Ocean::Tracking::VocabularyStructure Class Reference

This class implements the base class for all Vocabulary objects. More...

#include <VocabularyTree.h>

Inheritance diagram for Ocean::Tracking::VocabularyStructure:

Data Structures
class	Match
	This class implements a simple container holding the index pairs of matching descriptors and their distance. More...
class	Parameters
	This class stores construction parameters for a VocabularyStructure. More...

Public Types
enum	InitializationStrategy : uint32_t { IS_INVALID = 0u , IS_PURE_RANDOM , IS_LARGEST_DISTANCE }
	Definition of individual strategies to initialize the clustering of each tree node. More...
enum	MatchingMode : uint32_t {   MM_INVALID = 0u , MM_FIRST_BEST_LEAF , MM_ALL_BEST_LEAVES , MM_ALL_GOOD_LEAVES_1 ,   MM_ALL_GOOD_LEAVES_2 }
	Definition of individual matching modes for descriptors. More...
template<typename TDistance >
using	Matches = std::vector< Match< TDistance > >
	Definition of a vector holding matches.

Public Member Functions
virtual	~VocabularyStructure ()=default
	Destructs this object.

Static Public Member Functions
static constexpr Index32	invalidMatchIndex ()
	Returns an invalid matching index.

Protected Member Functions
	VocabularyStructure ()=default
	Default constructor.

Static Protected Member Functions
static std::vector< uint8_t >	generateBitSeparationLookup8 ()
	Returns the lookup table which separates the bits of a byte into 8 individual bytes.

Detailed Description

This class implements the base class for all Vocabulary objects.

Member Typedef Documentation

Matches

template<typename TDistance >

using Ocean::Tracking::VocabularyStructure::Matches = std::vector<Match<TDistance> >

Definition of a vector holding matches.

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Member Enumeration Documentation

InitializationStrategy

enum Ocean::Tracking::VocabularyStructure::InitializationStrategy : uint32_t

Definition of individual strategies to initialize the clustering of each tree node.

Enumerator
IS_INVALID	An invalid strategy.
IS_PURE_RANDOM	All initial clusters are chosen randomly.
IS_LARGEST_DISTANCE	The initial first cluster is chosen randomly, the remaining clusters are chosen with largest distance to each other.

MatchingMode

enum Ocean::Tracking::VocabularyStructure::MatchingMode : uint32_t

Definition of individual matching modes for descriptors.

Enumerator
MM_INVALID	An invalid matching mode.
MM_FIRST_BEST_LEAF	Only descriptor from the first best tree leaf are considered for matching (the second+ leaf with identical best distance is skipped).
MM_ALL_BEST_LEAVES	All descriptors from all best tree leaves are considered for matching (all leaves with identical best distances are considered).
MM_ALL_GOOD_LEAVES_1	All descriptors from all tree leaves are considered for matching which are within a 1% distance to the best leaf.
MM_ALL_GOOD_LEAVES_2	All descriptors from all tree leaves are considered for matching which are within a 2% distance to the best leaf.

Constructor & Destructor Documentation

~VocabularyStructure()

virtual Ocean::Tracking::VocabularyStructure::~VocabularyStructure ( )

virtualdefault

Destructs this object.

VocabularyStructure()

Ocean::Tracking::VocabularyStructure::VocabularyStructure ( )

protecteddefault

Default constructor.

Member Function Documentation

generateBitSeparationLookup8()

std::vector< uint8_t > Ocean::Tracking::VocabularyStructure::generateBitSeparationLookup8 ( )

inlinestaticprotected

Returns the lookup table which separates the bits of a byte into 8 individual bytes.

The lookup table can be used e.g., during the calculation of the mean descriptor of several descriptors.

Returns

The lookup table with 256 * 8 entries

invalidMatchIndex()

constexpr Index32 Ocean::Tracking::VocabularyStructure::invalidMatchIndex ( )

staticconstexpr

Returns an invalid matching index.

Returns

The index of an invalid match

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

• VocabularyTree.h