Struct MatchingBasedEngineSettings

Struct Documentation

struct matching_based_loopclosure::MatchingBasedEngineSettings

Public Types

enum KeyframeScoringFunctionType

Values:

enumerator kAccumulation
enumerator kProbabilistic
enum DetectorEngineType

Values:

enumerator kMatchingLDKdTree
enumerator kMatchingLDInvertedIndex
enumerator kMatchingLDInvertedMultiIndex
enumerator kMatchingLDInvertedMultiIndexProductQuantization

Public Functions

MatchingBasedEngineSettings()
void setKeyframeScoringFunctionType(const std::string &scoring_function_string)
void setDetectorEngineType(const std::string &detector_engine_string)

Public Members

KeyframeScoringFunctionType keyframe_scoring_function_type
std::string scoring_function_type_string
DetectorEngineType detector_engine_type
std::string detector_engine_type_string
std::string projection_matrix_filename
std::string projected_quantizer_filename
int num_closest_words_for_nn_search
double min_image_time_seconds
size_t min_verify_matches_num
float fraction_best_scores
int num_nearest_neighbors

Public Static Functions

static std::string getLoopClosureFilePath()