VisualWord.h
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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #pragma once
00029 
00030 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
00031 
00032 #include <opencv2/core/core.hpp>
00033 #include <map>
00034 
00035 namespace rtabmap
00036 {
00037 
00038 class RTABMAP_EXP VisualWord
00039 {
00040 public:
00041         VisualWord(int id, const cv::Mat & descriptor, int signatureId = 0);
00042         ~VisualWord();
00043 
00044         void addRef(int signatureId);
00045         int removeAllRef(int signatureId);
00046 
00047         int getTotalReferences() const {return _totalReferences;}
00048         int id() const {return _id;}
00049         const cv::Mat & getDescriptor() const {return _descriptor;}
00050         const std::map<int, int> & getReferences() const {return _references;} // (signature id , occurrence in the signature)
00051 
00052         bool isSaved() const {return _saved;}
00053         void setSaved(bool saved) {_saved = saved;}
00054 
00055 private:
00056         int _id;
00057         cv::Mat _descriptor;
00058         bool _saved; // If it's saved to db
00059 
00060         int _totalReferences;
00061         std::map<int, int> _references; // (signature id , occurrence in the signature)
00062         std::map<int, int> _oldReferences; // (signature id , occurrence in the signature)
00063 };
00064 
00065 } // namespace rtabmap


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:32