added returning scores in querydb call

nasa · Jun 26, 2024 · 29adb0e · 29adb0e
1 parent 2a7aef3
commit 29adb0e
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Showing 4 changed files with 9 additions and 8 deletions.
diff --git a/localization/sparse_mapping/include/sparse_mapping/vocab_tree.h b/localization/sparse_mapping/include/sparse_mapping/vocab_tree.h
@@ -94,11 +94,8 @@ namespace sparse_mapping {
   void ResetDB(VocabDB* db);
 
   // Query similar images from database
-  void QueryDB(std::string const& descriptor,
-               VocabDB * vocab_db,
-               int num_similar,
-               cv::Mat const& descriptors,
-               std::vector<int> * indices);
+  void QueryDB(std::string const& descriptor, VocabDB* vocab_db, int num_similar, cv::Mat const& descriptors,
+               std::vector<int>* indices, std::vector<double>* scores);
 
   void BuildDBforDBoW2(sparse_mapping::SparseMap* map,
                        std::string const& descriptor,

diff --git a/localization/sparse_mapping/src/sparse_map.cc b/localization/sparse_mapping/src/sparse_map.cc
@@ -729,6 +729,7 @@ bool SparseMap::Localize(cv::Mat const& test_descriptors, Eigen::Matrix2Xd const
                          std::vector<Eigen::Vector2d>* inlier_observations, std::vector<int>* cid_list,
                          const cv::Mat& image) {
   std::vector<int> indices;
+  std::vector<double> query_scores;
   // Query the vocab tree.
   if (cid_list == NULL)
     sparse_mapping::QueryDB(detector_.GetDetectorName(),
@@ -738,7 +739,7 @@ bool SparseMap::Localize(cv::Mat const& test_descriptors, Eigen::Matrix2Xd const
                             // them below.
                             loc_params_.num_similar + loc_params_.num_extra_localization_db_images,
                             test_descriptors,
-                            &indices);
+                            &indices, &query_scores);
   else
     indices = *cid_list;
   if (indices.empty()) {

diff --git a/localization/sparse_mapping/src/tensor.cc b/localization/sparse_mapping/src/tensor.cc
@@ -221,10 +221,11 @@ void MatchFeatures(const std::string & essential_file,
     ff_common::PrintProgressBar(stdout, static_cast<float>(cid)
                              / static_cast <float>(s->cid_to_keypoint_map_.size() - 1));
     std::vector<int> indices, queried_indices;
+    std::vector<double> scores;
     sparse_mapping::QueryDB(s->detector_.GetDetectorName(),
                             &s->vocab_db_, s->loc_params().num_similar,
                             s->cid_to_descriptor_map_[cid],
-                            &queried_indices);
+                            &queried_indices, &scores);
 
     if (!queried_indices.empty()) {
       // always include the next three images

diff --git a/localization/sparse_mapping/src/vocab_tree.cc b/localization/sparse_mapping/src/vocab_tree.cc
@@ -379,8 +379,9 @@ void MatDescrToVec(cv::Mat const& mat, DBoW2::BriefDescriptor * brief) {
 // at most num_similar such indices.
 void QueryDB(std::string const& descriptor, VocabDB * vocab_db,
              int num_similar, cv::Mat const& descriptors,
-             std::vector<int> * indices) {
+             std::vector<int> * indices, std::vector<double> * scores) {
   indices->clear();
+  scores->clear();
 
   if (vocab_db->binary_db != NULL) {
     assert(IsBinaryDescriptor(descriptor));
@@ -398,6 +399,7 @@ void QueryDB(std::string const& descriptor, VocabDB * vocab_db,
 
     for (size_t j = 0; j < ret.size(); j++) {
       indices->push_back(ret[j].Id);
+      scores->push_back(ret[j].Score);
     }
   } else {
     // no database specified