Template Class InvertedMultiIndex¶

Defined in File inverted-multi-index.h

Class Documentation¶

template<int kDimSubVectors> class loop_closure::inverted_multi_index::InvertedMultiIndex¶

Public Types

typedef Eigen::Matrix<float, 2 * kDimSubVectors, 1> DescriptorType¶

typedef Eigen::Matrix<float, kDimSubVectors, 1> SubDescriptorType¶

typedef Eigen::Matrix<float, 2 * kDimSubVectors, Eigen::Dynamic> DescriptorMatrixType¶

typedef common::InvertedFile<float, 2 * kDimSubVectors> InvFile¶

Public Functions

inline InvertedMultiIndex(const Eigen::MatrixXf &words_1, const Eigen::MatrixXf &words_2, int num_closest_words_for_nn_search)¶

inline void SetNumClosestWordsForNNSearch(int num_closest_words_for_nn_search)¶

inline int GetNumDescriptorsInIndex() const¶

inline void Clear()¶

inline void AddDescriptors(const DescriptorMatrixType &descriptors)¶

template<typename DerivedQuery, typename DerivedIndices, typename DerivedDistances> inline void GetNNearestNeighbors(const Eigen::MatrixBase<DerivedQuery> &query_feature, int num_neighbors, const Eigen::MatrixBase<DerivedIndices> &out_indices, const Eigen::MatrixBase<DerivedDistances> &out_distances) const¶

inline void serialize(proto::InvertedMultiIndex *proto_inverted_multi_index) const¶

inline void deserialize(const proto::InvertedMultiIndex proto_inverted_multi_index)¶

Protected Attributes

Eigen::MatrixXf words_1_¶

Eigen::MatrixXf words_2_¶

std::shared_ptr<common::NNSearch> words_1_index_¶

std::shared_ptr<common::NNSearch> words_2_index_¶

int num_closest_words_for_nn_search_¶

std::unordered_map<int, int> word_index_map_¶

Aligned<std::vector, InvFile> inverted_files_¶

int max_db_descriptor_index_¶

Friends

friend class matching_based_loopclosure::MatchingBasedLoopDetectorSerializer