948 lines
34 KiB
C++
948 lines
34 KiB
C++
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/**
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* This file is part of ORB-SLAM3
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*
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* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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*
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* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
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* License as published by the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
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* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "KeyFrameDatabase.h"
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#include "KeyFrame.h"
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#include "Thirdparty/DBoW2/DBoW2/BowVector.h"
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#include<mutex>
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using namespace std;
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namespace ORB_SLAM3
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{
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// 构造函数
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KeyFrameDatabase::KeyFrameDatabase (const ORBVocabulary &voc):
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mpVoc(&voc)
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{
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mvInvertedFile.resize(voc.size());
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}
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// 根据关键帧的BoW，更新数据库的倒排索引
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void KeyFrameDatabase::add(KeyFrame *pKF)
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{
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unique_lock<mutex> lock(mMutex);
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// 为每一个word添加该KeyFrame
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for(DBoW2::BowVector::const_iterator vit= pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit!=vend; vit++)
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mvInvertedFile[vit->first].push_back(pKF);
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}
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// 关键帧被删除后，更新数据库的倒排索引
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void KeyFrameDatabase::erase(KeyFrame* pKF)
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{
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unique_lock<mutex> lock(mMutex);
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// Erase elements in the Inverse File for the entry
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// 每一个KeyFrame包含多个words，遍历mvInvertedFile中的这些words，然后在word中删除该KeyFrame
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for(DBoW2::BowVector::const_iterator vit=pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit!=vend; vit++)
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{
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// List of keyframes that share the word
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list<KeyFrame*> &lKFs = mvInvertedFile[vit->first];
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for(list<KeyFrame*>::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++)
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{
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if(pKF==*lit)
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{
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lKFs.erase(lit);
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break;
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}
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}
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}
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}
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// 清空关键帧数据库
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void KeyFrameDatabase::clear()
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{
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mvInvertedFile.clear();
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mvInvertedFile.resize(mpVoc->size());
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}
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void KeyFrameDatabase::clearMap(Map* pMap)
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{
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unique_lock<mutex> lock(mMutex);
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// Erase elements in the Inverse File for the entry
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for(std::vector<list<KeyFrame*> >::iterator vit=mvInvertedFile.begin(), vend=mvInvertedFile.end(); vit!=vend; vit++)
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{
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// List of keyframes that share the word
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list<KeyFrame*> &lKFs = *vit;
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for(list<KeyFrame*>::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend;)
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{
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KeyFrame* pKFi = *lit;
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if(pMap == pKFi->GetMap())
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{
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lit = lKFs.erase(lit);
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// Dont delete the KF because the class Map clean all the KF when it is destroyed
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}
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else
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{
