12章

12章有三块程序，首先是创建字典feature_training.cpp

#include "DBoW3/DBoW3.h"
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <iostream>
#include <vector>
#include <string>

using namespace cv;
using namespace std;

/***************************************************
 * 本节演示了如何根据data/目录下的十张图训练字典
 * ************************************************/

int main( int argc, char** argv )
{
    // read the image 
    cout<<"reading images... "<<endl;
    vector<Mat> images; 
    for ( int i=0; i<10; i++ )
    {
        string path = "./data/"+to_string(i+1)+".png";
        images.push_back( imread(path) );
    }
    // detect ORB features
    cout<<"detecting ORB features ... "<<endl;
    Ptr< Feature2D > detector = ORB::create();
    vector<Mat> descriptors;
    for ( Mat& image:images )
    {
        vector<KeyPoint> keypoints; 
        Mat descriptor;
        detector->detectAndCompute( image, Mat(), keypoints, descriptor );
        descriptors.push_back( descriptor );
    }

    // create vocabulary 
    cout<<"creating vocabulary ... "<<endl;
    //简单易用，创建一个字典对象
    DBoW3::Vocabulary vocab;
    //调用create()函数，并用上方检测出来的描述子数组创建
    vocab.create( descriptors );
    cout<<"vocabulary info: "<<vocab<<endl;
    //save()函数输出字典压缩包，格式为vocabulary.yml.gz
    vocab.save( "vocabulary.yml.gz" );
    cout<<"done"<<endl;

    return 0;
}

用法很简单，创建字典对象，create()进数据，然后输出为.yml.gz文件即可。

loop_closure.cpp

#include "DBoW3/DBoW3.h"
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <iostream>
#include <vector>
#include <string>

using namespace cv;
using namespace std;

/***************************************************
 * 本节演示了如何根据前面训练的字典计算相似性评分
 * ************************************************/
int main( int argc, char** argv )
{
    // read the images and database  
    cout<<"reading database"<<endl;
    DBoW3::Vocabulary vocab("./vocabulary.yml.gz");
    // DBoW3::Vocabulary vocab("./vocab_larger.yml.gz");  // use large vocab if you want: 
    if ( vocab.empty() )
    {
        cerr<<"Vocabulary does not exist."<<endl;
        return 1;
    }
    cout<<"reading images... "<<endl;
    vector<Mat> images; 
    for ( int i=0; i<10; i++ )
    {
        string path = "./data/"+to_string(i+1)+".png";
        images.push_back( imread(path) );
    }

    // NOTE: in this case we are comparing images with a vocabulary generated by themselves, this may leed to overfitting.  
    // detect ORB features
    cout<<"detecting ORB features ... "<<endl;
    Ptr< Feature2D > detector = ORB::create();
    vector<Mat> descriptors;
    for ( Mat& image:images )
    {
        vector<KeyPoint> keypoints; 
        Mat descriptor;
        detector->detectAndCompute( image, Mat(), keypoints, descriptor );
        descriptors.push_back( descriptor );
    }

    // we can compare the images directly or we can compare one image to a database 
    // images :
    cout<<"comparing images with images "<<endl;
    for ( int i=0; i<images.size(); i++ )
    {
        //创建一个词袋描述向量，用于描述图像
        DBoW3::BowVector v1;
        /**
         * 先看一下函数定义：
         * virtual void transform(const  cv::Mat & features, BowVector &v)
         * 其实就是将图像转化成描述向量，用于相似性比较，v1为承接向量
         */
        vocab.transform( descriptors[i], v1 );
        //由于双向比较所以用了双循环，也就是image1与image10相似性和image10与image1相似性为两个比较。
        for ( int j=i; j<images.size(); j++ )
        {
            //同样的方法取得另外一张图的描述向量，可以看出，由于j从=i开始，所以会比较到自身
            DBoW3::BowVector v2;
            vocab.transform( descriptors[j], v2 );
            //核心功能，score()函数，传入两个词袋描述向量，然后取得相似性得分
            double score = vocab.score(v1, v2);
            cout<<"image "<<i<<" vs image "<<j<<" : "<<score<<endl;
        }
        cout<<endl;
    }
    /**
     * 图像与图像之间的检测比较简单：
     * 根据图像的描述子，调用transform()函数将图像转化成描述向量，
     * 根据描述向量，调用score()函数求两张图像相似性得分。
     */


