mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-05 01:27:46 +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)
|
||||
if((!_incrementalDictionary && _dictionaryPath.compare(dictionaryPath) != 0) ||
|
||||
_visualWords.size() == 0)
|
||||
{
|
||||
std::ifstream file;
|
||||
file.open(dictionaryPath.c_str(), std::ifstream::in);
|
||||
if(file.good())
|
||||
UDEBUG("incremental=%d, oldPath=%s newPath=%s, visual words=%d",
|
||||
_incrementalDictionary?1:0, _dictionaryPath.c_str(), dictionaryPath.c_str(), (int)_visualWords.size());
|
||||
|
||||
if(UFile::getExtension(dictionaryPath).compare("db") == 0)
|
||||
{
|
||||
UDEBUG("Deleting old dictionary and loading the new one from \"%s\"", dictionaryPath.c_str());
|
||||
UTimer timer;
|
||||
|
||||
// first line is the header
|
||||
std::string str;
|
||||
std::list<std::string> strList;
|
||||
std::getline(file, str);
|
||||
strList = uSplitNumChar(str);
|
||||
unsigned int dimension = 0;
|
||||
for(std::list<std::string>::iterator iter = strList.begin(); iter != strList.end(); ++iter)
|
||||
UDEBUG("Loading fixed vocabulary \"%s\", this may take a while...", dictionaryPath.c_str());
|
||||
DBDriver * driver = DBDriver::create();
|
||||
if(driver->openConnection(dictionaryPath, false))
|
||||
{
|
||||
if(uIsDigit(iter->at(0)))
|
||||
driver->load(this, false);
|
||||
for(std::map<int, VisualWord*>::iterator iter=_visualWords.begin(); iter!=_visualWords.end(); ++iter)
|
||||
{
|
||||
dimension = std::atoi(iter->c_str());
|
||||
break;
|
||||
iter->second->setSaved(false);
|
||||
}
|
||||
}
|
||||
|
||||
if(dimension == 0 || dimension > 1000)
|
||||
{
|
||||
UERROR("Invalid dictionary file, visual word dimension (%d) is not valid, \"%s\"", dimension, dictionaryPath.c_str());
|
||||
_incrementalDictionary = _visualWords.size()==0;
|
||||
driver->closeConnection(false);
|
||||
}
|
||||
else
|
||||
{
|
||||
// Process all words
|
||||
while(file.good())
|
||||
{
|
||||
std::getline(file, str);
|
||||
strList = uSplit(str);
|
||||
if(strList.size() == dimension+1)
|
||||
{
|
||||
//first one is the visual word id
|
||||
std::list<std::string>::iterator iter = strList.begin();
|
||||
int id = std::atoi(iter->c_str());
|
||||
cv::Mat descriptor(1, dimension, CV_32F);
|
||||
++iter;
|
||||
unsigned int i=0;
|
||||
|
||||
//get descriptor
|
||||
for(;i<dimension && iter != strList.end(); ++i, ++iter)
|
||||
{
|
||||
descriptor.at<float>(i) = uStr2Float(*iter);
|
||||
}
|
||||
if(i != dimension)
|
||||
{
|
||||
UERROR("");
|
||||
}
|
||||
|
||||
VisualWord * vw = new VisualWord(id, descriptor, 0);
|
||||
_visualWords.insert(_visualWords.end(), std::pair<int, VisualWord*>(id, vw));
|
||||
_notIndexedWords.insert(_notIndexedWords.end(), id);
|
||||
}
|
||||
else
|
||||
{
|
||||
UWARN("Cannot parse line \"%s\"", str.c_str());
|
||||
}
|
||||
}
|
||||
this->update();
|
||||
_incrementalDictionary = false;
|
||||
UERROR("Could not load dictionary from database %s", dictionaryPath.c_str());
|
||||
}
|
||||
|
||||
|
||||
UDEBUG("Time changing dictionary = %fs", timer.ticks());
|
||||
delete driver;
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("Cannot open dictionary file \"%s\"", dictionaryPath.c_str());
|
||||
UWARN("Loading fixed vocabulary \"%s\", this may take a while...", dictionaryPath.c_str());
|
||||
std::ifstream file;
|
||||
file.open(dictionaryPath.c_str(), std::ifstream::in);
|
||||
if(file.good())
|
||||
{
|
||||
UDEBUG("Deleting old dictionary and loading the new one from \"%s\"", dictionaryPath.c_str());
|
||||
UTimer timer;
|
||||
|
||||
// first line is the header
|
||||
std::string str;
|
||||
std::list<std::string> strList;
|
||||
std::getline(file, str);
|
||||
strList = uSplitNumChar(str);
|
||||
int dimension = 0;
|
||||
for(std::list<std::string>::iterator iter = strList.begin(); iter != strList.end(); ++iter)
|
||||
{
|
||||
if(uIsDigit(iter->at(0)))
|
||||
{
|
||||
dimension = std::atoi(iter->c_str());
|
||||
break;
|
||||
}
|
||||
}
|
||||
UDEBUG("descriptor dimension = %d", dimension);
|
||||
|
||||
