dbow_eval.cpp

#include <iostream>
#include <string>

#include <DBoW3/DBoW3.h>

#include "util/multi_descriptor.h"

int main(int argc, char** argv) {
  if (argc != 2) {
    std::cerr << "second arg is the path to vocabulary file" << std::endl;
    return 1;
  }

  const std::string kFilePrefix = std::string(argv[1]) + "/";
  const std::string kDatabasePath = kFilePrefix + "vocabulary.bin";
  DBoW3::Vocabulary vocab(kDatabasePath);

  if (vocab.empty()) {
    std::cerr << "vocab is empty" << std::endl;
    return 1;
  }

  std::vector<cv::Mat> eval_images;

  constexpr int kImageStart = 1;
  constexpr int kImageEnd = 10;
  util::multi_imread(eval_images, kFilePrefix, kImageStart, kImageEnd);
  std::vector<cv::Mat> orb_descriptors;
  util::multi_descriptor_detect(orb_descriptors, eval_images);

  std::cout << "performing image to image comparison" << std::endl;

  for (size_t i = 0; i < orb_descriptors.size(); ++i) {
    DBoW3::BowVector v1;
    vocab.transform(orb_descriptors[i], v1);
    for (size_t j = i; j < orb_descriptors.size(); ++j) {
      DBoW3::BowVector v2;
      vocab.transform(orb_descriptors[j], v2);

      const double similarity_score = vocab.score(v1, v2);
      std::cout << "images " << i << ", " << j << ": " << similarity_score
                << std::endl;
    }
  }

  std::cout << "performing image to database comparison" << std::endl;

  constexpr bool kUseDirectIndex = false;
  constexpr int kDirectIndexLevels = 0;
  DBoW3::Database db(vocab, kUseDirectIndex, kDirectIndexLevels);

  for (const cv::Mat& descriptor : orb_descriptors) {
    db.add(descriptor);
  }
  std::cout << db << std::endl;

  constexpr int kMaxQueryReturn = 4;
  for (size_t i = 0; i < orb_descriptors.size(); ++i) {
    DBoW3::QueryResults res;
    db.query(orb_descriptors[i], res, kMaxQueryReturn);

    std::cout << "query image " << i << " returns " << res << std::endl;
  }

  return 0;
}