Refactored FlannIndex: Moved class into its own include file. Added radiusSearch() and buildKDtreeSingleIndex() methods. If dimensions <= 3 and float, use L2_Simple distance type.

corelib/include/rtabmap/core/FlannIndex.h

@@ -0,0 +1,114 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CORELIB_SRC_FLANNINDEX_H_
+#define CORELIB_SRC_FLANNINDEX_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <opencv2/opencv.hpp>
+
+namespace rtabmap {
+
+class RTABMAP_EXP FlannIndex
+{
+public:
+	FlannIndex();
+	virtual ~FlannIndex();
+
+	void release();
+	unsigned int indexedFeatures() const;
+
+	// return KB
+	unsigned int memoryUsed() const;
+
+	// Note that useDistanceL1 doesn't have any effect if LSH is used
+	void buildLinearIndex(
+			const cv::Mat & features,
+			bool useDistanceL1 = false);
+	void buildKDTreeIndex(
+			const cv::Mat & features,
+			int trees = 4,
+			bool useDistanceL1 = false);
+	void buildKDTreeSingleIndex(
+			const cv::Mat & features,
+			int leafMaxSize = 10,
+			bool reorder = true,
+			bool useDistanceL1 = false);
+	void buildLSHIndex(
+			const cv::Mat & features,
+			unsigned int table_number = 12,
+			unsigned int key_size = 20,
+			unsigned int multi_probe_level = 2);
+
+	bool isBuilt();
+
+	int featuresType() const {return featuresType_;}
+	int featuresDim() const {return featuresDim_;}
+
+	unsigned int addPoints(const cv::Mat & features);
+
+	void removePoint(unsigned int index);
+
+	// return squared distances
+	void knnSearch(
+			const cv::Mat & query,
+			cv::Mat & indices,
+			cv::Mat & dists,
+	        int knn,
+			int checks = 32,
+			float eps = 0.0,
+			bool sorted = true) const;
+
+	// return squared distances
+	void radiusSearch(
+			const cv::Mat & query,
+			std::vector<std::vector<size_t> > & indices,
+			std::vector<std::vector<float> > & dists,
+			float radius,
+			int maxNeighbors = 0,
+			int checks = 32,
+			float eps = 0.0,
+			bool sorted = true) const;
+
+private:
+	void * index_;
+	unsigned int nextIndex_;
+	int featuresType_;
+	int featuresDim_;
+	bool isLSH_;
+	bool useDistanceL1_; // true=EUCLEDIAN_L2 false=MANHATTAN_L1
+
+	// keep feature in memory until the tree is rebuilt
+	// (in case the word is deleted when removed from the VWDictionary)
+	std::map<int, cv::Mat> addedDescriptors_;
+	std::list<int> removedIndexes_;
+};
+
+} /* namespace rtabmap */
+
+#endif /* CORELIB_SRC_FLANNINDEX_H_ */