if(dimension <= 0 || dimension > 1000)
|
||||
{
|
||||
UERROR("Invalid dictionary file, visual word dimension (%d) is not valid, \"%s\"", dimension, dictionaryPath.c_str());
|
||||
}
|
||||
else
|
||||
{
|
||||
// Process all words
|
||||
while(file.good())
|
||||
{
|
||||
std::getline(file, str);
|
||||
strList = uSplit(str);
|
||||
if(strList.size() == dimension+1)
|
||||
{
|
||||
//first one is the visual word id
|
||||
std::list<std::string>::iterator iter = strList.begin();
|
||||
int id = std::atoi(iter->c_str());
|
||||
cv::Mat descriptor(1, dimension, CV_32F);
|
||||
++iter;
|
||||
int i=0;
|
||||
|
||||
//get descriptor
|
||||
for(;i<dimension && iter != strList.end(); ++i, ++iter)
|
||||
{
|
||||
descriptor.at<float>(i) = uStr2Float(*iter);
|
||||
}
|
||||
if(i != dimension)
|
||||
{
|
||||
UERROR("Loaded word has not the same size (%d) than descriptor size previously detected (%d).", i, dimension);
|
||||
}
|
||||
|
||||
VisualWord * vw = new VisualWord(id, descriptor, 0);
|
||||
_visualWords.insert(_visualWords.end(), std::pair<int, VisualWord*>(id, vw));
|
||||
_notIndexedWords.insert(_notIndexedWords.end(), id);
|
||||
_unusedWords.insert(_unusedWords.end(), std::pair<int, VisualWord*>(id, vw));
|
||||
}
|
||||
else if(!str.empty())
|
||||
{
|
||||
UWARN("Cannot parse line \"%s\"", str.c_str());
|
||||
}
|
||||
}
|
||||
if(_visualWords.size())
|
||||
{
|
||||
UWARN("Loaded %d words!", (int)_visualWords.size());
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("Cannot open dictionary file \"%s\"", dictionaryPath.c_str());
|
||||
}
|
||||
file.close();
|
||||
}
|
||||
|
||||
if(_visualWords.size() == 0)
|
||||
{
|
||||
_incrementalDictionary = _visualWords.size()==0;
|
||||
UWARN("No words loaded, cannot set a fixed dictionary.", (int)_visualWords.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
this->update();
|
||||
_incrementalDictionary = false;
|
||||
UDEBUG("Loaded %d words!", (int)_visualWords.size());
|
||||
}
|
||||
file.close();
|
||||
}
|
||||
else if(!_incrementalDictionary)
|
||||
{
|
||||
@@ -225,14 +265,14 @@ void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
|
||||
UERROR("Cannot change to a fixed dictionary if there are already words (%d) in the incremental one.", _visualWords.size());
|
||||
}
|
||||
}
|
||||
else if(_visualWords.size() == 0)
|
||||
{
|
||||
_incrementalDictionary = false;
|
||||
}
|
||||
else if(_incrementalDictionary)
|
||||
else if(_incrementalDictionary && _visualWords.size())
|
||||
{
|
||||
UWARN("Cannot change to fixed dictionary, %d words already loaded as incremental", (int)_visualWords.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
_incrementalDictionary = false;
|
||||
}
|
||||
_dictionaryPath = dictionaryPath;
|
||||
}
|
||||
|
||||
@@ -568,7 +608,7 @@ void VWDictionary::addWordRef(int wordId, int signatureId)
|
||||
}
|
||||
else
|
||||
{
|
||||
UERROR("Not found word %d", wordId);
|
||||
UERROR("Not found word %d (dict size=%d)", wordId, (int)_visualWords.size());
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1220,26 +1260,17 @@ VisualWord * VWDictionary::getUnusedWord(int id) const
|
||||
|
||||
std::vector<VisualWord*> VWDictionary::getUnusedWords() const
|
||||
{
|
||||
if(!_incrementalDictionary)
|
||||
{
|
||||
ULOGGER_WARN("This method does nothing on a fixed dictionary");
|
||||
return std::vector<VisualWord*>();
|
||||
}
|
||||
return uValues(_unusedWords);
|
||||
}
|
||||
|
||||
std::vector<int> VWDictionary::getUnusedWordIds() const
|
||||
{
|
||||
if(!_incrementalDictionary)
|
||||
{
|
||||
ULOGGER_WARN("This method does nothing on a fixed dictionary");
|
||||
return std::vector<int>();
|
||||
}
|
||||
return uKeys(_unusedWords);
|
||||
}
|
||||
|
||||
void VWDictionary::removeWords(const std::vector<VisualWord*> & words)
|
||||
{
|
||||
UDEBUG("Removing %d words from dictionary (current size=%d)", (int)words.size(), (int)_visualWords.size());
|
||||
for(unsigned int i=0; i<words.size(); ++i)
|
||||
{
|
||||
_visualWords.erase(words[i]->id());
|
||||
|
||||
Reference in New Issue
Block a user