How does pimatch map with the ORBVocabulary->score() ?

[Fredrum]

Hi! I'm attempting to swap this into the orb slam 2 code and am noticing a ->score() in the original code. https://github.com/raulmur/ORB_SLAM2/blob/f2e6f51cdc8d067655d90a78c06261378e07e8f3/src/LoopClosing.cc#L134

I can't find the thing in pimatch that maps onto that. Is that supported or was that added on later?

EDIT: Hmm, maybe I can just use the ScoringObject from DBoW2 directly and it doesn't need to be the object holding the bow library/data...I will try this.

Cheers Fred

[Fredrum]

I think I got that scoring to work by just using a regular ORBVocabulary and it's score() function. But I don't seem to get any good matching happening in the way Iv'e added to the ORB SLAM2 code atm. For now Iv'e basically just added this code,

        // pimatch
        std::mt19937 rng;
        int N = 1;
        uint32_t *matches = new uint32_t[N];
        uint8_t *queries = new uint8_t[N*32];
        for (size_t i = 0; i < N*32; i += 1) {
            queries[i] = rng();
        }

        mpORBvocabulary->ApproxNN(matches, queries, N);

        for (size_t i = 0; i < N; i += 1) {

            uint32_t match = matches[i] & 0xffffff;
            float weight = mpORBvocabulary->GetWeight(match);

            // DBoW treats 0 as stop word
            if (weight > 0.f) {
                size_t classified = pPimatchClassifier->Classify(match);
                mBowVec.addWeight(match, weight);
                mFeatVec.addFeature(classified, i);
            }
        }  

in place of

mpORBvocabulary->transform(vCurrentDesc,mBowVec,mFeatVec,4);

Iv'e replaced mpORBvocabulary to now be a pointer to the pimatch::HammingTree instead. There's probably a few places where I have made mistakes but it would be awesome if I could have a comment to say if it should work as I have it above?

For example they are passing that '4' number that I believe is 'LevelsUp'. So not sure if I need to do something to match that?

EDIT: Hmm...I guess the queries needs to be something else than random numbers? :) Should I pass 'vCurrentDesc' there?

Cheers Fred