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rmsalinas / fbow

FBOW (Fast Bag of Words) is an extremmely optimized version of the DBow2/DBow3 libraries.
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How to create a Superpoint vocabulary? #44

Open antithing opened 1 year ago

antithing commented 1 year ago

Hi, i am building a relocalization system using Superpoint deep features.

Can i just follow the steps in this repo, but use the 256 bit descriptor? Will this cause any issues? or will it 'just work?'

Thank you!

antithing commented 1 year ago

adding to this.. I have created a vocabulary successfully, but when load it and try to use it, I see that that :

_voc.getDescSize() == 1024

when i would expect 256 (as that is the cols of a superpoint descriptor).

I used the example code in the fbow repo, what have i done wrong?

Thanks!

ThomasZiegler commented 1 year ago

I came across the same problem with the descriptor size being four times bigger than expected. Reason can be seen here https://github.com/rmsalinas/fbow/blob/e148dbcbd8ee1976b1b07988b5761a9171b9f01a/src/vocabulary_creator.cpp#L26 The return descriptor size is the number of descriptors times the number of bytes per descriptor. I.e. if the descriptor uses float (32 bits = 4 bytes).

llllzq commented 10 months ago

Do you meet the problem that the output of two pic fbow:fbow:score is 0?