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ovysotska / image_sequence_localizer

The framework for visual place recognition in outdoor environments using image sequences.
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Localizer/works without cost matrix #32

Open ovysotska opened 6 months ago

ovysotska commented 6 months ago

This PR adds new message type to localization_protos. This type is called "MatchingCosts" and is used to store individual matching costs for a pair of images with [query_id, ref_id]. The difference to "CostMatrix" is that "MatchingCosts" are not required to store all values of the cost matrix of size row x col but can store just individual values. This is necessary to be able to visualize the "online" operation of the sequence matching algorithm.

Additionally, this PR adds functionality to read and write "MatchingCosts" from C++, Python and viewer interfaces.

ovysotska commented 6 months ago

@niosus, could you have a look at C++ part? Thank you :)