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