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hub / github.com/AutonomousFieldRoboticsLab/SVIn / add

Method add

pose_graph/ThirdParty/DBoW/TemplatedDatabase.h:369–389  ·  view source on GitHub ↗

Source from the content-addressed store, hash-verified

367
368template <class TDescriptor, class F>
369EntryId TemplatedDatabase<TDescriptor, F>::add(const std::vector<TDescriptor>& features,
370 BowVector* bowvec,
371 FeatureVector* fvec) {
372 BowVector aux;
373 BowVector& v = (bowvec ? *bowvec : aux);
374
375 if (m_use_di && fvec != NULL) {
376 m_voc->transform(features, v, *fvec, m_dilevels); // with features
377 return add(v, *fvec);
378 } else if (m_use_di) {
379 FeatureVector fv;
380 m_voc->transform(features, v, fv, m_dilevels); // with features
381 return add(v, fv);
382 } else if (fvec != NULL) {
383 m_voc->transform(features, v, *fvec, m_dilevels); // with features
384 return add(v);
385 } else {
386 m_voc->transform(features, v); // with features
387 return add(v);
388 }
389}
390
391// ---------------------------------------------------------------------------
392

Callers 2

addKFToPoseGraphMethod · 0.80
detectLoopMethod · 0.80

Calls 3

IFPairClass · 0.85
transformMethod · 0.80
sizeMethod · 0.45

Tested by

no test coverage detected