pyDBoW3 0.2

pyDBoW3

Ultra-fast Boost.Python interface for DBoW3

This repo was created in order to interface DBoW algorithm from python in another project EasyVision. It is being used for a simple topological SLAM implementation since OpenCV BowKMeansTrainer doesn’t work with binary features.

If you wish you use it on your own it is as easy as:

import pyDBoW3 as bow
voc = bow.Vocabulary()
voc.load("/slamdoom/libs/orbslam2/Vocabulary/ORBvoc.txt")
db = bow.Database()
db.setVocabulary(voc)
del voc
# extract features using OpenCV
...
# add features to database
for features in features_list:
  db.add(features)

# query features
feature_to_query = 1
results = db.query(features_list[feature_to_query])

del db

This repository was created based on pyORBSLAM2 and ndarray to cv::Mat conversion on numpy-opencv-converter.

bootstrap.bat --prefix=/dir/to/Boost.Build

/dir/to/Boost.Build/b2 --with-python threading=multi variant=release link=static