vslam::PlaceRecognizer Class Reference

Recognizes previously seen frames. More...

Public Member Functions
void	findAndInsert (const frame_common::Frame &frame, uint32_t id, const FrameVector &all_frames, size_t N, std::vector< const frame_common::Frame * > &matches)
	Find the top N matches for the query frame, and also insert it for future recognition.
void	insert (const frame_common::Frame &frame, uint32_t id)
	Insert a new frame with the provided id.
	PlaceRecognizer (const std::string &tree_file, const std::string &weights_file)
	Constructor.
Private Attributes
vt::Database	database_
vt::GenericTree	tree_
std::vector< uint32_t >	user_ids_

Detailed Description

Recognizes previously seen frames.

Definition at line 48 of file place_recognizer.h.

vslam::PlaceRecognizer::PlaceRecognizer	(	const std::string &	tree_file,
		const std::string &	weights_file
	)

Constructor.

Can use: PlaceRecognizer("/u/mihelich/vocab/holidays.tree", "/u/mihelich/vocab/holidays.weights")

Parameters:

	tree_file	The file containing the vocabulary words
	weights_file	The file containing the weights

Definition at line 5 of file place_recognizer.cpp.

void vslam::PlaceRecognizer::findAndInsert	(	const frame_common::Frame &	frame,
		uint32_t	id,
		const FrameVector &	all_frames,
		size_t	N,
		std::vector< const frame_common::Frame * > &	matches
	)

Find the top N matches for the query frame, and also insert it for future recognition.

Parameters:

	frame	The query frame, also to be inserted
	id	The id to assign to the query frame
	all_frames	Collection of frames indexable by the saved ids
	N	The number of matches
`[out]`	matches	The top N matching frames

Definition at line 24 of file place_recognizer.cpp.

void vslam::PlaceRecognizer::insert	(	const frame_common::Frame &	frame,
		uint32_t	id
	)

Insert a new frame with the provided id.

Parameters:

	frame	The frame to insert
	id	The frame id

Definition at line 12 of file place_recognizer.cpp.

Definition at line 87 of file place_recognizer.h.

Definition at line 86 of file place_recognizer.h.

std::vector<uint32_t> vslam::PlaceRecognizer::user_ids_ [private]

Definition at line 88 of file place_recognizer.h.

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