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++lit;
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}
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}
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}
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}
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/**
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* @brief 在闭环检测中找到与该关键帧可能闭环的关键帧（注意不和当前帧连接）
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* Step 1：找出和当前帧具有公共单词的所有关键帧，不包括与当前帧连接（也就是共视）的关键帧
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* Step 2：只和具有共同单词较多的（最大数目的80%以上）关键帧进行相似度计算
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* Step 3：计算上述候选帧对应的共视关键帧组的总得分，只取最高组得分75%以上的组
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* Step 4：得到上述组中分数最高的关键帧作为闭环候选关键帧
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* @param[in] pKF 需要闭环检测的关键帧
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* @param[in] minScore 候选闭环关键帧帧和当前关键帧的BoW相似度至少要大于minScore
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* @return vector<KeyFrame*> 闭环候选关键帧
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*/
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vector<KeyFrame*> KeyFrameDatabase::DetectLoopCandidates(KeyFrame* pKF, float minScore)
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{
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// 取出与当前关键帧相连（>15个共视地图点）的所有关键帧，这些相连关键帧都是局部相连，在闭环检测的时候将被剔除
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// 相连关键帧定义见 KeyFrame::UpdateConnections()
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set<KeyFrame*> spConnectedKeyFrames = pKF->GetConnectedKeyFrames();
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// 用于保存可能与当前关键帧形成闭环的候选帧（只要有相同的word，且不属于局部相连（共视）帧）
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list<KeyFrame*> lKFsSharingWords;
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// Search all keyframes that share a word with current keyframes
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// Discard keyframes connected to the query keyframe
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// Step 1：找出和当前帧具有公共单词的所有关键帧，不包括与当前帧连接（也就是共视）的关键帧
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{
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unique_lock<mutex> lock(mMutex);
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// words是检测图像是否匹配的枢纽，遍历该pKF的每一个word
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// mBowVec 内部实际存储的是std::map<WordId, WordValue>
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// WordId 和 WordValue 表示Word在叶子中的id 和权重
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for(DBoW2::BowVector::const_iterator vit=pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit != vend; vit++)
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{
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// 提取所有包含该word的KeyFrame
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list<KeyFrame*> &lKFs = mvInvertedFile[vit->first];
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// 然后对这些关键帧展开遍历
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for(list<KeyFrame*>::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++)
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{
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KeyFrame* pKFi=*lit;
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if(pKFi->GetMap()==pKF->GetMap()) // For consider a loop candidate it a candidate it must be in the same map
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{
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if(pKFi->mnLoopQuery!=pKF->mnId)
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{
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// 还没有标记为pKF的闭环候选帧
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pKFi->mnLoopWords=0;
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// 和当前关键帧共视的话不作为闭环候选帧
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if(!spConnectedKeyFrames.count(pKFi))
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{
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// 没有共视就标记作为闭环候选关键帧，放到lKFsSharingWords里
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pKFi->mnLoopQuery=pKF->mnId;
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lKFsSharingWords.push_back(pKFi);
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}
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}
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pKFi->mnLoopWords++;// 记录pKFi与pKF具有相同word的个数
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}
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}
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}
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}
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// 如果没有关键帧和这个关键帧具有相同的单词,那么就返回空
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if(lKFsSharingWords.empty())
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return vector<KeyFrame*>();
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list<pair<float,KeyFrame*> > lScoreAndMatch;
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// Only compare against those keyframes that share enough words
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// Step 2：统计上述所有闭环候选帧中与当前帧具有共同单词最多的单词数，用来决定相对阈值
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int maxCommonWords=0;
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for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
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{
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if((*lit)->mnLoopWords>maxCommonWords)
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maxCommonWords=(*lit)->mnLoopWords;
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}
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// 确定最小公共单词数为最大公共单词数目的0.8倍
