Generic Loop detector. More...
#include <TemplatedLoopDetector.h>
Classes | |
| struct | Parameters |
| Parameters to create a loop detector. More... | |
| struct | tIsland |
| Matching island. More... | |
| struct | tTemporalWindow |
| Temporal consistency window. More... | |
Public Member Functions | |
| TemplatedLoopDetector (const Parameters ¶ms=Parameters()) | |
| TemplatedLoopDetector (const TemplatedVocabulary< TDescriptor, F > &voc, const Parameters ¶ms=Parameters()) | |
| TemplatedLoopDetector (const TemplatedDatabase< TDescriptor, F > &db, const Parameters ¶ms=Parameters()) | |
| template<class T > | |
| TemplatedLoopDetector (const T &db, const Parameters ¶ms=Parameters()) | |
| virtual | ~TemplatedLoopDetector (void) |
| const TemplatedDatabase < TDescriptor, F > & | getDatabase () const |
| const TemplatedVocabulary < TDescriptor, F > & | getVocabulary () const |
| template<class T > | |
| void | setDatabase (const T &db) |
| void | setVocabulary (const TemplatedVocabulary< TDescriptor, F > &voc) |
| void | allocate (int nentries, int nkeys=0) |
| bool | detectLoop (const std::vector< cv::KeyPoint > &keys, const std::vector< TDescriptor > &descriptors, DetectionResult &match) |
| void | clear () |
Protected Member Functions | |
| void | removeLowScores (QueryResults &q, double threshold) const |
| void | computeIslands (QueryResults &q, vector< tIsland > &islands) const |
| double | calculateIslandScore (const QueryResults &q, unsigned int i_first, unsigned int i_last) const |
| void | updateTemporalWindow (const tIsland &matched_island, EntryId entry_id) |
| int | getConsistentEntries () const |
| bool | isGeometricallyConsistent_DI (EntryId old_entry, const std::vector< cv::KeyPoint > &keys, const std::vector< TDescriptor > &descriptors, const FeatureVector &curvec) const |
| bool | isGeometricallyConsistent_Flann (EntryId old_entry, const std::vector< cv::KeyPoint > &keys, const std::vector< TDescriptor > &descriptors, cv::FlannBasedMatcher &flann_structure) const |
| void | getFlannStructure (const std::vector< TDescriptor > &descriptors, cv::FlannBasedMatcher &flann_structure) const |
| bool | isGeometricallyConsistent_Exhaustive (const std::vector< cv::KeyPoint > &old_keys, const std::vector< TDescriptor > &old_descriptors, const std::vector< cv::KeyPoint > &cur_keys, const std::vector< TDescriptor > &cur_descriptors) const |
| void | getMatches_neighratio (const std::vector< TDescriptor > &A, const vector< unsigned int > &i_A, const vector< TDescriptor > &B, const vector< unsigned int > &i_B, vector< unsigned int > &i_match_A, vector< unsigned int > &i_match_B) const |
Protected Attributes | |
|
TemplatedDatabase< TDescriptor, F > * | m_database |
| Database. | |
| vector< vector< cv::KeyPoint > > | m_image_keys |
| KeyPoints of images. | |
| vector< vector< TDescriptor > > | m_image_descriptors |
| Descriptors of images. | |
| BowVector | m_last_bowvec |
| Last bow vector added to database. | |
| tTemporalWindow | m_window |
| Temporal consistency window. | |
| Parameters | m_params |
| Parameters of loop detector. | |
| DVision::FSolver | m_fsolver |
| To compute the fundamental matrix. | |
Generic Loop detector.
TDescriptor: class of descriptor F: class of descriptor functions
| DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::TemplatedLoopDetector | ( | const Parameters & | params = Parameters() |
) | [inline] |
Empty constructor
| DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::TemplatedLoopDetector | ( | const TemplatedVocabulary< TDescriptor, F > & | voc, | |
| const Parameters & | params = Parameters() | |||
| ) | [inline] |
Creates a loop detector with the given parameters and with a BoW2 database with the given vocabulary
| voc | vocabulary | |
| params | loop detector parameters |
| DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::TemplatedLoopDetector | ( | const TemplatedDatabase< TDescriptor, F > & | db, | |
| const Parameters & | params = Parameters() | |||
| ) | [inline] |
Creates a loop detector with a copy of the given database, but clearing its contents
| db | database to copy | |
| params | loop detector parameters |
| DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::TemplatedLoopDetector | ( | const T & | db, | |
| const Parameters & | params = Parameters() | |||
| ) | [inline] |
Creates a loop detector with a copy of the given database, but clearing its contents
| T | class derived from TemplatedDatabase | |
| db | database to copy | |
| params | loop detector parameters |
| DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::~TemplatedLoopDetector | ( | void | ) | [inline, virtual] |
Destructor
| void DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::allocate | ( | int | nentries, | |
| int | nkeys = 0 | |||
| ) | [inline] |
Allocates some memory for the first entries
| nentries | number of expected entries | |
| nkeys | number of keypoints per image expected |
| double DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::calculateIslandScore | ( | const QueryResults & | q, | |
| unsigned int | i_first, | |||
| unsigned int | i_last | |||
| ) | const [inline, protected] |
Returns the score of the island composed of the entries of q whose indices are in [i_first, i_last] (both included)
| q | ||
| i_first | first index of q of the island | |
| i_last | last index of q of the island |
| void DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::clear | ( | ) | [inline] |
Resets the detector and clears the database, such that the next entry will be 0 again
| void DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::computeIslands | ( | QueryResults & | q, | |
| vector< tIsland > & | islands | |||
| ) | const [inline, protected] |
