DLoopDetector Namespace Reference

Loop detector for sequences of monocular images. More...

Classes
struct	DetectionResult
	Result of a detection. More...
class	TemplatedLoopDetector
	Generic Loop detector. More...
Enumerations
enum	GeometricalCheck { GEOM_EXHAUSTIVE, GEOM_DI, GEOM_FLANN, GEOM_NONE }
	Geometrical checking methods. More...
enum	DetectionStatus {   LOOP_DETECTED, CLOSE_MATCHES_ONLY, NO_DB_RESULTS, LOW_NSS_FACTOR,   LOW_SCORES, NO_GROUPS, NO_TEMPORAL_CONSISTENCY, NO_GEOMETRICAL_CONSISTENCY }
	Reasons for dismissing loops. More...

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Detailed Description

Loop detector for sequences of monocular images.

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Enumeration Type Documentation

enum DLoopDetector::DetectionStatus

Reasons for dismissing loops.

Enumerator:

LOOP_DETECTED	Loop correctly detected.
CLOSE_MATCHES_ONLY	All the matches are very recent.
NO_DB_RESULTS	No matches against the database.
LOW_NSS_FACTOR	Score of current image against previous one too low.
LOW_SCORES	Scores (or NS Scores) were below the alpha threshold.
NO_GROUPS	Not enough matches to create groups.
NO_TEMPORAL_CONSISTENCY	Not enough temporary consistent matches (k).
NO_GEOMETRICAL_CONSISTENCY	The geometrical consistency failed.

enum DLoopDetector::GeometricalCheck

Geometrical checking methods.

Enumerator:

GEOM_EXHAUSTIVE	Exhaustive search.
GEOM_DI	Use direct index.
GEOM_FLANN	Use a Flann structure.
GEOM_NONE	Do not perform geometrical checking.