WAIOrbVocabulary Class Reference

#include <WAIOrbVocabulary.h>

Public Member Functions
	WAIOrbVocabulary (int layer=2)
	~WAIOrbVocabulary ()
void	loadFromFile (std::string strVocFile)
void	create (std::vector< cv::Mat > &features, int k, int l)
void	transform (const cv::Mat &descriptors, WAIBowVector &bow, WAIFeatVector &feat)
double	score (WAIBowVector &bow1, WAIBowVector &bow2)
size_t	size ()
void	save (std::string path)
void	setLayer (int layer)

Public Attributes
fbow::Vocabulary *	_vocabulary = nullptr

Private Attributes
int	_layer

Detailed Description

Definition at line 51 of file WAIOrbVocabulary.h.

Constructor & Destructor Documentation

WAIOrbVocabulary()

WAIOrbVocabulary::WAIOrbVocabulary

(

int

layer = 2

)

Definition at line 14 of file WAIOrbVocabulary.cpp.

{
#if USE_FBOW
    _vocabulary = new fbow::Vocabulary();
#else
    _vocabulary = new ORB_SLAM2::ORBVocabulary();
#endif
    _layer = layer;
}

~WAIOrbVocabulary()

WAIOrbVocabulary::~WAIOrbVocabulary

(

)

Definition at line 24 of file WAIOrbVocabulary.cpp.

{
    if (_vocabulary)
    {
#if USE_FBOW
        _vocabulary->clear();
#endif
        delete _vocabulary;
    }
 
    _vocabulary = nullptr;
}

Member Function Documentation

create()

void WAIOrbVocabulary::create	(	std::vector< cv::Mat > &	features,
		int	k,
		int	l
	)

Definition at line 120 of file WAIOrbVocabulary.cpp.

{
#if USE_FBOW
    fbow::VocabularyCreator         vc;
    fbow::VocabularyCreator::Params p;
    p.k        = k;
    p.L        = l;
    p.nthreads = 100;
    p.maxIters = 11;
    p.verbose  = true;
 
    std::cout << "Creating a " << p.k << "^" << p.L << " vocabulary..." << std::endl;
    _vocabulary = new fbow::Vocabulary();
 
    vc.create(*_vocabulary, features, "slamvoc", p);
    std::cout << "... done!" << std::endl;
#else
    const DBoW2::WeightingType weight = DBoW2::TF_IDF;
    const DBoW2::ScoringType   score  = DBoW2::L1_NORM;
 
    std::vector<std::vector<cv::Mat>> feats;
    feats.resize(features.size());
 
    cout << "Creating a " << k << "^" << l << " vocabulary..." << endl;
    for (int i = 0; i < features.size(); i++)
    {
        feats[i].resize(features[i].rows);
        for (int j = 0; j < features[i].rows; j++)
            feats[i].push_back(features[i].row(j));
    }
 
    _vocabulary = new ORB_SLAM2::ORBVocabulary(k, l, weight, score);
    _vocabulary->create(feats);
 
    cout << "... done!" << endl;
#endif
}

loadFromFile()

void WAIOrbVocabulary::loadFromFile

(

std::string

strVocFile

)

Definition at line 38 of file WAIOrbVocabulary.cpp.

{
    if (!_vocabulary)
    {
#if USE_FBOW
        _vocabulary = new fbow::Vocabulary();
#else
        _vocabulary = new ORB_SLAM2::ORBVocabulary();
#endif
    }
 
#if USE_FBOW
    try
    {
        _vocabulary->readFromFile(strVocFile);
    }
    catch (std::exception& e)
    {
        std::string err = "WAIOrbVocabulary::loadFromFile: failed to load vocabulary " + 
            strVocFile + ", exception:" + e.what();
        throw std::runtime_error(err);
    }
#else
    bool bVocLoad = _vocabulary->loadFromBinaryFile(strVocFile);
 
    if (!bVocLoad)
    {
        std::string err = "WAIOrbVocabulary::loadFromFile: failed to load vocabulary " + strVocFile;
        Utils::log("WAI", err.c_str());
        throw std::runtime_error(err);
    }
#endif
}

save()

void WAIOrbVocabulary::save

(

std::string

path

)

Definition at line 158 of file WAIOrbVocabulary.cpp.

{
#if USE_FBOW
    _vocabulary->saveToFile(path);
#else
    _vocabulary->saveToBinaryFile(path);
#endif
}

score()

double WAIOrbVocabulary::score	(	WAIBowVector &	bow1,
		WAIBowVector &	bow2
	)

Definition at line 102 of file WAIOrbVocabulary.cpp.

{
#if USE_FBOW
    return fbow::fBow::score(bow1.data, bow2.data);
#else
    return _vocabulary->score(bow1.data, bow2.data);
#endif
}

setLayer()

void WAIOrbVocabulary::setLayer ( int  layer )

inline

Definition at line 68 of file WAIOrbVocabulary.h.

{ _layer = layer; }

size()

size_t WAIOrbVocabulary::size

(

)

Definition at line 111 of file WAIOrbVocabulary.cpp.

{
#if USE_FBOW
    return _vocabulary->size() * _vocabulary->getK();
#else
    return _vocabulary->size();
#endif
}

transform()

void WAIOrbVocabulary::transform	(	const cv::Mat &	descriptors,
		WAIBowVector &	bow,
		WAIFeatVector &	feat
	)

Definition at line 86 of file WAIOrbVocabulary.cpp.

{
    bow.isFill  = true;
    feat.isFill = true;
 
    if (descriptors.rows == 0)
        return;
 
#if USE_FBOW
    _vocabulary->transform(descriptors, _layer, bow.data, feat.data);
#else
    vector<cv::Mat> vCurrentDesc = ORB_SLAM2::Converter::toDescriptorVector(descriptors);
    _vocabulary->transform(vCurrentDesc, bow.data, feat.data, _vocabulary->getDepthLevels() - _layer);
#endif
}

Member Data Documentation

_layer

int WAIOrbVocabulary::_layer

private

Definition at line 71 of file WAIOrbVocabulary.h.

_vocabulary

fbow::Vocabulary* WAIOrbVocabulary::_vocabulary = nullptr

Definition at line 60 of file WAIOrbVocabulary.h.

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The documentation for this class was generated from the following files:

• WAIOrbVocabulary.h
• WAIOrbVocabulary.cpp