VisualWord.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #pragma once
29 
30 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
31 
32 #include <opencv2/core/core.hpp>
33 #include <map>
34 
35 namespace rtabmap
36 {
37 
39 {
40 public:
41  VisualWord(int id, const cv::Mat & descriptor, int signatureId = 0);
42  ~VisualWord();
43 
44  void addRef(int signatureId);
45  int removeAllRef(int signatureId);
46  unsigned long getMemoryUsed() const;
47 
48  int getTotalReferences() const {return _totalReferences;}
49  int id() const {return _id;}
50  const cv::Mat & getDescriptor() const {return _descriptor;}
51  const std::map<int, int> & getReferences() const {return _references;} // (signature id , occurrence in the signature)
52 
53  bool isSaved() const {return _saved;}
54  void setSaved(bool saved) {_saved = saved;}
55 
56 private:
57  int _id;
58  cv::Mat _descriptor;
59  bool _saved; // If it's saved to db
60 
62  std::map<int, int> _references; // (signature id , occurrence in the signature)
63  std::map<int, int> _oldReferences; // (signature id , occurrence in the signature)
64 };
65 
66 } // namespace rtabmap
const std::map< int, int > & getReferences() const
Definition: VisualWord.h:51
int id() const
Definition: VisualWord.h:49
bool isSaved() const
Definition: VisualWord.h:53
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
std::map< int, int > _oldReferences
Definition: VisualWord.h:63
int getTotalReferences() const
Definition: VisualWord.h:48
std::map< int, int > _references
Definition: VisualWord.h:62
const cv::Mat & getDescriptor() const
Definition: VisualWord.h:50
void setSaved(bool saved)
Definition: VisualWord.h:54


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:06