor().cols*sizeof(char), SQLITE_STATIC);
}
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
//execute query