function

SLAM.LoopClosure.RGBDCatalogLoopVerification.ProposeCapture

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`catalog`	`RGBDKeyframes.Catalog`
input	`measurement`	`RGBDKeyframes.Frame`
input	`vocabulary`	`Real`	`[RGBDKeyframes.wordCapacity,RGBDKeyframes.descriptorSize]`
input	`vocabularyEnabled`	`Real`	`[RGBDKeyframes.wordCapacity]`
input	`requested`	`Boolean`
input	`seeds`	`Integer`	`[RGBDKeyframeRetrieval.proposalCapacity]`
input	`maximumWordDistanceSquared`	`Real`	`= 0.8`
input	`minimumAssignments`	`Integer`	`= 8`
input	`minimumSimilarity`	`Real`	`= 0.35`
input	`minimumAge`	`Real`	`= 5.0`
input	`trials`	`Integer`	`= 96`
input	`refinements`	`Integer`	`= 4`
input	`minimumInliers`	`Integer`	`= 12`
input	`minimumFraction`	`Real`	`= 0.5`
input	`inlierDistance`	`Real`	`= 0.08`
input	`maximumRms`	`Real`	`= 0.03`
input	`descriptorRatio`	`Real`	`= 0.8`
input	`maximumDescriptorDistance`	`Real`	`= 0.8`
input	`coordinateLimit`	`Real`	`= 100.0`
input	`rankTolerance`	`Real`	`= 1e-8`
input	`localizationSigma`	`Real`	`= 0.5`
input	`depthInflation`	`Real`	`= 1.0`
input	`minimumPivot`	`Real`	`= 1e-10`
output	`result`	`Batch`
input	`calibratedResiduals`	`Boolean`	`= true`
input	`maximumNormalizedSquared`	`Real`	`= 9.0`
input	`poseConsistentLoops`	`Boolean`	`= false`
input	`maximumPoseInnovation`	`Real`	`= 2.0`
input	`poseConsistencySquared`	`Real`	`= 9.0`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function ProposeCapture
    input RGBDKeyframes.Catalog catalog;
    input RGBDKeyframes.Frame measurement;
    input Real vocabulary[RGBDKeyframes.wordCapacity,RGBDKeyframes.descriptorSize];
    input Real vocabularyEnabled[RGBDKeyframes.wordCapacity];
    input Boolean requested;
    input Integer seeds[RGBDKeyframeRetrieval.proposalCapacity];
    input Real maximumWordDistanceSquared = 0.8; input Integer minimumAssignments = 8;
    input Real minimumSimilarity = 0.35; input Real minimumAge = 5.0;
    input Integer trials = 96; input Integer refinements = 4;
    input Integer minimumInliers = 12; input Real minimumFraction = 0.5;
    input Real inlierDistance = 0.08; input Real maximumRms = 0.03;
    input Real descriptorRatio = 0.8; input Real maximumDescriptorDistance = 0.8;
    input Real coordinateLimit = 100.0; input Real rankTolerance = 1e-8;
    input Real localizationSigma = 0.5; input Real depthInflation = 1.0; input Real minimumPivot = 1e-10;
    output Batch result;
    input Boolean calibratedResiduals = true;
    input Real maximumNormalizedSquared = 9.0;
    input Boolean poseConsistentLoops = false;
    input Real maximumPoseInnovation = 2.0;
    input Real poseConsistencySquared = 9.0;
  algorithm
    (result.prepared,result.retrievalAccepted,result.retrievalRejectionReason,result.wordIndex,result.candidateId,result.candidateSlot,result.candidateScore,
      result.candidateCount,result.assignmentCount) := RGBDKeyframeRetrieval.PrepareCapture(catalog,measurement,
        vocabulary,vocabularyEnabled,requested,maximumWordDistanceSquared,minimumAssignments,minimumSimilarity,minimumAge);
    result.verifiedCount := 0;
    for rank in 1:RGBDKeyframeRetrieval.proposalCapacity loop
      result.proposals[rank] := VerifyCandidate(catalog,result.prepared,result.candidateId[rank],result.candidateSlot[rank],result.candidateScore[rank],
        result.retrievalAccepted and rank <= result.candidateCount,seeds[rank],trials,refinements,minimumInliers,
        minimumFraction,inlierDistance,maximumRms,minimumAge,minimumSimilarity,descriptorRatio,
        maximumDescriptorDistance,coordinateLimit,rankTolerance,localizationSigma,depthInflation,minimumPivot,
        calibratedResiduals=calibratedResiduals,maximumNormalizedSquared=maximumNormalizedSquared,
        poseConsistentLoops=poseConsistentLoops,maximumPoseInnovation=maximumPoseInnovation,poseConsistencySquared=poseConsistencySquared);
      result.nextSeeds[rank] := result.proposals[rank].nextSeed;
      result.verifiedCount := result.verifiedCount+(if result.proposals[rank].verified then 1 else 0);
    end for;
  end ProposeCapture;