model

SLAM.LoopClosure.RGBDBagOfWords

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
constant	`featureCapacity`	`Integer`	`= 350`
constant	`descriptorSize`	`Integer`	`= 49`
constant	`vocabularyCapacity`	`Integer`	`= 256`
constant	`keyframeCapacity`	`Integer`	`= 128`
constant	`candidateCapacity`	`Integer`	`= 4`
parameter	`maximumWordDistanceSquared`	`Real`	`= 0.8`
parameter	`minimumAssignments`	`Real`	`= 8.0`
parameter	`minimumSimilarity`	`Real`	`= 0.35`
parameter	`minimumAge`	`Real`	`= 2.0`	Simulation seconds; independent of frame rate
input	`descriptor`	`Real`	`[featureCapacity,descriptorSize] = zeros(featureCapacity,descriptorSize)`
input	`descriptorEnabled`	`Real`	`[featureCapacity] = zeros(featureCapacity)`
input	`descriptorCount`	`Real`	`= 0.0`
input	`vocabulary`	`Real`	`[vocabularyCapacity,descriptorSize] = zeros(vocabularyCapacity,descriptorSize)`
input	`vocabularyEnabled`	`Real`	`[vocabularyCapacity] = zeros(vocabularyCapacity)`
input	`vocabularyVersion`	`Real`	`= 1.0`
input	`previousHistogram`	`Real`	`[keyframeCapacity,vocabularyCapacity] = zeros(keyframeCapacity,vocabularyCapacity)`
input	`previousEnabled`	`Real`	`[keyframeCapacity] = zeros(keyframeCapacity)`
input	`previousKeyframeId`	`Real`	`[keyframeCapacity] = zeros(keyframeCapacity)`
input	`previousKeyframeTime`	`Real`	`[keyframeCapacity] = zeros(keyframeCapacity)`
input	`previousVersion`	`Real`	`= 0.0`
input	`previousNextSlot`	`Real`	`= 1.0`
input	`previousTime`	`Real`	`= 0.0`
input	`queryKeyframeId`	`Real`	`= 0.0`
input	`timeNow`	`Real`	`= 0.0`
input	`storeKeyframe`	`Real`	`= 0.0`
input	`resetRequested`	`Real`	`= 0.0`
output	`wordIndex`	`Real`	`[featureCapacity]`
output	`histogram`	`Real`	`[vocabularyCapacity]`
output	`candidateId`	`Real`	`[candidateCapacity]`
output	`candidateSlot`	`Real`	`[candidateCapacity]`
output	`candidateScore`	`Real`	`[candidateCapacity]`
output	`nextHistogram`	`Real`	`[keyframeCapacity,vocabularyCapacity]`
output	`nextEnabled`	`Real`	`[keyframeCapacity]`
output	`nextKeyframeId`	`Real`	`[keyframeCapacity]`
output	`nextKeyframeTime`	`Real`	`[keyframeCapacity]`
output	`nextVersion`	`Real`
output	`nextSlot`	`Real`
output	`nextTime`	`Real`
output	`configurationValid`	`Real`
output	`vocabularyCount`	`Real`
output	`assignmentCount`	`Real`
output	`retrievalValid`	`Real`
output	`candidateCount`	`Real`
output	`stored`	`Real`
output	`invalidHistoryCount`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model RGBDBagOfWords
  import RetrieveVisualWords = SLAM.LoopClosure.RetrieveVisualWords;

  constant Integer featureCapacity = 350;
  constant Integer descriptorSize = 49;
  constant Integer vocabularyCapacity = 256;
  constant Integer keyframeCapacity = 128;
  constant Integer candidateCapacity = 4;
  parameter Real maximumWordDistanceSquared = 0.8;
  parameter Real minimumAssignments = 8.0;
  parameter Real minimumSimilarity = 0.35;
  parameter Real minimumAge = 2.0 "Simulation seconds; independent of frame rate";
  input Real descriptor[featureCapacity,descriptorSize] = zeros(featureCapacity,descriptorSize);
  input Real descriptorEnabled[featureCapacity] = zeros(featureCapacity);
  input Real descriptorCount = 0.0;
  input Real vocabulary[vocabularyCapacity,descriptorSize] = zeros(vocabularyCapacity,descriptorSize);
  input Real vocabularyEnabled[vocabularyCapacity] = zeros(vocabularyCapacity);
  input Real vocabularyVersion = 1.0;
  input Real previousHistogram[keyframeCapacity,vocabularyCapacity] = zeros(keyframeCapacity,vocabularyCapacity);
  input Real previousEnabled[keyframeCapacity] = zeros(keyframeCapacity);
  input Real previousKeyframeId[keyframeCapacity] = zeros(keyframeCapacity);
  input Real previousKeyframeTime[keyframeCapacity] = zeros(keyframeCapacity);
  input Real previousVersion = 0.0;
  input Real previousNextSlot = 1.0;
  input Real previousTime = 0.0;
  input Real queryKeyframeId = 0.0;
  input Real timeNow = 0.0;
  input Real storeKeyframe = 0.0;
  input Real resetRequested = 0.0;
  output Real wordIndex[featureCapacity];
  output Real histogram[vocabularyCapacity];
  output Real candidateId[candidateCapacity];
  output Real candidateSlot[candidateCapacity];
  output Real candidateScore[candidateCapacity];
  output Real nextHistogram[keyframeCapacity,vocabularyCapacity];
  output Real nextEnabled[keyframeCapacity];
  output Real nextKeyframeId[keyframeCapacity];
  output Real nextKeyframeTime[keyframeCapacity];
  output Real nextVersion;
  output Real nextSlot;
  output Real nextTime;
  output Real configurationValid;
  output Real vocabularyCount;
  output Real assignmentCount;
  output Real retrievalValid;
  output Real candidateCount;
  output Real stored;
  output Real invalidHistoryCount;
equation
  (wordIndex,histogram,candidateId,candidateSlot,candidateScore,nextHistogram,nextEnabled,nextKeyframeId,nextKeyframeTime,
    nextVersion,nextSlot,nextTime,configurationValid,vocabularyCount,assignmentCount,retrievalValid,candidateCount,stored,invalidHistoryCount) =
    RetrieveVisualWords(descriptor,descriptorEnabled,descriptorCount,vocabulary,vocabularyEnabled,vocabularyVersion,
      previousHistogram,previousEnabled,previousKeyframeId,previousKeyframeTime,previousVersion,previousNextSlot,previousTime,
      queryKeyframeId,timeNow,storeKeyframe,resetRequested,maximumWordDistanceSquared,minimumAssignments,minimumSimilarity,minimumAge);
end RGBDBagOfWords;