Template Class InvertedMultiIndex¶
Defined in File inverted-multi-index.h
Class Documentation¶
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template<int kDimSubVectors>
class loop_closure::inverted_multi_index::InvertedMultiIndex¶ Public Types
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typedef Eigen::Matrix<float, 2 * kDimSubVectors, 1> DescriptorType¶
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typedef Eigen::Matrix<float, kDimSubVectors, 1> SubDescriptorType¶
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typedef Eigen::Matrix<float, 2 * kDimSubVectors, Eigen::Dynamic> DescriptorMatrixType¶
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typedef common::InvertedFile<float, 2 * kDimSubVectors> InvFile¶
Public Functions
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inline InvertedMultiIndex(const Eigen::MatrixXf &words_1, const Eigen::MatrixXf &words_2, int num_closest_words_for_nn_search)¶
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inline void SetNumClosestWordsForNNSearch(int num_closest_words_for_nn_search)¶
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inline int GetNumDescriptorsInIndex() const¶
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inline void Clear()¶
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inline void AddDescriptors(const DescriptorMatrixType &descriptors)¶
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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¶
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inline void serialize(proto::InvertedMultiIndex *proto_inverted_multi_index) const¶
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inline void deserialize(const proto::InvertedMultiIndex proto_inverted_multi_index)¶
Protected Attributes
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Eigen::MatrixXf words_1_¶
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Eigen::MatrixXf words_2_¶
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int num_closest_words_for_nn_search_¶
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std::unordered_map<int, int> word_index_map_¶
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int max_db_descriptor_index_¶
Friends
- friend class matching_based_loopclosure::MatchingBasedLoopDetectorSerializer
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typedef Eigen::Matrix<float, 2 * kDimSubVectors, 1> DescriptorType¶