OpenCV  2.4.13.4
Open Source Computer Vision
cv::of2::FabMap Class Reference

#include <openfabmap.hpp>

Inheritance diagram for cv::of2::FabMap:
cv::of2::FabMap1 cv::of2::FabMap2 cv::of2::FabMapFBO cv::of2::FabMapLUT

Public Types

enum  {
  MEAN_FIELD = 1, SAMPLED = 2, NAIVE_BAYES = 4, CHOW_LIU = 8,
  MOTION_MODEL = 16
}
 

Public Member Functions

 FabMap (const Mat &clTree, double PzGe, double PzGNe, int flags, int numSamples=0)
 
virtual ~FabMap ()
 
virtual void addTraining (const Mat &queryImgDescriptor)
 
virtual void addTraining (const vector< Mat > &queryImgDescriptors)
 
virtual void add (const Mat &queryImgDescriptor)
 
virtual void add (const vector< Mat > &queryImgDescriptors)
 
const vector< Mat > & getTrainingImgDescriptors () const
 
const vector< Mat > & getTestImgDescriptors () const
 
void compare (const Mat &queryImgDescriptor, vector< IMatch > &matches, bool addQuery=false, const Mat &mask=Mat())
 
void compare (const Mat &queryImgDescriptor, const Mat &testImgDescriptors, vector< IMatch > &matches, const Mat &mask=Mat())
 
void compare (const Mat &queryImgDescriptor, const vector< Mat > &testImgDescriptors, vector< IMatch > &matches, const Mat &mask=Mat())
 
void compare (const vector< Mat > &queryImgDescriptors, vector< IMatch > &matches, bool addQuery=false, const Mat &mask=Mat())
 
void compare (const vector< Mat > &queryImgDescriptors, const vector< Mat > &testImgDescriptors, vector< IMatch > &matches, const Mat &mask=Mat())
 

Protected Member Functions

void compareImgDescriptor (const Mat &queryImgDescriptor, int queryIndex, const vector< Mat > &testImgDescriptors, vector< IMatch > &matches)
 
void addImgDescriptor (const Mat &queryImgDescriptor)
 
virtual void getLikelihoods (const Mat &queryImgDescriptor, const vector< Mat > &testImgDescriptors, vector< IMatch > &matches)
 
virtual double getNewPlaceLikelihood (const Mat &queryImgDescriptor)
 
void normaliseDistribution (vector< IMatch > &matches)
 
int pq (int q)
 
double Pzq (int q, bool zq)
 
double PzqGzpq (int q, bool zq, bool zpq)
 
double PzqGeq (bool zq, bool eq)
 
double PeqGL (int q, bool Lzq, bool eq)
 
double PzqGL (int q, bool zq, bool zpq, bool Lzq)
 
double PzqGzpqL (int q, bool zq, bool zpq, bool Lzq)
 

Protected Attributes

double(FabMap::* PzGL )(int q, bool zq, bool zpq, bool Lzq)
 
Mat clTree
 
vector< MattrainingImgDescriptors
 
vector< MattestImgDescriptors
 
vector< IMatchpriorMatches
 
double PzGe
 
double PzGNe
 
double Pnew
 
double mBias
 
double sFactor
 
int flags
 
int numSamples
 

Member Enumeration Documentation

§ anonymous enum

anonymous enum
Enumerator
MEAN_FIELD 
SAMPLED 
NAIVE_BAYES 
CHOW_LIU 
MOTION_MODEL 

Constructor & Destructor Documentation

§ FabMap()

cv::of2::FabMap::FabMap ( const Mat clTree,
double  PzGe,
double  PzGNe,
int  flags,
int  numSamples = 0 
)

§ ~FabMap()

virtual cv::of2::FabMap::~FabMap ( )
virtual

Member Function Documentation

§ add() [1/2]

virtual void cv::of2::FabMap::add ( const Mat queryImgDescriptor)
virtual

Reimplemented in cv::of2::FabMap2.

§ add() [2/2]

virtual void cv::of2::FabMap::add ( const vector< Mat > &  queryImgDescriptors)
virtual

Reimplemented in cv::of2::FabMap2.

§ addImgDescriptor()

void cv::of2::FabMap::addImgDescriptor ( const Mat queryImgDescriptor)
protected

§ addTraining() [1/2]

virtual void cv::of2::FabMap::addTraining ( const Mat queryImgDescriptor)
virtual

Reimplemented in cv::of2::FabMap2.

