词袋计算图像关联度（DBoW2和fbow）

利用词袋计算图像的bow进行在数据库中评分匹配。图像关联或者回环检测。

下面代码没有进行特征匹配，如果要计算特征关联度，必须需要先计算特征匹配（完整代码见另一个文章，写完了，还没发布）

DBoW2：

读取，计算对应特征后，直接将描述子转化为BowVector，然后用Vecotr计算score

#include "iostream"
// DBoW2
#include "Thirdparty/DBoW2/DBoW2/BowVector.h"
//#include "Thirdparty/DBoW2/DBoW2/FeatureVector.h"
#include "Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h"
#include "Thirdparty/DBoW2/DBoW2/FORB.h"
#include "opencv2/opencv.hpp"

/// ORB Vocabulary
typedef DBoW2::TemplatedVocabulary<DBoW2::FORB::TDescriptor, DBoW2::FORB>
        ORBVocabulary;
void changeStructure(const cv::Mat &plain, vector<cv::Mat> &out)
{
    if(!out.empty()) out.clear();
    out.resize(plain.rows);
    for(int i = 0; i < plain.rows; ++i)
    {
        out[i] = plain.row(i);
    }
}

int main(){
    cv::Mat img1 = cv::imread("../data/IMG_20240919_101525.jpg");
    cv::Mat img2 = cv::imread("../data/IMG_20240919_101537.jpg");

    std::vector<cv::KeyPoint> kpts1,kpts2;
    cv::Mat descripters1,descripters2;
    cv::Ptr<cv::Feature2D> detector =  cv::ORB::create(2000);
    detector->detectAndCompute(img1,cv::Mat(),kpts1,descripters1);
    detector->detectAndCompute(img2,cv::Mat(),kpts2,descripters2);

    // load the vocabulary from disk
    ORBVocabulary* voc = new ORBVocabulary();
    bool bVocLoad = voc->loadFromTextFile("../config/ORBvoc.txt");

    std::vector<std::vector<cv::Mat>> imgs_features;
    std::vector<cv::Mat> descripters_vec;
    changeStructure(descripters1,descripters_vec);
    imgs_features.emplace_back(descripters_vec);

    changeStructure(descripters2,descripters_vec);
    imgs_features.emplace_back(descripters_vec);

    DBoW2::BowVector v1,v2;
    voc->transform(imgs_features[0],v1);
    voc->transform(imgs_features[1],v2);
    cout << v1 << endl;
    cout << v2 << endl;
    double score = voc->score(v1,v2);
    cout << score << endl;
    return 0;
}

fbow：

先读取词袋文件的模型.fbow，直接使用opencv计算对应词袋文件对应的特征和关键点，使用读取的词袋模型transform到bow（fbow::fbow）格式，bow.score(bow,bow2)即可计算对应的评分

#include <iostream>
#include <vector>
#include <string>
#include <opencv2/opencv.hpp>
#include "fbow/fbow.h"
using namespace std;

int main(){
    string voc_file_path = "../config/orb_mur.fbow";
    cv::Mat img1 = cv::imread("../data/IMG_20240919_101525.jpg");
    cv::Mat img2 = cv::imread("../data/IMG_20240919_101537.jpg");

    fbow::Vocabulary voc;
    voc.readFromFile(voc_file_path);
    string desc_name = voc.getDescName();

    cv::Ptr<cv::Feature2D> detector;
    if(desc_name == "orb"){
        detector = cv::ORB::create(2000);
    }

    std::vector<cv::KeyPoint> kpts1,kpts2;
    cv::Mat descriptor1,descriptor2;
    detector->detectAndCompute(img1,cv::Mat(),kpts1,descriptor1);
    detector->detectAndCompute(img2,cv::Mat(),kpts2,descriptor2);
    fbow::fBow bow1 = voc.transform(descriptor1);
    fbow::fBow bow2 = voc.transform(descriptor2);

    double score = bow1.score(bow1, bow2);
    cout << score << endl;

    return 0;
}