#include <lc.h>

Classes
struct	Params
Public Member Functions
void	finalize ()
	Finalizes the loop closure class.
void	getCandidates (vector< pair< int, float > > &candidates)
	Get the best n_candidates to close loop with the last image.
void	getCandidates (int image_id, vector< pair< int, float > > &candidates)
	Get the best n_candidates to close loop with the image specified by id.
bool	getHash (int img_id, vector< float > &hash)
	Returns the hash for a some specific image id.
bool	getLoopClosure (int &lc_img_id)
	Try to find a loop closure between last node and all other nodes.
bool	getLoopClosure (int &lc_img_id, tf::Transform &trans)
	Try to find a loop closure between last node and all other nodes.
bool	getLoopClosure (int img_id_a, int img_id_b, tf::Transform &trans, bool logging=false)
	Compute the loop closure (if any) between A -> B.
bool	getLoopClosure (int img_id_a, int img_id_b, tf::Transform &trans, int &matches, int &inliers, bool logging=false)
	Compute the loop closure (if any) between A -> B.
bool	hashMatching (int img_id_a, int img_id_b, float &matching)
	Computes the hash matching between 2 images.
void	init ()
	Initializes the loop closure class.
	LoopClosure ()
	LoopClosure class constructor.
Params	params () const
void	setCameraModel (image_geometry::StereoCameraModel stereo_camera_model, cv::Mat camera_matrix)
	Sets the camera model.
int	setNode (cv::Mat img)
int	setNode (cv::Mat img_l, cv::Mat img_r)
void	setParams (const Params &params)
	Sets the class parameters.
Private Member Functions
void	buildLikelihoodVector (vector< pair< int, float > > hash_matchings, vector< pair< int, float > > &likelihood)
	Compute the likelihood vectors given a certain hash matching set.
bool	compute (Image query, Image candidate, int &matches, int &inliers, tf::Transform &trans)
	Compute the loop closure (if any).
void	getBestMatchings (int image_id, int best_n, vector< pair< int, float > > &best_matchings)
	Retrieve the best n matchings give a certain image id.
Image	getImage (string img_file)
	Get the image information from file.
void	getMatchingsLikelihood (vector< pair< int, float > > matchings, vector< float > &matchings_likelihood, vector< pair< int, float > > cur_likelihood, vector< pair< int, float > > prev_likelihood)
	Given a vector of matches and the current and previous likelihood vectors, returns the likelihood for these matches.
void	groupSimilarImages (vector< pair< int, float > > matchings, vector< vector< int > > &groups)
	Group the matchings by images with similar id.
Private Attributes
cv::Mat	camera_matrix_
	> Incremental index for the stored images
Hash	hash_
	> Query image object
vector< pair< int, vector < float > > >	hash_table_
	> Used to save the camera matrix
int	img_id_
	> Hash object
vector< int >	lc_candidate_positions_
	> Hash table
vector< pair< int, int > >	lc_found_
	> Stores the previous likelihood vector
Params	params_
vector< pair< int, float > >	prev_likelihood_
	> Loop closure candidate positions
Image	query_
	> Stores parameters

Detailed Description

Definition at line 16 of file lc.h.

Constructor & Destructor Documentation

haloc::LoopClosure::LoopClosure ( )

LoopClosure class constructor.

Definition at line 45 of file lc.cpp.

Member Function Documentation

void haloc::LoopClosure::buildLikelihoodVector	(	vector< pair< int, float > >	hash_matchings,
		vector< pair< int, float > > &	likelihood
	)		`[private]`

Compute the likelihood vectors given a certain hash matching set.

Parameters:

Hash	matching vector in the format <image_id, distance>.
Stores	the likelihood in the format <image_id, probability>.

Definition at line 661 of file lc.cpp.

bool haloc::LoopClosure::compute	(	Image	query,
		Image	candidate,
		int &	matches,
		int &	inliers,
		tf::Transform &	trans
	)		`[private]`

Compute the loop closure (if any).

Returns:: true if valid loop closure, false otherwise.

Parameters:

Query	image object.
Candidate	image object.
Return	the number of matches found.
Return	the number of inliers found.
Return	the transform between nodes if loop closure is valid.

Definition at line 498 of file lc.cpp.

void haloc::LoopClosure::finalize ( )

Finalizes the loop closure class.

Definition at line 135 of file lc.cpp.

void haloc::LoopClosure::getBestMatchings	(	int	image_id,
		int	best_n,
		vector< pair< int, float > > &	best_matchings
	)		`[private]`

Retrieve the best n matchings give a certain image id.

Parameters:

Query	image id.
Number	of best matches to retrieve.
Stores	best n matchings in a vector of pairs <image_id, distance>.

Definition at line 612 of file lc.cpp.

void haloc::LoopClosure::getCandidates ( vector< pair< int, float > > & candidates )

Get the best n_candidates to close loop with the last image.

Returns:: a hash matching vector containing the best image candidates and its likelihood.

Definition at line 264 of file lc.cpp.

void haloc::LoopClosure::getCandidates	(	int	image_id,
		vector< pair< int, float > > &	candidates
	)

Get the best n_candidates to close loop with the image specified by id.

Returns:: a hash matching vector containing the best image candidates and its likelihood.

Parameters:

image id.

Definition at line 273 of file lc.cpp.

bool haloc::LoopClosure::getHash	(	int	img_id,
		vector< float > &	hash
	)

Returns the hash for a some specific image id.