    // or with database 
    cout<<"comparing images with database "<<endl;
    //用字典创建一个基础数据集
    DBoW3::Database db( vocab, false, 0);

    //加入所有需要匹配的图像描述子
    for ( int i=0; i<descriptors.size(); i++ )
        db.add(descriptors[i]);
    cout<<"database info: "<<db<<endl;
    //输出匹配结果
    for ( int i=0; i<descriptors.size(); i++ )
    {
        //创建一个结果队列对象，用于承接匹配结果
        DBoW3::QueryResults ret;
        //利用数据集的query()函数输出每一张图，以数据集为匹配依据，与输入的所有图像去匹配时的相似性结果，参数设置为输出最相似的四个。
        db.query( descriptors[i], ret, 4);      // max result=4
        cout<<"searching for image "<<i<<" returns "<<ret<<endl<<endl;
    }
    cout<<"done."<<endl;
}
/**
 * 与数据集匹配时一次性可以匹配到所有的图像匹配结果，并能够排序输出，
 * 做法就是：
 * 1、用字典创建一个数据集： DBoW3::Database db( vocab, false, 0)
 * 2、把图像全都add()进去： db.add(descriptors[i]);
 * 3、利用query()函数输出各个图的匹配结果： db.query( descriptors[i], ret, 4);
*/

后面还有个产生更多更大词典的gen_vocab_large.cpp
没什么新的，只是多读入了很多图，然后创建了更大的描述子数组，左后的生成词典的过程没有一点变化。

#include "DBoW3/DBoW3.h"
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <iostream>
#include <vector>
#include <string>

using namespace cv;
using namespace std;


int main( int argc, char** argv )
{
    string dataset_dir = argv[1];
    ifstream fin ( dataset_dir+"/associate.txt" );
    if ( !fin )
    {
        cout<<"please generate the associate file called associate.txt!"<<endl;
        return 1;
    }

    vector<string> rgb_files, depth_files;
    vector<double> rgb_times, depth_times;
    while ( !fin.eof() )
    {
        string rgb_time, rgb_file, depth_time, depth_file;
        fin>>rgb_time>>rgb_file>>depth_time>>depth_file;
        rgb_times.push_back ( atof ( rgb_time.c_str() ) );
        depth_times.push_back ( atof ( depth_time.c_str() ) );
        rgb_files.push_back ( dataset_dir+"/"+rgb_file );
        depth_files.push_back ( dataset_dir+"/"+depth_file );

        if ( fin.good() == false )
            break;
    }
    fin.close();

    cout<<"generating features ... "<<endl;
    vector<Mat> descriptors;
    Ptr< Feature2D > detector = ORB::create();
    int index = 1;
    for ( string rgb_file:rgb_files )
    {
        Mat image = imread(rgb_file);
        vector<KeyPoint> keypoints; 
        Mat descriptor;
        detector->detectAndCompute( image, Mat(), keypoints, descriptor );
        descriptors.push_back( descriptor );
        cout<<"extracting features from image " << index++ <<endl;
    }
    cout<<"extract total "<<descriptors.size()*500<<" features."<<endl;

    // create vocabulary 
    cout<<"creating vocabulary, please wait ... "<<endl;
    DBoW3::Vocabulary vocab;
    vocab.create( descriptors );
    cout<<"vocabulary info: "<<vocab<<endl;
    vocab.save( "vocab_larger.yml.gz" );
    cout<<"done"<<endl;

    return 0;
}