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int minCommonWords = maxCommonWords*0.8f;
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int nscores=0;
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// Compute similarity score. Retain the matches whose score is higher than minScore
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// Step 3：遍历上述所有闭环候选帧，挑选出共有单词数大于minCommonWords且单词匹配度大于minScore存入lScoreAndMatch
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for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
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{
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KeyFrame* pKFi = *lit;
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// pKF只和具有共同单词较多（大于minCommonWords）的关键帧进行比较
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if(pKFi->mnLoopWords>minCommonWords)
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{
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nscores++;
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// 用mBowVec来计算两者的相似度得分
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float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec);
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pKFi->mLoopScore = si;
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if(si>=minScore)
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lScoreAndMatch.push_back(make_pair(si,pKFi));
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}
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}
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// 如果没有超过指定相似度阈值的，那么也就直接跳过去
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if(lScoreAndMatch.empty())
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return vector<KeyFrame*>();
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list<pair<float,KeyFrame*> > lAccScoreAndMatch;
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float bestAccScore = minScore;
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// Lets now accumulate score by covisibility
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// 单单计算当前帧和某一关键帧的相似性是不够的，这里将与关键帧相连（权值最高，共视程度最高）的前十个关键帧归为一组，计算累计得分
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// Step 4：计算上述候选帧对应的共视关键帧组的总得分，得到最高组得分bestAccScore，并以此决定阈值minScoreToRetain
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for(list<pair<float,KeyFrame*> >::iterator it=lScoreAndMatch.begin(), itend=lScoreAndMatch.end(); it!=itend; it++)
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{
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KeyFrame* pKFi = it->second;
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vector<KeyFrame*> vpNeighs = pKFi->GetBestCovisibilityKeyFrames(10);
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float bestScore = it->first; // 该组最高分数
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float accScore = it->first; // 该组累计得分
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KeyFrame* pBestKF = pKFi; // 该组最高分数对应的关键帧
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for(vector<KeyFrame*>::iterator vit=vpNeighs.begin(), vend=vpNeighs.end(); vit!=vend; vit++)
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{
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KeyFrame* pKF2 = *vit;
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// 只有pKF2也在闭环候选帧中，且公共单词数超过最小要求，才能贡献分数
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if(pKF2->mnLoopQuery==pKF->mnId && pKF2->mnLoopWords>minCommonWords)
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{
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accScore+=pKF2->mLoopScore;
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// 统计得到组里分数最高的关键帧
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if(pKF2->mLoopScore>bestScore)
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{
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pBestKF=pKF2;
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bestScore = pKF2->mLoopScore;
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}
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}
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}
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lAccScoreAndMatch.push_back(make_pair(accScore,pBestKF));
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// 记录所有组中组得分最高的组，用于确定相对阈值
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if(accScore>bestAccScore)
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bestAccScore=accScore;
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}
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// Return all those keyframes with a score higher than 0.75*bestScore
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// 所有组中最高得分的0.75倍，作为最低阈值
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float minScoreToRetain = 0.75f*bestAccScore;
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set<KeyFrame*> spAlreadyAddedKF;
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vector<KeyFrame*> vpLoopCandidates;
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vpLoopCandidates.reserve(lAccScoreAndMatch.size());
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// Step 5：只取组得分大于阈值的组，得到组中分数最高的关键帧作为闭环候选关键帧
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for(list<pair<float,KeyFrame*> >::iterator it=lAccScoreAndMatch.begin(), itend=lAccScoreAndMatch.end(); it!=itend; it++)
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{
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if(it->first>minScoreToRetain)
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{
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KeyFrame* pKFi = it->second;
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// spAlreadyAddedKF 是为了防止重复添加
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if(!spAlreadyAddedKF.count(pKFi))
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{
