Retrieves keyframes closest to an input frame based on a Fast Bag Of Words implementaton. UUID: 9d1b1afa-bdbc-11e8-a355-529269fb1459 More...

#include <SolARKeyframeRetrieverFBOW.h>

Inheritance diagram for SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW:

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Collaboration diagram for SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW:

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Public Member Functions
org::bcom::xpcf::XPCFErrorCode	onConfigured () override final

void	unloadComponent () override final

FrameworkReturnCode	addKeyframe (const SRef< datastructure::Keyframe > keyframe) override
	Add a keyframe to the retrieval model. More...

FrameworkReturnCode	suppressKeyframe (uint32_t keyframe_id) override
	Suppress a keyframe from the retrieval model. More...

FrameworkReturnCode	retrieve (const SRef< datastructure::Frame > frame, std::vector< uint32_t > &retKeyframes_id) override
	Retrieve a set of keyframes close to the frame pass in input. More...

FrameworkReturnCode	retrieve (const SRef< datastructure::Frame > frame, const std::set< unsigned int > &canKeyframes_id, std::vector< uint32_t > &retKeyframes_id) override
	Retrieve a set of keyframes close to the frame pass in input. More...

FrameworkReturnCode	saveToFile (const std::string &file) const override
	This method allows to save the keyframe feature to the external file. More...

FrameworkReturnCode	loadFromFile (const std::string &file) override
	This method allows to load the keyframe feature from the external file. More...

FrameworkReturnCode	match (const SRef< datastructure::Frame > frame, const SRef< datastructure::Keyframe > keyframe, std::vector< datastructure::DescriptorMatch > &matches) override
	Match a frame with a keyframe. More...

FrameworkReturnCode	match (const std::vector< int > &indexDescriptors, const SRef< datastructure::DescriptorBuffer > descriptors, const SRef< datastructure::Keyframe > keyframe, std::vector< datastructure::DescriptorMatch > &matches) override
	Match a set of descriptors with a keyframe. More...

const SRef< datastructure::KeyframeRetrieval > &	getConstKeyframeRetrieval () const override
	This method returns the keyframe retrieval. More...

std::unique_lock< std::mutex >	getKeyframeRetrieval (SRef< datastructure::KeyframeRetrieval > &keyframeRetrieval) override
	This method returns the keyframe retrieval. More...

void	setKeyframeRetrieval (const SRef< datastructure::KeyframeRetrieval > keyframeRetrieval) override
	This method is to set the keyframe retrieval. More...

Detailed Description

Retrieves keyframes closest to an input frame based on a Fast Bag Of Words implementaton. UUID: 9d1b1afa-bdbc-11e8-a355-529269fb1459

Properties

VOCpath	path to the vocabulary file
	type: string; default: ""
threshold	the threshold above which keyframes are considered valid
	type: float; range : [0..MAX FLOAT]; default: 0.f
matchingDistanceRatio	distance ratio used to keep good matches
	type: float; range : [0..MAX FLOAT]; default: 0.7f
matchingDistanceMax	distance max used to keep good matches
	type: float; range : [0..MAX FLOAT]; default: 100.f

Member Function Documentation

◆ addKeyframe()

FrameworkReturnCode SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW::addKeyframe ( const SRef< datastructure::Keyframe > keyframe )

override

Add a keyframe to the retrieval model.

Parameters

[in] keyframe the keyframe to add to the retrieval model

Returns: FrameworkReturnCode::SUCCESS if the keyfram adding succeed, else FrameworkReturnCode::_ERROR

◆ getConstKeyframeRetrieval()

const SRef< datastructure::KeyframeRetrieval > & SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW::getConstKeyframeRetrieval ( ) const

override

This method returns the keyframe retrieval.

Returns: the keyframe retrieval

◆ getKeyframeRetrieval()

std::unique_lock< std::mutex > SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW::getKeyframeRetrieval ( SRef< datastructure::KeyframeRetrieval > & keyframeRetrieval )

override

This method returns the keyframe retrieval.

Parameters

[out] keyframeRetrieval the keyframe retrieval of map

Returns: the keyframe retrieval

◆ loadFromFile()

FrameworkReturnCode SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW::loadFromFile ( const std::string & file )

override

This method allows to load the keyframe feature from the external file.