Returns the islands of the given matches in ascending order of entry ids
| q | ||
| islands | (out) computed islands |
| bool DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::detectLoop | ( | const std::vector< cv::KeyPoint > & | keys, | |
| const std::vector< TDescriptor > & | descriptors, | |||
| DetectionResult & | match | |||
| ) | [inline] |
Adds the given tuple <keys, descriptors, current_t> to the database and returns the match if any
| keys | keypoints of the image | |
| descriptors | descriptors associated to the given keypoints | |
| match | (out) match or failing information |
| int DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::getConsistentEntries | ( | ) | const [inline, protected] |
Returns the number of consistent islands in the temporal window
| const TemplatedDatabase< TDescriptor, F > & DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::getDatabase | ( | ) | const [inline] |
Retrieves a reference to the database used by the loop detector
| void DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::getFlannStructure | ( | const std::vector< TDescriptor > & | descriptors, | |
| cv::FlannBasedMatcher & | flann_structure | |||
| ) | const [inline, protected] |
Creates a flann structure from a set of descriptors to perform queries
| descriptors | ||
| flann_structure | (out) flann matcher |
| void DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::getMatches_neighratio | ( | const std::vector< TDescriptor > & | A, | |
| const vector< unsigned int > & | i_A, | |||
| const vector< TDescriptor > & | B, | |||
| const vector< unsigned int > & | i_B, | |||
| vector< unsigned int > & | i_match_A, | |||
| vector< unsigned int > & | i_match_B | |||
| ) | const [protected] |
Calculate the matches between the descriptors A[i_A] and the descriptors B[i_B]. Applies a left-right matching without neighbour ratio
| A | set A of descriptors | |
| i_A | only descriptors A[i_A] will be checked | |
| B | set B of descriptors | |
| i_B | only descriptors B[i_B] will be checked | |
| i_match_A | (out) indices of descriptors matched (s.t. A[i_match_A]) | |
| i_match_B | (out) indices of descriptors matched (s.t. B[i_match_B]) |
| const TemplatedVocabulary< TDescriptor, F > & DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::getVocabulary | ( | ) | const [inline] |
Retrieves a reference to the vocabulary used by the loop detector
| bool DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::isGeometricallyConsistent_DI | ( | EntryId | old_entry, | |
| const std::vector< cv::KeyPoint > & | keys, | |||
| const std::vector< TDescriptor > & | descriptors, | |||
| const FeatureVector & | curvec | |||
| ) | const [inline, protected] |
Check if an old entry is geometrically consistent (by calculating a fundamental matrix) with the given set of keys and descriptors
| old_entry | entry id of the stored image to check | |
| keys | current keypoints | |
| descriptors | current descriptors associated to the given keypoints | |
| curvec | feature vector of the current entry |
| bool DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::isGeometricallyConsistent_Exhaustive | ( | const std::vector< cv::KeyPoint > & | old_keys, | |
| const std::vector< TDescriptor > & | old_descriptors, | |||
| const std::vector< cv::KeyPoint > & | cur_keys, | |||
| const std::vector< TDescriptor > & | cur_descriptors | |||
| ) | const [inline, protected] |
Check if an old entry is geometrically consistent (by calculating a fundamental matrix from left-right correspondences) with the given set of keys and descriptors, without using the direct index
| old_keys | keys of old entry | |
| old_descriptors | descriptors of old keys | |
| cur_keys | keys of current entry | |
| cur_descriptors | descriptors of cur keys |
| bool DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::isGeometricallyConsistent_Flann | ( | EntryId | old_entry, | |
| const std::vector< cv::KeyPoint > & | keys, | |||
| const std::vector< TDescriptor > & | descriptors, | |||
| cv::FlannBasedMatcher & | flann_structure | |||
| ) | const [inline, protected] |
Checks if an old entry is geometrically consistent (by using FLANN and computing an essential matrix by using the neighbour ratio 0.6) with the given set of keys and descriptors
| old_entry | entry id of the stored image to check | |
| keys | current keypoints | |
| descriptors | current descriptors | |
| flann_structure | flann structure with the descriptors of the current entry |
| void DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::removeLowScores | ( | QueryResults & | q, | |
| double | threshold | |||
| ) | const [inline, protected] |
Removes from q those results whose score is lower than threshold (that should be alpha * ns_factor)
| q | results from query | |
| threshold | min value of the resting results |
| void DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::setDatabase | ( | const T & | db | ) | [inline] |
Sets the database to use. The contents of the database and the detector entries are cleared
| T | class derived from TemplatedDatabase | |
| db | database to copy |
| void DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::setVocabulary | ( | const TemplatedVocabulary< TDescriptor, F > & | voc | ) | [inline] |
Sets a new DBoW2 database created from the given vocabulary
| voc | vocabulary to copy |
| void DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::updateTemporalWindow | ( | const tIsland & | matched_island, | |
| EntryId | entry_id | |||
| ) | [inline, protected] |
Updates the temporal window by adding the given match <island, id>, such that the window will contain only those islands which are consistent
| matched_island | ||
| entry_id |
1.6.3
