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