apoorva/greenhouse
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

refactored vocabulary matrix copy

Browse Source 
git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@270 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe 2014-05-13 14:41:36 +00:00
parent 20a32932bf
commit 166e3b3513
3 changed files with 29 additions and 53 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
src/MainWindow.cpp
View File

@ -801,15 +801,18 @@ void MainWindow::updateData()
int row = 0;
for(int i=0; i<objects_.size(); ++i)
{
cv::Mat dest(objectsDescriptors_[0], cv::Range(row, row+objects_.at(i)->descriptors().rows));
objects_.at(i)->descriptors().copyTo(dest);
row += objects_.at(i)->descriptors().rows;
// dataRange contains the upper_bound for each
// object (the last descriptors position in the
// global object descriptors matrix)
if(objects_.at(i)->descriptors().rows)
{
dataRange_.insert(row-1, i);
cv::Mat dest(objectsDescriptors_[0], cv::Range(row, row+objects_.at(i)->descriptors().rows));
objects_.at(i)->descriptors().copyTo(dest);
row += objects_.at(i)->descriptors().rows;
// dataRange contains the upper_bound for each
// object (the last descriptors position in the
// global object descriptors matrix)
if(objects_.at(i)->descriptors().rows)
{
dataRange_.insert(row-1, i);
}
}
}

59
src/Vocabulary.cpp
View File

@ -56,13 +56,13 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
globalSearch = true;
}
QVector<int> newWordIds = notIndexedWordIds_; // index global
cv::Mat newWords = notIndexedDescriptors_;
notIndexedWordIds_.reserve(notIndexedWordIds_.size() + descriptors.rows);
notIndexedDescriptors_.reserve(notIndexedDescriptors_.rows + descriptors.rows);
int matches = 0;
for(int i = 0; i < descriptors.rows; ++i)
{
QMap<float, int> fullResults; // nearest descriptors sorted by distance
if(newWords.rows)
if(notIndexedDescriptors_.rows)
{
Q_ASSERT(newWords.type() == descriptors.type() && newWords.cols == descriptors.cols);
@ -84,12 +84,12 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
}
cv::batchDistance( descriptors.row(i),
newWords,
notIndexedDescriptors_,
tmpDists,
CV_32S,
tmpResults,
normType,
newWords.rows>=k?k:1,
notIndexedDescriptors_.rows>=k?k:1,
cv::Mat(),
0,
false);
@ -97,8 +97,8 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
else
{
cv::flann::Index tmpIndex;
tmpIndex.build(newWords, cv::flann::LinearIndexParams(), Settings::getFlannDistanceType());
tmpIndex.knnSearch(descriptors.row(i), tmpResults, tmpDists, newWords.rows>1?k:1, Settings::getFlannSearchParams());
tmpIndex.build(notIndexedDescriptors_, cv::flann::LinearIndexParams(), Settings::getFlannDistanceType());
tmpIndex.knnSearch(descriptors.row(i), tmpResults, tmpDists, notIndexedDescriptors_.rows>1?k:1, Settings::getFlannSearchParams());
}
if( tmpDists.type() == CV_32S )
@ -108,12 +108,12 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
tmpDists = temp;
}
for(int j = 0; j < (newWords.rows>=k?k:1); ++j)
for(int j = 0; j < tmpResults.cols; ++j)
{
if(tmpResults.at<int>(0,j) >= 0)
{
//printf("local i=%d, j=%d, tmpDist=%f tmpResult=%d\n", i ,j, tmpDists.at<float>(0,j), tmpResults.at<int>(0,j));
fullResults.insert(tmpDists.at<float>(0,j), newWordIds.at(tmpResults.at<int>(0,j)));
fullResults.insert(tmpDists.at<float>(0,j), notIndexedWordIds_.at(tmpResults.at<int>(0,j)));
}
}
}
@ -146,27 +146,13 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
}
else
{
cv::Mat tmp(newWords.rows+1, descriptors.cols, descriptors.type());
if(newWords.rows)
{
cv::Mat dest(tmp, cv::Range(0, newWords.rows));
newWords.copyTo(dest);
}
cv::Mat dest(tmp, cv::Range(newWords.rows, newWords.rows+1));
descriptors.row(i).copyTo(dest);
newWordIds.push_back(indexedDescriptors_.rows + newWords.rows);
newWords = tmp;
words.insert(newWordIds.back(), i);
wordToObjects_.insert(newWordIds.back(), objectIndex);
//concatenate new words
notIndexedWordIds_.push_back(indexedDescriptors_.rows + notIndexedDescriptors_.rows);
notIndexedDescriptors_.push_back(descriptors.row(i));
words.insert(notIndexedWordIds_.back(), i);
wordToObjects_.insert(notIndexedWordIds_.back(), objectIndex);
}
}
//concatenate new words
if(newWords.rows)
{
notIndexedWordIds_ = newWordIds;
notIndexedDescriptors_ = newWords;
}
}
else
{
@ -178,15 +164,7 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
}
//just concatenate descriptors
cv::Mat tmp(notIndexedDescriptors_.rows+descriptors.rows, descriptors.cols, descriptors.type());
if(notIndexedDescriptors_.rows)
{
cv::Mat dest(tmp, cv::Range(0, notIndexedDescriptors_.rows));
notIndexedDescriptors_.copyTo(dest);
}
cv::Mat dest(tmp, cv::Range(notIndexedDescriptors_.rows, notIndexedDescriptors_.rows+descriptors.rows));
descriptors.copyTo(dest);
notIndexedDescriptors_ = tmp;
notIndexedDescriptors_.push_back(descriptors);
}
return words;
@ -200,12 +178,7 @@ void Vocabulary::update()
indexedDescriptors_.type() == notIndexedDescriptors_.type() );
//concatenate descriptors
cv::Mat tmp(indexedDescriptors_.rows+notIndexedDescriptors_.rows, notIndexedDescriptors_.cols, notIndexedDescriptors_.type());
cv::Mat dest(tmp, cv::Range(0, indexedDescriptors_.rows));
indexedDescriptors_.copyTo(dest);
dest = cv::Mat(tmp, cv::Range(indexedDescriptors_.rows, indexedDescriptors_.rows+notIndexedDescriptors_.rows));
notIndexedDescriptors_.copyTo(dest);
indexedDescriptors_ = tmp;
indexedDescriptors_.push_back(notIndexedDescriptors_);
notIndexedDescriptors_ = cv::Mat();
notIndexedWordIds_.clear();

6
src/ui/mainWindow.ui
View File

@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>826</width>
<height>572</height>
<height>689</height>
</rect>
</property>
<property name="windowTitle">
@ -346,7 +346,7 @@
<x>0</x>
<y>0</y>
<width>198</width>
<height>442</height>
<height>559</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_objects">
@ -529,7 +529,7 @@
<item row="5" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Detect outliers and GUI</string>
<string>Homograhies</string>
</property>
</widget>
</item>