void QDescriptorMatcher::match(QMat* queryDescriptors, QDMatchVector* matches){
if ( m_knn != -1 ){
knnMatch(queryDescriptors, matches, m_knn);
} else {
if ( m_matcher ){
try{
if ( matches->matches().size() != 1)
matches->matches().resize(1);
if ( queryDescriptors->cvMat()->cols == 0 )
return;
m_matcher->match(*queryDescriptors->cvMat(), matches->matches()[0] );
m_matches->setType(QDMatchVector::BEST_MATCH);
} catch ( cv::Exception& e ){
qCritical("Descriptor matcher: %s", e.what());
}
}
}
}
bool
OrbLocationRecognition::detectSimilarLocations(const FrameConstPtr& frame, int k,
std::vector<FrameConstPtr>& matches)
{
std::vector<DVision::ORB::bitset> features = frameToFeatures(frame);
FrameTag tag;
tag.frameSetSegmentId = 0;
tag.frameSetId = frame->frameSet()->seq();
tag.frameId = frame->cameraId();
m_dbMutex.lock();
m_frameTagMap.insert(std::make_pair(tag, m_frameTagMap.size()));
m_frameTags.push_back(tag);
m_frames.push_back(frame);
m_dbMutex.unlock();
std::vector<FrameConstPtr> rawMatches;
knnMatch(frame, k, rawMatches);
matches.reserve(rawMatches.size());
for (size_t i = 0; i < rawMatches.size(); ++i)
{
FrameConstPtr& match = rawMatches.at(i);
if (std::abs(tag.frameSetId - match->frameSet()->seq()) < 10)
{
continue;
}
matches.push_back(match);
}
m_dbMutex.lock();
m_db.add(features);
m_dbMutex.unlock();
return !matches.empty();
}