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vpLoopCandidates.push_back(pKFi);
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spAlreadyAddedKF.insert(pKFi);
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}
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}
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}
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return vpLoopCandidates;
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}
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void KeyFrameDatabase::DetectCandidates(KeyFrame* pKF, float minScore,vector<KeyFrame*>& vpLoopCand, vector<KeyFrame*>& vpMergeCand)
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{
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set<KeyFrame*> spConnectedKeyFrames = pKF->GetConnectedKeyFrames();
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list<KeyFrame*> lKFsSharingWordsLoop,lKFsSharingWordsMerge;
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// Search all keyframes that share a word with current keyframes
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|||
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// Discard keyframes connected to the query keyframe
|
|||
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{
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|||
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unique_lock<mutex> lock(mMutex);
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|||
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|
|||
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for(DBoW2::BowVector::const_iterator vit=pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit != vend; vit++)
|
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{
|
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list<KeyFrame*> &lKFs = mvInvertedFile[vit->first];
|
|||
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|
|||
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for(list<KeyFrame*>::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++)
|
|||
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{
|
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KeyFrame* pKFi=*lit;
|
|||
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if(pKFi->GetMap()==pKF->GetMap()) // For consider a loop candidate it a candidate it must be in the same map
|
|||
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{
|
|||
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if(pKFi->mnLoopQuery!=pKF->mnId)
|
|||
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{
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|||
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pKFi->mnLoopWords=0;
|
|||
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if(!spConnectedKeyFrames.count(pKFi))
|
|||
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{
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|||
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pKFi->mnLoopQuery=pKF->mnId;
|
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lKFsSharingWordsLoop.push_back(pKFi);
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|||
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}
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|||
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}
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|||
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pKFi->mnLoopWords++;
|
|||
|
|
}
|
|||
|
|
else if(!pKFi->GetMap()->IsBad())
|
|||
|
|
{
|
|||
|
|
if(pKFi->mnMergeQuery!=pKF->mnId)
|
|||
|
|
{
|
|||
|
|
pKFi->mnMergeWords=0;
|
|||
|
|
if(!spConnectedKeyFrames.count(pKFi))
|
|||
|
|
{
|
|||
|
|
pKFi->mnMergeQuery=pKF->mnId;
|
|||
|
|
lKFsSharingWordsMerge.push_back(pKFi);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
pKFi->mnMergeWords++;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(lKFsSharingWordsLoop.empty() && lKFsSharingWordsMerge.empty())
|
|||
|
|
return;
|
|||
|
|
|
|||
|
|
if(!lKFsSharingWordsLoop.empty())
|
|||
|
|
{
|
|||
|
|
list<pair<float,KeyFrame*> > lScoreAndMatch;
|
|||
|
|
|
|||
|
|
// Only compare against those keyframes that share enough words
|
|||
|
|
int maxCommonWords=0;
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFsSharingWordsLoop.begin(), lend= lKFsSharingWordsLoop.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
if((*lit)->mnLoopWords>maxCommonWords)
|
|||
|
|
maxCommonWords=(*lit)->mnLoopWords;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
int minCommonWords = maxCommonWords*0.8f;
|
|||
|
|
|
|||
|
|
int nscores=0;
|
|||
|
|
|
|||
|
|
// Compute similarity score. Retain the matches whose score is higher than minScore
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFsSharingWordsLoop.begin(), lend= lKFsSharingWordsLoop.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = *lit;
|
|||
|
|
|
|||
|
|
if(pKFi->mnLoopWords>minCommonWords)
|
|||
|
|
{
|
|||
|
|
nscores++;
|
|||
|
|
|
|||
|
|
float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec);
|
|||
|
|
|
|||
|
|
pKFi->mLoopScore = si;
|
|||
|
|
if(si>=minScore)
|
|||
|
|
lScoreAndMatch.push_back(make_pair(si,pKFi));
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(!lScoreAndMatch.empty())
|
|||
|
|
{
|
|||
|
|
list<pair<float,KeyFrame*> > lAccScoreAndMatch;
|
|||
|
|
float bestAccScore = minScore;
|
|||
|
|
|
|||
|
|
// Lets now accumulate score by covisibility
|
|||
|
|
for(list<pair<float,KeyFrame*> >::iterator it=lScoreAndMatch.begin(), itend=lScoreAndMatch.end(); it!=itend; it++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = it->second;
|
|||
|
|
vector<KeyFrame*> vpNeighs = pKFi->GetBestCovisibilityKeyFrames(10);
|
|||
|
|
|
|||
|
|
float bestScore = it->first;
|
|||
|
|
float accScore = it->first;
|
|||
|
|
KeyFrame* pBestKF = pKFi;
|
|||
|
|
for(vector<KeyFrame*>::iterator vit=vpNeighs.begin(), vend=vpNeighs.end(); vit!=vend; vit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKF2 = *vit;
