VisualWord.cpp
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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 #include "rtabmap/core/VisualWord.h"
00029 #include "rtabmap/utilite/ULogger.h"
00030 #include "rtabmap/utilite/UStl.h"
00031 
00032 namespace rtabmap
00033 {
00034 
00035 VisualWord::VisualWord(int id, const cv::Mat & descriptor, int signatureId) :
00036         _id(id),
00037         _descriptor(descriptor),
00038         _saved(false),
00039         _totalReferences(0)
00040 {
00041         if(signatureId)
00042         {
00043                 addRef(signatureId);
00044         }
00045 }
00046 
00047 VisualWord::~VisualWord()
00048 {
00049 }
00050 
00051 void VisualWord::addRef(int signatureId)
00052 {
00053         std::map<int, int>::iterator iter = _references.find(signatureId);
00054         if(iter != _references.end())
00055         {
00056                 (*iter).second += 1;
00057         }
00058         else
00059         {
00060                 _references.insert(std::pair<int, int>(signatureId, 1));
00061         }
00062         ++_totalReferences;
00063 }
00064 
00065 int VisualWord::removeAllRef(int signatureId)
00066 {
00067         int removed = uTake(_references, signatureId, 0);
00068         _totalReferences -= removed;
00069         return removed;
00070 }
00071 
00072 } // namespace rtabmap


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