Returns:: true if hash found

Parameters:

the	image id.
the	returning hash.

Definition at line 231 of file lc.cpp.

haloc::Image haloc::LoopClosure::getImage ( string img_file ) [private]

Get the image information from file.

Returns:: the image object.

Parameters:

image filename

Definition at line 833 of file lc.cpp.

bool haloc::LoopClosure::getLoopClosure ( int & lc_img_id )

Try to find a loop closure between last node and all other nodes.

Returns:: true if valid loop closure, false otherwise.

Parameters:

Return the index of the image that closes loop (-1 if no loop).

Definition at line 340 of file lc.cpp.

bool haloc::LoopClosure::getLoopClosure	(	int &	lc_img_id,
		tf::Transform &	trans
	)

Try to find a loop closure between last node and all other nodes.

Returns:: true if valid loop closure, false otherwise.

Parameters:

Return	the index of the image that closes loop (-1 if no loop).
Return	the transform between nodes if loop closure is valid.

Definition at line 351 of file lc.cpp.

bool haloc::LoopClosure::getLoopClosure	(	int	img_id_a,
		int	img_id_b,
		tf::Transform &	trans,
		bool	logging = `false`
	)

Compute the loop closure (if any) between A -> B.

Returns:: true if valid loop closure, false otherwise.

Parameters:

reference	image id.
current	image id.
Return	the transform between nodes if loop closure is valid.
Show	output log or not.

Definition at line 481 of file lc.cpp.

bool haloc::LoopClosure::getLoopClosure	(	int	img_id_a,
		int	img_id_b,
		tf::Transform &	trans,
		int &	matches,
		int &	inliers,
		bool	logging = `false`
	)

Compute the loop closure (if any) between A -> B.

Returns:: true if valid loop closure, false otherwise.

Parameters:

reference	image id.
current	image id.
Return	the transform between nodes if loop closure is valid.
Show	output log or not.
The	number of matches
The	number of inliers

Definition at line 430 of file lc.cpp.

void haloc::LoopClosure::getMatchingsLikelihood	(	vector< pair< int, float > >	matchings,
		vector< float > &	matchings_likelihood,
		vector< pair< int, float > >	cur_likelihood,
		vector< pair< int, float > >	prev_likelihood
	)		`[private]`

Given a vector of matches and the current and previous likelihood vectors, returns the likelihood for these matches.

Parameters:

Hash	matching vector in the format <image_id, distance>.
Stores	the likelihood for the given matching vectors
Current	vector of likelihood in the format <image_id, probability>.
Previous	vector of likelihood in the format <image_id, probability>.

Definition at line 716 of file lc.cpp.

void haloc::LoopClosure::groupSimilarImages	(	vector< pair< int, float > >	matchings,
		vector< vector< int > > &	groups
	)		`[private]`

Group the matchings by images with similar id.

Parameters:

Hash	matching vector in the format <image_id, distance>.
Stores	groups of images

Definition at line 770 of file lc.cpp.

bool haloc::LoopClosure::hashMatching	(	int	img_id_a,
		int	img_id_b,
		float &	matching
	)

Computes the hash matching between 2 images.

Returns:: true if hashes found

Parameters:

the	image id a.
the	image id b.
the	returning hash matching.

Definition at line 251 of file lc.cpp.

void haloc::LoopClosure::init ( )

Initializes the loop closure class.

Definition at line 88 of file lc.cpp.

Params haloc::LoopClosure::params ( ) const [inline]

Definition at line 64 of file lc.h.

void haloc::LoopClosure::setCameraModel	(	image_geometry::StereoCameraModel	stereo_camera_model,
		cv::Mat	camera_matrix
	)

Sets the camera model.

Parameters:

Stereo camera model.

Definition at line 79 of file lc.cpp.

int haloc::LoopClosure::setNode ( cv::Mat img )

int haloc::LoopClosure::setNode	(	cv::Mat	img_l,
		cv::Mat	img_r
	)

void haloc::LoopClosure::setParams ( const Params & params )

Sets the class parameters.

Parameters:

stuct of parameters.

Definition at line 50 of file lc.cpp.

Member Data Documentation

cv::Mat haloc::LoopClosure::camera_matrix_ [private]

> Incremental index for the stored images

Definition at line 151 of file lc.h.

Hash haloc::LoopClosure::hash_ [private]

> Query image object

Definition at line 149 of file lc.h.

vector< pair<int, vector<float> > > haloc::LoopClosure::hash_table_ [private]

> Used to save the camera matrix

Definition at line 152 of file lc.h.

int haloc::LoopClosure::img_id_ [private]

> Hash object

Definition at line 150 of file lc.h.

vector<int> haloc::LoopClosure::lc_candidate_positions_ [private]

> Hash table

Definition at line 153 of file lc.h.

vector< pair<int, int > > haloc::LoopClosure::lc_found_ [private]

> Stores the previous likelihood vector

Definition at line 155 of file lc.h.

Params haloc::LoopClosure::params_ [private]

Definition at line 147 of file lc.h.

vector< pair<int,float> > haloc::LoopClosure::prev_likelihood_ [private]

> Loop closure candidate positions

Definition at line 154 of file lc.h.

Image haloc::LoopClosure::query_ [private]

> Stores parameters

Definition at line 148 of file lc.h.

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

lc.h
lc.cpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation