mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 17:17:47 +08:00
Updated not incremental dictionary approach for save/reload (can set a database path as dictionary for convenience)
This commit is contained in:
matlabbe
+108
-77
@@ -142,79 +142,119 @@ void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
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if((!_incrementalDictionary && _dictionaryPath.compare(dictionaryPath) != 0) ||
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_visualWords.size() == 0)
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{
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std::ifstream file;
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file.open(dictionaryPath.c_str(), std::ifstream::in);
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if(file.good())
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UDEBUG("incremental=%d, oldPath=%s newPath=%s, visual words=%d",
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_incrementalDictionary?1:0, _dictionaryPath.c_str(), dictionaryPath.c_str(), (int)_visualWords.size());
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if(UFile::getExtension(dictionaryPath).compare("db") == 0)
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{
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UDEBUG("Deleting old dictionary and loading the new one from \"%s\"", dictionaryPath.c_str());
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UTimer timer;
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// first line is the header
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std::string str;
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std::list<std::string> strList;
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std::getline(file, str);
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strList = uSplitNumChar(str);
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unsigned int dimension = 0;
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for(std::list<std::string>::iterator iter = strList.begin(); iter != strList.end(); ++iter)
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UDEBUG("Loading fixed vocabulary \"%s\", this may take a while...", dictionaryPath.c_str());
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DBDriver * driver = DBDriver::create();
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if(driver->openConnection(dictionaryPath, false))
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{
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if(uIsDigit(iter->at(0)))
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driver->load(this, false);
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for(std::map<int, VisualWord*>::iterator iter=_visualWords.begin(); iter!=_visualWords.end(); ++iter)
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{
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dimension = std::atoi(iter->c_str());
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break;
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iter->second->setSaved(false);
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}
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}
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if(dimension == 0 || dimension > 1000)
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{
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UERROR("Invalid dictionary file, visual word dimension (%d) is not valid, \"%s\"", dimension, dictionaryPath.c_str());
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_incrementalDictionary = _visualWords.size()==0;
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driver->closeConnection(false);
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}
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else
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{
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// Process all words
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while(file.good())
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{
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std::getline(file, str);
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strList = uSplit(str);
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if(strList.size() == dimension+1)
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{
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//first one is the visual word id
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std::list<std::string>::iterator iter = strList.begin();
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int id = std::atoi(iter->c_str());
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cv::Mat descriptor(1, dimension, CV_32F);
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++iter;
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unsigned int i=0;
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//get descriptor
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for(;i<dimension && iter != strList.end(); ++i, ++iter)
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{
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descriptor.at<float>(i) = uStr2Float(*iter);
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}
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if(i != dimension)
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{
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UERROR("");
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}
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VisualWord * vw = new VisualWord(id, descriptor, 0);
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_visualWords.insert(_visualWords.end(), std::pair<int, VisualWord*>(id, vw));
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_notIndexedWords.insert(_notIndexedWords.end(), id);
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}
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else
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{
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UWARN("Cannot parse line \"%s\"", str.c_str());
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}
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}
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this->update();
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_incrementalDictionary = false;
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UERROR("Could not load dictionary from database %s", dictionaryPath.c_str());
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}
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UDEBUG("Time changing dictionary = %fs", timer.ticks());
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delete driver;
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}
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else
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{
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UERROR("Cannot open dictionary file \"%s\"", dictionaryPath.c_str());
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UWARN("Loading fixed vocabulary \"%s\", this may take a while...", dictionaryPath.c_str());
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std::ifstream file;
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file.open(dictionaryPath.c_str(), std::ifstream::in);
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if(file.good())
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{
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UDEBUG("Deleting old dictionary and loading the new one from \"%s\"", dictionaryPath.c_str());
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UTimer timer;
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// first line is the header
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std::string str;
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std::list<std::string> strList;
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std::getline(file, str);
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strList = uSplitNumChar(str);
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int dimension = 0;
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for(std::list<std::string>::iterator iter = strList.begin(); iter != strList.end(); ++iter)
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{
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if(uIsDigit(iter->at(0)))
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{
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dimension = std::atoi(iter->c_str());
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break;
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}
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}
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UDEBUG("descriptor dimension = %d", dimension);
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if(dimension <= 0 || dimension > 1000)
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{
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UERROR("Invalid dictionary file, visual word dimension (%d) is not valid, \"%s\"", dimension, dictionaryPath.c_str());