|
|||
|
|
if(pKF2->mnLoopQuery==pKF->mnId && pKF2->mnLoopWords>minCommonWords)
|
|||
|
|
{
|
|||
|
|
accScore+=pKF2->mLoopScore;
|
|||
|
|
if(pKF2->mLoopScore>bestScore)
|
|||
|
|
{
|
|||
|
|
pBestKF=pKF2;
|
|||
|
|
bestScore = pKF2->mLoopScore;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
lAccScoreAndMatch.push_back(make_pair(accScore,pBestKF));
|
|||
|
|
if(accScore>bestAccScore)
|
|||
|
|
bestAccScore=accScore;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Return all those keyframes with a score higher than 0.75*bestScore
|
|||
|
|
float minScoreToRetain = 0.75f*bestAccScore;
|
|||
|
|
|
|||
|
|
set<KeyFrame*> spAlreadyAddedKF;
|
|||
|
|
vpLoopCand.reserve(lAccScoreAndMatch.size());
|
|||
|
|
|
|||
|
|
for(list<pair<float,KeyFrame*> >::iterator it=lAccScoreAndMatch.begin(), itend=lAccScoreAndMatch.end(); it!=itend; it++)
|
|||
|
|
{
|
|||
|
|
if(it->first>minScoreToRetain)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = it->second;
|
|||
|
|
if(!spAlreadyAddedKF.count(pKFi))
|
|||
|
|
{
|
|||
|
|
vpLoopCand.push_back(pKFi);
|
|||
|
|
spAlreadyAddedKF.insert(pKFi);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(!lKFsSharingWordsMerge.empty())
|
|||
|
|
{
|
|||
|
|
//cout << "BoW candidates: " << lKFsSharingWordsMerge.size() << endl;
|
|||
|
|
list<pair<float,KeyFrame*> > lScoreAndMatch;
|
|||
|
|
|
|||
|
|
// Only compare against those keyframes that share enough words
|
|||
|
|
int maxCommonWords=0;
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFsSharingWordsMerge.begin(), lend=lKFsSharingWordsMerge.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
if((*lit)->mnMergeWords>maxCommonWords)
|
|||
|
|
maxCommonWords=(*lit)->mnMergeWords;
|
|||
|
|
}
|
|||
|
|
//cout << "Max common words: " << maxCommonWords << endl;
|
|||
|
|
|
|||
|
|
int minCommonWords = maxCommonWords*0.8f;
|
|||
|
|
|
|||
|
|
int nscores=0;
|
|||
|
|
|
|||
|
|
// Compute similarity score. Retain the matches whose score is higher than minScore
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFsSharingWordsMerge.begin(), lend=lKFsSharingWordsMerge.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = *lit;
|
|||
|
|
|
|||
|
|
if(pKFi->mnMergeWords>minCommonWords)
|
|||
|
|
{
|
|||
|
|
nscores++;
|
|||
|
|
|
|||
|
|
float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec);
|
|||
|
|
//cout << "KF score: " << si << endl;
|
|||
|
|
|
|||
|
|
pKFi->mMergeScore = si;
|
|||
|
|
if(si>=minScore)
|
|||
|
|
lScoreAndMatch.push_back(make_pair(si,pKFi));
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
//cout << "BoW candidates2: " << lScoreAndMatch.size() << endl;
|
|||
|
|
|
|||
|
|
if(!lScoreAndMatch.empty())
|
|||
|
|
{
|
|||
|
|
list<pair<float,KeyFrame*> > lAccScoreAndMatch;
|
|||
|
|
float bestAccScore = minScore;
|
|||
|
|
|
|||
|
|
// Lets now accumulate score by covisibility
|
|||
|
|
for(list<pair<float,KeyFrame*> >::iterator it=lScoreAndMatch.begin(), itend=lScoreAndMatch.end(); it!=itend; it++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = it->second;
|
|||
|
|
vector<KeyFrame*> vpNeighs = pKFi->GetBestCovisibilityKeyFrames(10);
|
|||
|
|
|
|||
|
|
float bestScore = it->first;
|
|||
|
|
float accScore = it->first;
|
|||
|
|
KeyFrame* pBestKF = pKFi;
|
|||
|
|
for(vector<KeyFrame*>::iterator vit=vpNeighs.begin(), vend=vpNeighs.end(); vit!=vend; vit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKF2 = *vit;
|
|||
|
|
if(pKF2->mnMergeQuery==pKF->mnId && pKF2->mnMergeWords>minCommonWords)
|
|||
|
|
{
|
|||
|
|
accScore+=pKF2->mMergeScore;
|
|||
|
|
if(pKF2->mMergeScore>bestScore)
|
|||
|
|
{
|
|||
|
|
pBestKF=pKF2;
|
|||
|
|
bestScore = pKF2->mMergeScore;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
lAccScoreAndMatch.push_back(make_pair(accScore,pBestKF));
|
|||
|
|
if(accScore>bestAccScore)
|
|||
|
|
bestAccScore=accScore;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Return all those keyframes with a score higher than 0.75*bestScore
|
|||
|
|
float minScoreToRetain = 0.75f*bestAccScore;
|
|||
|
|
|
|||
|
|
//cout << "Min score to retain: " << minScoreToRetain << endl;
|
|||
|
|
|
|||
|
|
set<KeyFrame*> spAlreadyAddedKF;
|
|||
|
|
vpMergeCand.reserve(lAccScoreAndMatch.size());
|
|||
|
|
|
|||
|
|
for(list<pair<float,KeyFrame*> >::iterator it=lAccScoreAndMatch.begin(), itend=lAccScoreAndMatch.end(); it!=itend; it++)
|
|||
|
|
{
|
|||
|
|
if(it->first>minScoreToRetain)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = it->second;
|
|||
|
|
if(!spAlreadyAddedKF.count(pKFi))
|
|||
|
|
{
|
|||
|
|
vpMergeCand.push_back(pKFi);
|
|||
|
|
spAlreadyAddedKF.insert(pKFi);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
//cout << "Candidates: " << vpMergeCand.size() << endl;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//----
|
|||
|
|
for(DBoW2::BowVector::const_iterator vit=pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit != vend; vit++)
|
|||
|
|
{
|
|||
|
|
list<KeyFrame*> &lKFs = mvInvertedFile[vit->first];
|
|||
|
|
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi=*lit;
|
|||
|
|
pKFi->mnLoopQuery=-1;
|
|||
|
|
pKFi->mnMergeQuery=-1;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void KeyFrameDatabase::DetectBestCandidates(KeyFrame *pKF, vector<KeyFrame*> &vpLoopCand, vector<KeyFrame*> &vpMergeCand, int nMinWords)
|
|||
|
|
{
|
|||
|
|
list<KeyFrame*> lKFsSharingWords;
|
|||
|
|
set<KeyFrame*> spConnectedKF;
|
|||
|
|
|
|||
|
|
// Search all keyframes that share a word with current frame
|
|||
|
|
{
|
|||
|
|
unique_lock<mutex> lock(mMutex);
|
|||
|
|
|
|||
|
|
spConnectedKF = pKF->GetConnectedKeyFrames();
|
|||
|
|
|
|||
|
|
for(DBoW2::BowVector::const_iterator vit=pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit != vend; vit++)
|
|||
|
|
{
|
|||
|
|
list<KeyFrame*> &lKFs = mvInvertedFile[vit->first];
|
|||
|
|
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi=*lit;
|
|||
