Inheritance diagram for scancontext_matching.ScanContextMatching:

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Public Member Functions
def	__init__ (self, shape=[20, 60], num_candidates=10, threshold=0.15)

def	add_item (self, descriptor, item)

def	search (self, query, k)

def	search_best (self, query)

Public Attributes
	shape

	num_candidates

	threshold

	scancontexts

	ringkeys

	items

	nb_items

Detailed Description

Nearest Neighbor matching of description vectors

Definition at line 5 of file scancontext_matching.py.

Constructor & Destructor Documentation

◆ init()

def scancontext_matching.ScanContextMatching.__init__	(	self,
		shape = `[20,60]`,
		num_candidates = `10`,
		threshold = `0.15`
	)

 Initialization
    Default configs are the same as in the original paper

Definition at line 9 of file scancontext_matching.py.

Member Function Documentation

◆ add_item()

def scancontext_matching.ScanContextMatching.add_item	(	self,
		descriptor,
		item
	)

Add item to the matching list

Args:
    descriptor (np.array): descriptor
    item: identification info (e.g., int)

Definition at line 23 of file scancontext_matching.py.

◆ search()

def scancontext_matching.ScanContextMatching.search	(	self,
		query,
		k
	)

Search for nearest neighbors

Args:
    query (np.array): descriptor to match
    k (int): number of best matches to return

Returns:
    list(int, np.array): best matches

Definition at line 46 of file scancontext_matching.py.

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◆ search_best()

def scancontext_matching.ScanContextMatching.search_best	(	self,
		query
	)

Search for the nearest neighbor
    Implementation for compatibily only

Args:
    query (np.array): descriptor to match

Returns:
    int, np.array: best match

Definition at line 89 of file scancontext_matching.py.

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Member Data Documentation

◆ items

scancontext_matching.ScanContextMatching.items

Definition at line 20 of file scancontext_matching.py.

◆ nb_items

scancontext_matching.ScanContextMatching.nb_items

Definition at line 21 of file scancontext_matching.py.

◆ num_candidates

scancontext_matching.ScanContextMatching.num_candidates

Definition at line 15 of file scancontext_matching.py.

◆ ringkeys

scancontext_matching.ScanContextMatching.ringkeys

Definition at line 19 of file scancontext_matching.py.

◆ scancontexts

scancontext_matching.ScanContextMatching.scancontexts

Definition at line 18 of file scancontext_matching.py.

◆ shape

scancontext_matching.ScanContextMatching.shape

Definition at line 14 of file scancontext_matching.py.

◆ threshold

scancontext_matching.ScanContextMatching.threshold

Definition at line 16 of file scancontext_matching.py.

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

/home/lajoiepy/Documents/phd/projects/C-SLAM/Swarm-SLAM/src/cslam/cslam/lidar_pr/scancontext_matching.py

Public Member Functions

Public Attributes