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}
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else
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{
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// Process all words
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while(file.good())
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{
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std::getline(file, str);
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strList = uSplit(str);
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if(strList.size() == dimension+1)
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{
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//first one is the visual word id
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std::list<std::string>::iterator iter = strList.begin();
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int id = std::atoi(iter->c_str());
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cv::Mat descriptor(1, dimension, CV_32F);
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++iter;
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int i=0;
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//get descriptor
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for(;i<dimension && iter != strList.end(); ++i, ++iter)
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{
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descriptor.at<float>(i) = uStr2Float(*iter);
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}
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if(i != dimension)
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{
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UERROR("Loaded word has not the same size (%d) than descriptor size previously detected (%d).", i, dimension);
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}
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VisualWord * vw = new VisualWord(id, descriptor, 0);
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_visualWords.insert(_visualWords.end(), std::pair<int, VisualWord*>(id, vw));
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_notIndexedWords.insert(_notIndexedWords.end(), id);
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_unusedWords.insert(_unusedWords.end(), std::pair<int, VisualWord*>(id, vw));
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}
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else if(!str.empty())
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{
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UWARN("Cannot parse line \"%s\"", str.c_str());
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}
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}
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if(_visualWords.size())
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{
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UWARN("Loaded %d words!", (int)_visualWords.size());
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}
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}
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}
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else
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{
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UERROR("Cannot open dictionary file \"%s\"", dictionaryPath.c_str());
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}
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file.close();
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}
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if(_visualWords.size() == 0)
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{
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_incrementalDictionary = _visualWords.size()==0;
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UWARN("No words loaded, cannot set a fixed dictionary.", (int)_visualWords.size());
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}
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else
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{
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this->update();
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_incrementalDictionary = false;
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UDEBUG("Loaded %d words!", (int)_visualWords.size());
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}
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file.close();
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}
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else if(!_incrementalDictionary)
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{
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@@ -225,14 +265,14 @@ void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
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UERROR("Cannot change to a fixed dictionary if there are already words (%d) in the incremental one.", _visualWords.size());
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}
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}
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else if(_visualWords.size() == 0)
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{
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_incrementalDictionary = false;
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}
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else if(_incrementalDictionary)
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else if(_incrementalDictionary && _visualWords.size())
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{
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UWARN("Cannot change to fixed dictionary, %d words already loaded as incremental", (int)_visualWords.size());
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}
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else
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{
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_incrementalDictionary = false;
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}
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_dictionaryPath = dictionaryPath;
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}
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@@ -568,7 +608,7 @@ void VWDictionary::addWordRef(int wordId, int signatureId)
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}
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else
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{
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UERROR("Not found word %d", wordId);
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UERROR("Not found word %d (dict size=%d)", wordId, (int)_visualWords.size());
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}
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}
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}
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@@ -1220,26 +1260,17 @@ VisualWord * VWDictionary::getUnusedWord(int id) const
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std::vector<VisualWord*> VWDictionary::getUnusedWords() const
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{
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if(!_incrementalDictionary)
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{
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ULOGGER_WARN("This method does nothing on a fixed dictionary");
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return std::vector<VisualWord*>();
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}
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return uValues(_unusedWords);
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}
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std::vector<int> VWDictionary::getUnusedWordIds() const
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{
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if(!_incrementalDictionary)
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{
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ULOGGER_WARN("This method does nothing on a fixed dictionary");
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return std::vector<int>();
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}
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return uKeys(_unusedWords);
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}
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void VWDictionary::removeWords(const std::vector<VisualWord*> & words)
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{
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UDEBUG("Removing %d words from dictionary (current size=%d)", (int)words.size(), (int)_visualWords.size());
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for(unsigned int i=0; i<words.size(); ++i)
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{
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_visualWords.erase(words[i]->id());
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