|
|
if(spConnectedKF.find(pKFi) != spConnectedKF.end())
|
|||
|
|
{
|
|||
|
|
continue;
|
|||
|
|
}
|
|||
|
|
if(pKFi->mnPlaceRecognitionQuery!=pKF->mnId)
|
|||
|
|
{
|
|||
|
|
pKFi->mnPlaceRecognitionWords=0;
|
|||
|
|
pKFi->mnPlaceRecognitionQuery=pKF->mnId;
|
|||
|
|
lKFsSharingWords.push_back(pKFi);
|
|||
|
|
}
|
|||
|
|
pKFi->mnPlaceRecognitionWords++;
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
if(lKFsSharingWords.empty())
|
|||
|
|
return;
|
|||
|
|
|
|||
|
|
// Only compare against those keyframes that share enough words
|
|||
|
|
int maxCommonWords=0;
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
if((*lit)->mnPlaceRecognitionWords>maxCommonWords)
|
|||
|
|
maxCommonWords=(*lit)->mnPlaceRecognitionWords;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
int minCommonWords = maxCommonWords*0.8f;
|
|||
|
|
|
|||
|
|
if(minCommonWords < nMinWords)
|
|||
|
|
{
|
|||
|
|
minCommonWords = nMinWords;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
list<pair<float,KeyFrame*> > lScoreAndMatch;
|
|||
|
|
|
|||
|
|
int nscores=0;
|
|||
|
|
|
|||
|
|
// Compute similarity score.
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = *lit;
|
|||
|
|
|
|||
|
|
if(pKFi->mnPlaceRecognitionWords>minCommonWords)
|
|||
|
|
{
|
|||
|
|
nscores++;
|
|||
|
|
float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec);
|
|||
|
|
pKFi->mPlaceRecognitionScore=si;
|
|||
|
|
lScoreAndMatch.push_back(make_pair(si,pKFi));
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(lScoreAndMatch.empty())
|
|||
|
|
return;
|
|||
|
|
|
|||
|
|
list<pair<float,KeyFrame*> > lAccScoreAndMatch;
|
|||
|
|
float bestAccScore = 0;
|
|||
|
|
|
|||
|
|
// Lets now accumulate score by covisibility
|
|||
|
|
for(list<pair<float,KeyFrame*> >::iterator it=lScoreAndMatch.begin(), itend=lScoreAndMatch.end(); it!=itend; it++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = it->second;
|
|||
|
|
vector<KeyFrame*> vpNeighs = pKFi->GetBestCovisibilityKeyFrames(10);
|
|||
|
|
|
|||
|
|
float bestScore = it->first;
|
|||
|
|
float accScore = bestScore;
|
|||
|
|
KeyFrame* pBestKF = pKFi;
|
|||
|
|
for(vector<KeyFrame*>::iterator vit=vpNeighs.begin(), vend=vpNeighs.end(); vit!=vend; vit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKF2 = *vit;
|
|||
|
|
if(pKF2->mnPlaceRecognitionQuery!=pKF->mnId)
|
|||
|
|
continue;
|
|||
|
|
|
|||
|
|
accScore+=pKF2->mPlaceRecognitionScore;
|
|||
|
|
if(pKF2->mPlaceRecognitionScore>bestScore)
|
|||
|
|
{
|
|||
|
|
pBestKF=pKF2;
|
|||
|
|
bestScore = pKF2->mPlaceRecognitionScore;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
lAccScoreAndMatch.push_back(make_pair(accScore,pBestKF));
|
|||
|
|
if(accScore>bestAccScore)
|
|||
|
|
bestAccScore=accScore;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Return all those keyframes with a score higher than 0.75*bestScore
|
|||
|
|
float minScoreToRetain = 0.75f*bestAccScore;
|
|||
|
|
set<KeyFrame*> spAlreadyAddedKF;
|
|||
|
|
vpLoopCand.reserve(lAccScoreAndMatch.size());
|
|||
|
|
vpMergeCand.reserve(lAccScoreAndMatch.size());
|
|||
|
|
for(list<pair<float,KeyFrame*> >::iterator it=lAccScoreAndMatch.begin(), itend=lAccScoreAndMatch.end(); it!=itend; it++)
|
|||
|
|
{
|
|||
|
|
const float &si = it->first;
|
|||
|
|
if(si>minScoreToRetain)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = it->second;
|
|||
|
|
if(!spAlreadyAddedKF.count(pKFi))
|
|||
|
|
{
|
|||
|
|
if(pKF->GetMap() == pKFi->GetMap())
|
|||
|
|
{
|
|||
|
|
vpLoopCand.push_back(pKFi);
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
vpMergeCand.push_back(pKFi);
|
|||
|
|
}
|
|||
|
|
spAlreadyAddedKF.insert(pKFi);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool compFirst(const pair<float, KeyFrame*> & a, const pair<float, KeyFrame*> & b)
|
|||
|
|
{
|
|||
|
|
return a.first > b.first;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
void KeyFrameDatabase::DetectNBestCandidates(KeyFrame *pKF, vector<KeyFrame*> &vpLoopCand, vector<KeyFrame*> &vpMergeCand, int nNumCandidates)
|
|||
|
|
{
|
|||
|
|
list<KeyFrame*> lKFsSharingWords;
|
|||
|
|
//set<KeyFrame*> spInsertedKFsSharing;
|
|||
|
|
set<KeyFrame*> spConnectedKF;
|
|||
|
|
|
|||
|
|
// Search all keyframes that share a word with current frame
|
|||
|
|
{
|
|||
|
|
unique_lock<mutex> lock(mMutex);
|
|||
|
|
|
|||
|
|
spConnectedKF = pKF->GetConnectedKeyFrames();
|
|||
|
|
|
|||
|
|
for(DBoW2::BowVector::const_iterator vit=pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit != vend; vit++)
|
|||
|
|
{
|
|||
|
|
list<KeyFrame*> &lKFs = mvInvertedFile[vit->first];
|
|||
|
|
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi=*lit;
|
|||
|
|
/*if(spConnectedKF.find(pKFi) != spConnectedKF.end())
|
|||
|
|
{
|
|||
|
|
continue;
|
|||
|
|
}*/
|
|||
|
|
if(pKFi->mnPlaceRecognitionQuery!=pKF->mnId)
|
|||
|
|
{
|
|||
|
|
pKFi->mnPlaceRecognitionWords=0;
|
|||
|
|
if(!spConnectedKF.count(pKFi))
|
|||
|
|
{
|
|||
|
|
|
|||
|
|
pKFi->mnPlaceRecognitionQuery=pKF->mnId;
|
|||
|
|
lKFsSharingWords.push_back(pKFi);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
pKFi->mnPlaceRecognitionWords++;
|
|||
|
|
/*if(spInsertedKFsSharing.find(pKFi) == spInsertedKFsSharing.end())
|
|||
|
|
{
|
|||
|
|
lKFsSharingWords.push_back(pKFi);
|
|||
|
|
spInsertedKFsSharing.insert(pKFi);
|
|||
|
|
}*/
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
if(lKFsSharingWords.empty())
|
|||
|
|
return;
|
|||
|
|
|
|||
|
|
// Only compare against those keyframes that share enough words
|
|||
|
|
int maxCommonWords=0;
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
if((*lit)->mnPlaceRecognitionWords>maxCommonWords)
|
|||
|
|
maxCommonWords=(*lit)->mnPlaceRecognitionWords;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
int minCommonWords = maxCommonWords*0.8f;
|
|||
|
|
|
|||
|
|
list<pair<float,KeyFrame*> > lScoreAndMatch;
|
|||
|
|
|
|||
|
|
int nscores=0;
|
|||
|
|
|
|||
|
|
// Compute similarity score.