§ addTraining() [2/2]

virtual void cv::of2::FabMap::addTraining ( const vector< Mat > &  queryImgDescriptors)
virtual

Reimplemented in cv::of2::FabMap2.

§ compare() [1/5]

void cv::of2::FabMap::compare ( const Mat queryImgDescriptor,
vector< IMatch > &  matches,
bool  addQuery = false,
const Mat mask = Mat() 
)

§ compare() [2/5]

void cv::of2::FabMap::compare ( const Mat queryImgDescriptor,
const Mat testImgDescriptors,
vector< IMatch > &  matches,
const Mat mask = Mat() 
)

§ compare() [3/5]

void cv::of2::FabMap::compare ( const Mat queryImgDescriptor,
const vector< Mat > &  testImgDescriptors,
vector< IMatch > &  matches,
const Mat mask = Mat() 
)

§ compare() [4/5]

void cv::of2::FabMap::compare ( const vector< Mat > &  queryImgDescriptors,
vector< IMatch > &  matches,
bool  addQuery = false,
const Mat mask = Mat() 
)

§ compare() [5/5]

void cv::of2::FabMap::compare ( const vector< Mat > &  queryImgDescriptors,
const vector< Mat > &  testImgDescriptors,
vector< IMatch > &  matches,
const Mat mask = Mat() 
)

§ compareImgDescriptor()

void cv::of2::FabMap::compareImgDescriptor ( const Mat queryImgDescriptor,
int  queryIndex,
const vector< Mat > &  testImgDescriptors,
vector< IMatch > &  matches 
)
protected

§ getLikelihoods()

virtual void cv::of2::FabMap::getLikelihoods ( const Mat queryImgDescriptor,
const vector< Mat > &  testImgDescriptors,
vector< IMatch > &  matches 
)
protectedvirtual

§ getNewPlaceLikelihood()

virtual double cv::of2::FabMap::getNewPlaceLikelihood ( const Mat queryImgDescriptor)
protectedvirtual

Reimplemented in cv::of2::FabMap2.

§ getTestImgDescriptors()

const vector<Mat>& cv::of2::FabMap::getTestImgDescriptors ( ) const

§ getTrainingImgDescriptors()

const vector<Mat>& cv::of2::FabMap::getTrainingImgDescriptors ( ) const

§ normaliseDistribution()

void cv::of2::FabMap::normaliseDistribution ( vector< IMatch > &  matches)
protected

§ PeqGL()

double cv::of2::FabMap::PeqGL ( int  q,
bool  Lzq,
bool  eq 
)
protected

§ pq()

int cv::of2::FabMap::pq ( int  q)
protected

§ Pzq()

double cv::of2::FabMap::Pzq ( int  q,
bool  zq 
)
protected

§ PzqGeq()

double cv::of2::FabMap::PzqGeq ( bool  zq,
bool  eq 
)
protected

§ PzqGL()

double cv::of2::FabMap::PzqGL ( int  q,
bool  zq,
bool  zpq,
bool  Lzq 
)
protected

§ PzqGzpq()

double cv::of2::FabMap::PzqGzpq ( int  q,
bool  zq,
bool  zpq 
)
protected

§ PzqGzpqL()

double cv::of2::FabMap::PzqGzpqL ( int  q,
bool  zq,
bool  zpq,
bool  Lzq 
)
protected

Member Data Documentation

§ clTree

Mat cv::of2::FabMap::clTree
protected

§ flags

int cv::of2::FabMap::flags
protected

§ mBias

double cv::of2::FabMap::mBias
protected

§ numSamples

int cv::of2::FabMap::numSamples
protected

§ Pnew

double cv::of2::FabMap::Pnew
protected

§ priorMatches

vector<IMatch> cv::of2::FabMap::priorMatches
protected

§ PzGe

double cv::of2::FabMap::PzGe
protected

§ PzGL

double(FabMap::* cv::of2::FabMap::PzGL) (int q, bool zq, bool zpq, bool Lzq)
protected

§ PzGNe

double cv::of2::FabMap::PzGNe
protected

§ sFactor

double cv::of2::FabMap::sFactor
protected

§ testImgDescriptors

vector<Mat> cv::of2::FabMap::testImgDescriptors
protected

§ trainingImgDescriptors

vector<Mat> cv::of2::FabMap::trainingImgDescriptors
protected

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