Struct ProjectedDescriptorQuantizer¶
Defined in File projected-descriptor-quantizer.h
Struct Documentation¶
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struct
descriptor_projection
::
ProjectedDescriptorQuantizer
¶ Public Types
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typedef loop_closure::MutableVocabularyTree<descriptor_projection::ProjectedDescriptorType, loop_closure::distance::L2<descriptor_projection::ProjectedDescriptorType>>
Vocabulary
¶
Public Functions
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inline explicit
ProjectedDescriptorQuantizer
(int target_dimensionality)¶
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void
Save
(std::ofstream *out_stream) const¶
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bool
Load
(std::ifstream *in_stream)¶
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inline loop_closure::Word
ProjectAndQuantize
(const aslam::common::FeatureDescriptorConstRef &descriptor) const¶
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template<typename
DerivedIn
>
inline loop_closure::WordQuantize
(const Eigen::MatrixBase<DerivedIn> &projected_descriptor) const¶
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inline void
GetNearestNeighbors
(const aslam::common::FeatureDescriptorConstRef &descriptor, int num_neighbors, std::vector<loop_closure::Word> *nearest_neighbors, std::vector<float> *distances) const¶
Public Members
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Vocabulary
vocabulary_
¶
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Eigen::MatrixXf
projection_matrix_
¶
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bool
initialized_
¶
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int
target_dimensionality_
¶
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typedef loop_closure::MutableVocabularyTree<descriptor_projection::ProjectedDescriptorType, loop_closure::distance::L2<descriptor_projection::ProjectedDescriptorType>>