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = *lit;
|
|||
|
|
|
|||
|
|
if(pKFi->mnPlaceRecognitionWords>minCommonWords)
|
|||
|
|
{
|
|||
|
|
nscores++;
|
|||
|
|
float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec);
|
|||
|
|
pKFi->mPlaceRecognitionScore=si;
|
|||
|
|
lScoreAndMatch.push_back(make_pair(si,pKFi));
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(lScoreAndMatch.empty())
|
|||
|
|
return;
|
|||
|
|
|
|||
|
|
list<pair<float,KeyFrame*> > lAccScoreAndMatch;
|
|||
|
|
float bestAccScore = 0;
|
|||
|
|
|
|||
|
|
// Lets now accumulate score by covisibility
|
|||
|
|
for(list<pair<float,KeyFrame*> >::iterator it=lScoreAndMatch.begin(), itend=lScoreAndMatch.end(); it!=itend; it++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = it->second;
|
|||
|
|
vector<KeyFrame*> vpNeighs = pKFi->GetBestCovisibilityKeyFrames(10);
|
|||
|
|
|
|||
|
|
float bestScore = it->first;
|
|||
|
|
float accScore = bestScore;
|
|||
|
|
KeyFrame* pBestKF = pKFi;
|
|||
|
|
for(vector<KeyFrame*>::iterator vit=vpNeighs.begin(), vend=vpNeighs.end(); vit!=vend; vit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKF2 = *vit;
|
|||
|
|
if(pKF2->mnPlaceRecognitionQuery!=pKF->mnId)
|
|||
|
|
continue;
|
|||
|
|
|
|||
|
|
accScore+=pKF2->mPlaceRecognitionScore;
|
|||
|
|
if(pKF2->mPlaceRecognitionScore>bestScore)
|
|||
|
|
{
|
|||
|
|
pBestKF=pKF2;
|
|||
|
|
bestScore = pKF2->mPlaceRecognitionScore;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
lAccScoreAndMatch.push_back(make_pair(accScore,pBestKF));
|
|||
|
|
if(accScore>bestAccScore)
|
|||
|
|
bestAccScore=accScore;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//cout << "Amount of candidates: " << lAccScoreAndMatch.size() << endl;
|
|||
|
|
|
|||
|
|
lAccScoreAndMatch.sort(compFirst);
|
|||
|
|
|
|||
|
|
vpLoopCand.reserve(nNumCandidates);
|
|||
|
|
vpMergeCand.reserve(nNumCandidates);
|
|||
|
|
set<KeyFrame*> spAlreadyAddedKF;
|
|||
|
|
//cout << "Candidates in score order " << endl;
|
|||
|
|
//for(list<pair<float,KeyFrame*> >::iterator it=lAccScoreAndMatch.begin(), itend=lAccScoreAndMatch.end(); it!=itend; it++)
|
|||
|
|
int i = 0;
|
|||
|
|
list<pair<float,KeyFrame*> >::iterator it=lAccScoreAndMatch.begin();
|
|||
|
|
while(i < lAccScoreAndMatch.size() && (vpLoopCand.size() < nNumCandidates || vpMergeCand.size() < nNumCandidates))
|
|||
|
|
{
|
|||
|
|
//cout << "Accum score: " << it->first << endl;
|
|||
|
|
KeyFrame* pKFi = it->second;
|
|||
|
|
if(pKFi->isBad())
|
|||
|
|
continue;
|
|||
|
|
|
|||
|
|
if(!spAlreadyAddedKF.count(pKFi))
|
|||
|
|
{
|
|||
|
|
if(pKF->GetMap() == pKFi->GetMap() && vpLoopCand.size() < nNumCandidates)
|
|||
|
|
{
|
|||
|
|
vpLoopCand.push_back(pKFi);
|
|||
|
|
}
|
|||
|
|
else if(pKF->GetMap() != pKFi->GetMap() && vpMergeCand.size() < nNumCandidates && !pKFi->GetMap()->IsBad())
|
|||
|
|
{
|
|||
|
|
vpMergeCand.push_back(pKFi);
|
|||
|
|
}
|
|||
|
|
spAlreadyAddedKF.insert(pKFi);
|
|||
|
|
}
|
|||
|
|
i++;
|
|||
|
|
it++;
|
|||
|
|
}
|
|||
|
|
//-------
|
|||
|
|
|
|||
|
|
// Return all those keyframes with a score higher than 0.75*bestScore
|
|||
|
|
/*float minScoreToRetain = 0.75f*bestAccScore;
|
|||
|
|
set<KeyFrame*> spAlreadyAddedKF;
|
|||
|
|
vpLoopCand.reserve(lAccScoreAndMatch.size());
|
|||
|
|
vpMergeCand.reserve(lAccScoreAndMatch.size());
|
|||
|
|
for(list<pair<float,KeyFrame*> >::iterator it=lAccScoreAndMatch.begin(), itend=lAccScoreAndMatch.end(); it!=itend; it++)
|
|||
|
|
{
|
|||
|
|
const float &si = it->first;
|
|||
|
|
if(si>minScoreToRetain)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = it->second;
|
|||
|
|
if(!spAlreadyAddedKF.count(pKFi))
|
|||
|
|
{
|
|||
|
|
if(pKF->GetMap() == pKFi->GetMap())
|
|||
|
|
{
|
|||
|
|
vpLoopCand.push_back(pKFi);
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
vpMergeCand.push_back(pKFi);
|
|||
|
|
}
|
|||
|
|
spAlreadyAddedKF.insert(pKFi);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}*/
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
vector<KeyFrame*> KeyFrameDatabase::DetectRelocalizationCandidates(Frame *F, Map* pMap)
|
|||
|
|
{
|
|||
|
|
list<KeyFrame*> lKFsSharingWords;
|
|||
|
|
|
|||
|
|
// Search all keyframes that share a word with current frame
|
|||
|
|
{
|
|||
|
|
unique_lock<mutex> lock(mMutex);
|
|||
|
|
|
|||
|
|
for(DBoW2::BowVector::const_iterator vit=F->mBowVec.begin(), vend=F->mBowVec.end(); vit != vend; vit++)
|
|||
|
|
{
|
|||
|
|
list<KeyFrame*> &lKFs = mvInvertedFile[vit->first];
|
|||
|
|
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi=*lit;
|
|||
|
|
if(pKFi->mnRelocQuery!=F->mnId)
|
|||
|
|
{
|
|||
|
|
pKFi->mnRelocWords=0;
|
|||
|
|
pKFi->mnRelocQuery=F->mnId;
|
|||
|
|
lKFsSharingWords.push_back(pKFi);
|
|||
|
|
}
|
|||
|
|
pKFi->mnRelocWords++;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
if(lKFsSharingWords.empty())
|
|||
|
|
return vector<KeyFrame*>();
|
|||
|
|
|
|||
|
|
// Only compare against those keyframes that share enough words
|
|||
|
|
int maxCommonWords=0;
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
if((*lit)->mnRelocWords>maxCommonWords)
|
|||
|
|
maxCommonWords=(*lit)->mnRelocWords;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
int minCommonWords = maxCommonWords*0.8f;
|
|||
|
|
|
|||
|
|
list<pair<float,KeyFrame*> > lScoreAndMatch;
|
|||
|
|
|
|||
|
|
int nscores=0;
|
|||
|
|
|
|||
|
|
// Compute similarity score.
