In localization mode, How can I load information about keyframes?

[apeoej333]

Hello,

I have a question in localization mode.

In localization mode, We need information(Bow vector) about keyframes. Because We find detect relocalization candidates by comparing Bow vector of current frame with that of keyframes.

I think that System::SaveKeyFrameTrajectoryTUM is just function that saves keyframe's pose and in rgbd_tum.cc, LoadImages is just function that load RGB-D images.

But I can't find code that save and load information about keyframes.

Please, guide me. Thank you very much.

[AlejandroSilvestri]

@apeoej333 ,

There isn't. You should write your own function to save keyframes' info you require.

[apeoej333]

@AlejandroSilvestri Thank you for your reply.

If I only use Bow Vector(not using covisibility graph) to detect relocalization candidates, Do I need to save ID, Bow vector, mnRelocQuery, mnRelocWords, mnRelocScore of each keyframe??

Sincerely,

[AlejandroSilvestri]

@apeoej333

I believe you only need to save this keyframe's members in order to keep BoW info:

• mnId, unique keyframe's id
• mBowVec, vector of weighted BoWs if I recall correctly
• mFeatVec, linking BoWs with mappoints if I recall correctly

You'll also need mappoints to proceed with orb-slam2 relocalization.