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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/VisualWord.cpp
+2 -16
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@@ -24,22 +24,12 @@
namespace rtabmap
{
VisualWord::VisualWord(int id, const float * descriptor, int dim, int signatureId) :
VisualWord::VisualWord(int id, const cv::Mat & descriptor, int signatureId) :
_id(id),
_descriptor(descriptor),
_saved(false),
_totalReferences(0)
{
_descriptor = new float[dim];
if(_descriptor && descriptor)
{
memcpy(_descriptor, descriptor, dim*sizeof(float));
}
else
{
ULOGGER_ERROR("not enough memory to create the descriptor...");
}
_dim = dim;
if(signatureId)
{
addRef(signatureId);
@@ -48,10 +38,6 @@ VisualWord::VisualWord(int id, const float * descriptor, int dim, int signatureI
VisualWord::~VisualWord()
{
if(_descriptor)
{
delete [] _descriptor;
}
}
void VisualWord::addRef(int signatureId)