|
|||
|
|
for(list<KeyFrame*>::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = *lit;
|
|||
|
|
|
|||
|
|
if(pKFi->mnRelocWords>minCommonWords)
|
|||
|
|
{
|
|||
|
|
nscores++;
|
|||
|
|
float si = mpVoc->score(F->mBowVec,pKFi->mBowVec);
|
|||
|
|
pKFi->mRelocScore=si;
|
|||
|
|
lScoreAndMatch.push_back(make_pair(si,pKFi));
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(lScoreAndMatch.empty())
|
|||
|
|
return vector<KeyFrame*>();
|
|||
|
|
|
|||
|
|
list<pair<float,KeyFrame*> > lAccScoreAndMatch;
|
|||
|
|
float bestAccScore = 0;
|
|||
|
|
|
|||
|
|
// Lets now accumulate score by covisibility
|
|||
|
|
for(list<pair<float,KeyFrame*> >::iterator it=lScoreAndMatch.begin(), itend=lScoreAndMatch.end(); it!=itend; it++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = it->second;
|
|||
|
|
vector<KeyFrame*> vpNeighs = pKFi->GetBestCovisibilityKeyFrames(10);
|
|||
|
|
|
|||
|
|
float bestScore = it->first;
|
|||
|
|
float accScore = bestScore;
|
|||
|
|
KeyFrame* pBestKF = pKFi;
|
|||
|
|
for(vector<KeyFrame*>::iterator vit=vpNeighs.begin(), vend=vpNeighs.end(); vit!=vend; vit++)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKF2 = *vit;
|
|||
|
|
if(pKF2->mnRelocQuery!=F->mnId)
|
|||
|
|
continue;
|
|||
|
|
|
|||
|
|
accScore+=pKF2->mRelocScore;
|
|||
|
|
if(pKF2->mRelocScore>bestScore)
|
|||
|
|
{
|
|||
|
|
pBestKF=pKF2;
|
|||
|
|
bestScore = pKF2->mRelocScore;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
lAccScoreAndMatch.push_back(make_pair(accScore,pBestKF));
|
|||
|
|
if(accScore>bestAccScore)
|
|||
|
|
bestAccScore=accScore;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Return all those keyframes with a score higher than 0.75*bestScore
|
|||
|
|
float minScoreToRetain = 0.75f*bestAccScore;
|
|||
|
|
set<KeyFrame*> spAlreadyAddedKF;
|
|||
|
|
vector<KeyFrame*> vpRelocCandidates;
|
|||
|
|
vpRelocCandidates.reserve(lAccScoreAndMatch.size());
|
|||
|
|
for(list<pair<float,KeyFrame*> >::iterator it=lAccScoreAndMatch.begin(), itend=lAccScoreAndMatch.end(); it!=itend; it++)
|
|||
|
|
{
|
|||
|
|
const float &si = it->first;
|
|||
|
|
if(si>minScoreToRetain)
|
|||
|
|
{
|
|||
|
|
KeyFrame* pKFi = it->second;
|
|||
|
|
if (pKFi->GetMap() != pMap)
|
|||
|
|
continue;
|
|||
|
|
if(!spAlreadyAddedKF.count(pKFi))
|
|||
|
|
{
|
|||
|
|
vpRelocCandidates.push_back(pKFi);
|
|||
|
|
spAlreadyAddedKF.insert(pKFi);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return vpRelocCandidates;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void KeyFrameDatabase::SetORBVocabulary(ORBVocabulary* pORBVoc)
|
|||
|
|
{
|
|||
|
|
ORBVocabulary** ptr;
|
|||
|
|
ptr = (ORBVocabulary**)( &mpVoc );
|
|||
|
|
*ptr = pORBVoc;
|
|||
|
|
|
|||
|
|
mvInvertedFile.clear();
|
|||
|
|
mvInvertedFile.resize(mpVoc->size());
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
} //namespace ORB_SLAM
|