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Refactored OdometryBOW class to handle binary descriptors too (removed OdometryBin).

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Odometry: added "local map history" option to increase precision
Added new Nearest neighbor options (LSH, brute Force, GPU brute Force)
Added FREAK/ORB features
Increased version to 0.6.5

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1431 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-22 03:33:56 +00:00
parent bff3acf273
commit 65b79cd7a2
30 changed files with 2812 additions and 3045 deletions
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corelib/src/DBDriverSqlite3.cpp
+8 -4
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@@ -1172,7 +1172,9 @@ void DBDriverSqlite3::loadQuery(VWDictionary * dictionary) const
{
UERROR("Saved buffer size (%d) is not the same as descriptor size (%d)", dRealSize/sizeof(float), descriptorSize);
}
VisualWord * vw = new VisualWord(id, &((const float *)descriptor)[0], descriptorSize, 0);
cv::Mat d(1, descriptorSize, CV_32F);
memcpy(d.data, descriptor, dRealSize);
VisualWord * vw = new VisualWord(id, d);
vw->setSaved(true);
dictionary->addWord(vw);
}
@@ -1244,7 +1246,9 @@ void DBDriverSqlite3::loadWordsQuery(const std::set<int> & wordIds, std::list<Vi
UERROR("Saved buffer size (%d) is not the same as descriptor size (%d)", dRealSize/sizeof(float), descriptorSize);
}
VisualWord * vw = new VisualWord(*iter, &((const float *)descriptor)[0], descriptorSize);
cv::Mat d(1, descriptorSize, CV_32F);
memcpy(d.data, descriptor, dRealSize);
VisualWord * vw = new VisualWord(*iter, d);
if(vw)
{
vw->setSaved(true);
@@ -1739,9 +1743,9 @@ void DBDriverSqlite3::saveQuery(const std::list<VisualWord *> & words) const
{
rc = sqlite3_bind_int(ppStmt, 1, w->id());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_int(ppStmt, 2, w->getDim());
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(), w->getDim()*sizeof(float), SQLITE_STATIC);
rc = sqlite3_bind_blob(ppStmt, 3, w->getDescriptor().data, w->getDescriptor().cols*sizeof(float), SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
//execute query