MERGE branch STM 325:449 into trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@450 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-10-09 19:19:49 +08:00 · 2012-03-03 01:46:30 +00:00
parent c4aff5f20a
commit a2eb8bcab6
100 changed files with 76652 additions and 5164 deletions
@@ -0,0 +1,64 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef SIMPLEMEMORY_H_
+#define SIMPLEMEMORY_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include "Memory.h"
+
+namespace rtabmap {
+
+class ColorTable;
+class SMSignature;
+
+class RTABMAP_EXP SMMemory : public Memory
+{
+public:
+	SMMemory(const ParametersMap & parameters = ParametersMap());
+	virtual ~SMMemory();
+	virtual void parseParameters(const ParametersMap & parameters);
+	virtual bool init(const std::string & dbDriverName, const std::string & dbUrl, bool dbOverwritten = false, const ParametersMap & parameters = ParametersMap());
+	virtual std::map<int, float> computeLikelihood(const Signature * signature, const std::list<int> & ids, float & maximumScore);
+	virtual std::set<int> reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, double & timeDbAccess);
+	void setRoi(const std::string & roi);
+	void setVotingScheme(bool useVotingScheme);
+	void setColorTable(int size);
+
+protected:
+	virtual void moveToTrash(Signature * s);
+	virtual Signature * getSignatureLtMem(int id);
+
+private:
+	virtual void copyData(const Signature * from, Signature * to);
+	virtual Signature * createSignature(int id, const SMState * rawData, bool keepRawData=false);
+	void updateDictionary(const Signature * s);
+
+private:
+	bool _useLogPolar;
+	bool _useVotingScheme;
+	ColorTable * _colorTable;
+	bool _useMotionMask;
+	std::vector<std::map<int, std::set<int> > > _dictionary;
+};
+
+}
+
+#endif /* KEYPOINTMEMORY_H_ */