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merged attention branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-11 18:05:05 +00:00
parent f9033809a2
commit 2836d4c48c
216 changed files with 7981 additions and 94889 deletions
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corelib/src/VWDictionary.cpp
+15 -78
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@@ -18,11 +18,11 @@
*/
#include "rtabmap/core/VWDictionary.h"
#include "rtabmap/core/VisualWord.h"
#include "VisualWord.h"
#include "rtabmap/core/Signature.h"
#include "Signature.h"
#include "rtabmap/core/DBDriver.h"
#include "rtabmap/core/NearestNeighbor.h"
#include "NearestNeighbor.h"
#include "rtabmap/core/Parameters.h"
#include "utilite/UtiLite.h"
@@ -231,15 +231,8 @@ void VWDictionary::setNNStrategy(NNStrategy strategy, const ParametersMap & para
}
switch(strategy)
{
case kNNKdTree:
//FIXME KdTreeNN is broken...
//_nn = new KdTreeNN(parameters);
//break;
UWARN("KdTree OpenCV is broken, setting nearest neighbor strategy to KdForest FLANN...");
_nn = new FlannKdTreeNN(parameters);
break;
case kNNFlannKdTree:
_nn = new FlannKdTreeNN(parameters);
_nn = new FlannNN(FlannNN::kKDTree, parameters);
break;
case kNNNaive:
default:
@@ -261,13 +254,7 @@ void VWDictionary::setNNStrategy(NNStrategy strategy, const ParametersMap & para
VWDictionary::NNStrategy VWDictionary::nnStrategy() const
{
NNStrategy strategy = kNNUndef;
KdTreeNN * kdTree = dynamic_cast<KdTreeNN*>(_nn);
FlannKdTreeNN * flannKdTree = dynamic_cast<FlannKdTreeNN*>(_nn);
if(kdTree)
{
strategy = kNNKdTree;
}
else if(flannKdTree)
if(_nn)
{
strategy = kNNFlannKdTree;
}
@@ -338,7 +325,7 @@ void VWDictionary::update()
}
// Create the kd-Tree
_dataTree = cv::Mat::zeros(_visualWords.size(), _dim, CV_32F); // SURF descriptors are CV_32F
_dataTree = cv::Mat(_visualWords.size(), _dim, CV_32F); // SURF descriptors are CV_32F
std::map<int, VisualWord*>::const_iterator iter = _visualWords.begin();
for(unsigned int i=0; i < _visualWords.size(); ++i, ++iter)
{
@@ -355,7 +342,7 @@ void VWDictionary::update()
}
}
ULOGGER_DEBUG("_mapIndexId.size() = %d, words.size()=%d",_mapIndexId.size(), _visualWords.size());
ULOGGER_DEBUG("_mapIndexId.size() = %d, words.size()=%d, _dim=%d",_mapIndexId.size(), _visualWords.size(), _dim);
ULOGGER_DEBUG("copying data = %f s", timer.ticks());
// Update the nearest neighbor algorithm
@@ -453,14 +440,8 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
cv::Mat results(descriptors.rows, k, CV_32SC1); // results index
cv::Mat dists;
if(_nn->isDist64F())
{
dists = cv::Mat(descriptors.rows, k, CV_64FC1); // Distance results are CV_64FC1;
}
else
{
dists = cv::Mat(descriptors.rows, k, CV_32FC1); // Distance results are CV_32FC1
}
dists = cv::Mat(descriptors.rows, k, CV_32FC1); // Distance results are CV_32FC1
cv::Mat newPts; // SURF descriptors are CV_32F
if(descriptors.type()!=CV_32F)
{
@@ -494,19 +475,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
for(unsigned int j=0; j<k; ++j)
{
float dist;
if(_nn->isDist64F())
{
dist = (float)dists.at<double>(i,j);
}
else
{
dist = dists.at<float>(i,j);
}
if(!_nn->isDistSquared())
{
dist*=dist;
}
dist = dists.at<float>(i,j);
fullResults.insert(std::pair<float, int>(dist, uValue(_mapIndexId, results.at<int>(i,j))));
}
}
@@ -664,16 +633,8 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws, bool
cv::Mat dists;
cv::Mat resultsNotIndexed(vws.size(), k, CV_32SC1);
cv::Mat distsNotIndexed;
if(_nn->isDist64F())
{
dists = cv::Mat(vws.size(), k, CV_64FC1); // Distance results are CV_64FC1;
distsNotIndexed = cv::Mat(vws.size(), k, CV_64FC1); // Distance results are CV_64FC1;
}
else
{
dists = cv::Mat(vws.size(), k, CV_32FC1); // Distance results are CV_32FC1
distsNotIndexed = cv::Mat(vws.size(), k, CV_32FC1); // Distance results are CV_32FC1
}
dists = cv::Mat(vws.size(), k, CV_32FC1); // Distance results are CV_32FC1
distsNotIndexed = cv::Mat(vws.size(), k, CV_32FC1); // Distance results are CV_32FC1
cv::Mat newPts(vws.size(), _dim, CV_32F); // SURF descriptors are CV_32F
// fill the request matrix
@@ -740,36 +701,12 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws, bool
float dist;
if(!_dataTree.empty())
{
if(_nn->isDist64F())
{
dist = (float)dists.at<double>(i,j);
}
else
{
dist = dists.at<float>(i,j);
}
if(!_nn->isDistSquared())
{
dist*=dist;
}
dist = dists.at<float>(i,j);
fullResults.insert(std::pair<float, int>(dist, uValue(_mapIndexId, results.at<int>(i,j))));
}
if(searchInNewlyAddedWords && unreferencedWordsCount)
{
if(_nn->isDist64F())
{
dist = (float)distsNotIndexed.at<double>(i,j);
}
else
{
dist = distsNotIndexed.at<float>(i,j);
}
if(!_nn->isDistSquared())
{
dist*=dist;
}
dist = distsNotIndexed.at<float>(i,j);
fullResults.insert(std::pair<float, int>(dist, uValue(mapIndexIdNotIndexed, resultsNotIndexed.at<int>(i,j))));
}
}
@@ -1038,7 +975,7 @@ void VWDictionary::getCommonWords(unsigned int nbCommonWords, int totalSign, std
}
else
{
commonWords = uValues(countMap);
commonWords = uValuesList(countMap);
}
ULOGGER_DEBUG("time = %f s", timer.ticks());
}