Struct ProjectedDescriptorQuantizer

• Defined in File projected-descriptor-quantizer.h

Struct Documentation

struct descriptor_projection::ProjectedDescriptorQuantizer

Public Types

enum [anonymous]

Values:

enumerator kSerializationVersion

typedef loop_closure::MutableVocabularyTree<descriptor_projection::ProjectedDescriptorType, loop_closure::distance::L2<descriptor_projection::ProjectedDescriptorType>> Vocabulary

Public Functions

inline explicit ProjectedDescriptorQuantizer(int target_dimensionality)

void Save(std::ofstream *out_stream) const

bool Load(std::ifstream *in_stream)

inline loop_closure::Word ProjectAndQuantize(const aslam::common::FeatureDescriptorConstRef &descriptor) const

template<typename DerivedIn>
inline loop_closure::Word Quantize(const Eigen::MatrixBase<DerivedIn> &projected_descriptor) const

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

Vocabulary vocabulary_

Eigen::MatrixXf projection_matrix_

bool initialized_

int target_dimensionality_