Parameters

[in] the file name

Returns: FrameworkReturnCode::SUCCESS if the suppression succeed, else FrameworkReturnCode::_ERROR.

◆ match() [1/2]

FrameworkReturnCode SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW::match	(	const SRef< datastructure::Frame >	frame,
		const SRef< datastructure::Keyframe >	keyframe,
		std::vector< datastructure::DescriptorMatch > &	matches
	)

override

Match a frame with a keyframe.

Parameters

[in]	frame	the frame to match
[in]	keyframe	keyframe to match
[out]	matches	a set of matches between frame and keyframe

Returns: FrameworkReturnCode::SUCCESS if the retrieve succeed, else FrameworkReturnCode::_ERROR

◆ match() [2/2]

FrameworkReturnCode SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW::match	(	const std::vector< int > &	indexDescriptors,
		const SRef< datastructure::DescriptorBuffer >	descriptors,
		const SRef< datastructure::Keyframe >	keyframe,
		std::vector< datastructure::DescriptorMatch > &	matches
	)

override

Match a set of descriptors with a keyframe.

Parameters

[in]	indexDescriptors	index of descriptors to match.
[in]	descriptors	a descriptor buffer contains all descriptors
[in]	keyframe	keyframe to match
[out]	matches	a set of matches between frame and keyframe

Returns: FrameworkReturnCode::SUCCESS if the retrieve succeed, else FrameworkReturnCode::_ERROR

◆ retrieve() [1/2]

FrameworkReturnCode SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW::retrieve	(	const SRef< datastructure::Frame >	frame,
		const std::set< unsigned int > &	canKeyframes_id,
		std::vector< uint32_t > &	retKeyframes_id
	)

override

Retrieve a set of keyframes close to the frame pass in input.

Parameters

[in]	frame	the frame for which we want to retrieve close keyframes.
[in]	canKeyframes_id	a set includes id of keyframe candidates
[out]	retKeyframes_id	a set of keyframe ids which are close to the frame pass in input

Returns: FrameworkReturnCode::SUCCESS if the retrieve succeed, else FrameworkReturnCode::_ERROR

◆ retrieve() [2/2]

FrameworkReturnCode SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW::retrieve	(	const SRef< datastructure::Frame >	frame,
		std::vector< uint32_t > &	retKeyframes_id
	)

override

Retrieve a set of keyframes close to the frame pass in input.

Parameters

[in]	frame	the frame for which we want to retrieve close keyframes.
[out]	retKeyframes_id	a set of keyframe ids which are close to the frame pass in input

Returns: FrameworkReturnCode::SUCCESS if the retrieve succeed, else FrameworkReturnCode::_ERROR

◆ saveToFile()

FrameworkReturnCode SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW::saveToFile ( const std::string & file ) const

override

This method allows to save the keyframe feature to the external file.

Parameters

[in] the file name

Returns: FrameworkReturnCode::SUCCESS if the suppression succeed, else FrameworkReturnCode::_ERROR.

◆ setKeyframeRetrieval()

void SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW::setKeyframeRetrieval ( const SRef< datastructure::KeyframeRetrieval > keyframeRetrieval )

override

This method is to set the keyframe retrieval.

Parameters

[in] keyframeRetrieval the keyframe retrieval of map

◆ suppressKeyframe()

FrameworkReturnCode SolAR::MODULES::FBOW::SolARKeyframeRetrieverFBOW::suppressKeyframe ( uint32_t keyframe_id )

override

Suppress a keyframe from the retrieval model.

Parameters

[in] keyframe_id the keyframe to supress from the retrieval model

Returns: FrameworkReturnCode::SUCCESS if the keyfram adding succeed, else FrameworkReturnCode::_ERROR

The documentation for this class was generated from the following file:

SolARModuleFBOW/interfaces/SolARKeyframeRetrieverFBOW.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ addKeyframe()

◆ getConstKeyframeRetrieval()

◆ getKeyframeRetrieval()

◆ loadFromFile()

◆ match() [1/2]

◆ match() [2/2]

◆ retrieve() [1/2]

◆ retrieve() [2/2]

◆ saveToFile()

◆ setKeyframeRetrieval()

◆ suppressKeyframe()