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First draft of a fixed vocabulary (issue #2)

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This commit is contained in:
matlabbe 2015-06-23 18:21:30 -04:00
parent b07239a000
commit b4e97e450d
3 changed files with 56 additions and 21 deletions
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21
src/FindObject.cpp
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@ -801,11 +801,15 @@ void FindObject::updateVocabulary()
sessionModified_ = true;
QTime time;
time.start();
bool incremental = Settings::getGeneral_vocabularyIncremental();
bool incremental = Settings::getGeneral_vocabularyIncremental() && !Settings::getGeneral_vocabularyFixed();
if(incremental)
{
UINFO("Creating incremental vocabulary...");
}
else if(Settings::getGeneral_vocabularyFixed())
{
UINFO("Updating vocabulary correspondences only (vocabulary is fixed)...");
}
else
{
UINFO("Creating vocabulary...");
@ -816,7 +820,7 @@ void FindObject::updateVocabulary()
int addedWords = 0;
for(int i=0; i<objectsList.size(); ++i)
{
QMultiMap<int, int> words = vocabulary_->addWords(objectsList[i]->descriptors(), objectsList.at(i)->id(), incremental);
QMultiMap<int, int> words = vocabulary_->addWords(objectsList[i]->descriptors(), objectsList.at(i)->id());
objectsList[i]->setWords(words);
addedWords += words.uniqueKeys().size();
bool updated = false;
@ -834,7 +838,7 @@ void FindObject::updateVocabulary()
localTime.restart(),
updated?"updated":"");
}
if(addedWords)
if(addedWords && !Settings::getGeneral_vocabularyFixed())
{
vocabulary_->update();
}
@ -843,6 +847,10 @@ void FindObject::updateVocabulary()
{
UINFO("Creating incremental vocabulary... done! size=%d (%d ms)", vocabulary_->size(), time.elapsed());
}
else if(Settings::getGeneral_vocabularyFixed())
{
UINFO("Updating vocabulary correspondences only (vocabulary is fixed)... done! size=%d (%d ms)", time.elapsed());
}
else
{
UINFO("Creating vocabulary... done! size=%d (%d ms)", vocabulary_->size(), time.elapsed());
@ -1191,11 +1199,8 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
vocabulary_->clear();
// CREATE INDEX for the scene
UDEBUG("CREATE INDEX FOR THE SCENE");
words = vocabulary_->addWords(info.sceneDescriptors_, -1, Settings::getGeneral_vocabularyIncremental());
if(!Settings::getGeneral_vocabularyIncremental())
{
vocabulary_->update();
}
words = vocabulary_->addWords(info.sceneDescriptors_, -1);
vocabulary_->update();
info.timeStamps_.insert(DetectionInfo::kTimeIndexing, time.restart());
}

54
src/Vocabulary.cpp
View File

@ -54,10 +54,17 @@ Vocabulary::~Vocabulary()
void Vocabulary::clear()
{
indexedDescriptors_ = cv::Mat();
notIndexedDescriptors_ = cv::Mat();
wordToObjects_.clear();
notIndexedDescriptors_ = cv::Mat();
notIndexedWordIds_.clear();
if(Settings::getGeneral_vocabularyFixed() && Settings::getGeneral_invertedSearch())
{
// If the dictionary is fixed, don't clear indexed descriptors
return;
}
indexedDescriptors_ = cv::Mat();
}
void Vocabulary::save(QDataStream & streamPtr) const
@ -95,7 +102,7 @@ void Vocabulary::load(QDataStream & streamPtr)
update();
}
QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int objectId, bool incremental)
QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int objectId)
{
QMultiMap<int, int> words;
if (descriptors.empty())
@ -103,7 +110,7 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
return words;
}
if(incremental)
if(Settings::getGeneral_vocabularyIncremental() || Settings::getGeneral_vocabularyFixed())
{
int k = 2;
cv::Mat results;
@ -125,8 +132,11 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
globalSearch = true;
}
notIndexedWordIds_.reserve(notIndexedWordIds_.size() + descriptors.rows);
notIndexedDescriptors_.reserve(notIndexedDescriptors_.rows + descriptors.rows);
if(!Settings::getGeneral_vocabularyFixed())
{
notIndexedWordIds_.reserve(notIndexedWordIds_.size() + descriptors.rows);
notIndexedDescriptors_.reserve(notIndexedDescriptors_.rows + descriptors.rows);
}
int matches = 0;
for(int i = 0; i < descriptors.rows; ++i)
{
@ -199,21 +209,37 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
}
}
bool match = false;
// Apply NNDR
if(fullResults.size() >= 2 &&
bool matched = false;
if(Settings::getNearestNeighbor_3nndrRatioUsed() &&
fullResults.size() >= 2 &&
fullResults.begin().key() <= Settings::getNearestNeighbor_4nndrRatio() * (++fullResults.begin()).key())
{
match = true;
matched = true;
}
if((matched || !Settings::getNearestNeighbor_3nndrRatioUsed()) &&
Settings::getNearestNeighbor_5minDistanceUsed())
{
if(fullResults.begin().key() <= Settings::getNearestNeighbor_6minDistance())
{
matched = true;
}
else
{
matched = false;
}
}
if(!matched && !Settings::getNearestNeighbor_3nndrRatioUsed() && !Settings::getNearestNeighbor_5minDistanceUsed())
{
matched = true; // no criterion, match to the nearest descriptor
}
if(match)
if(matched)
{
words.insert(fullResults.begin().value(), i);
wordToObjects_.insert(fullResults.begin().value(), objectId);
++matches;
}
else
else if(!Settings::getGeneral_invertedSearch() || !Settings::getGeneral_vocabularyFixed())
{
//concatenate new words
notIndexedWordIds_.push_back(indexedDescriptors_.rows + notIndexedDescriptors_.rows);
@ -221,6 +247,10 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
words.insert(notIndexedWordIds_.back(), i);
wordToObjects_.insert(notIndexedWordIds_.back(), objectId);
}
else
{
words.insert(-1, i); // invalid word
}
}
}
else

2
src/Vocabulary.h
View File

@ -40,7 +40,7 @@ public:
virtual ~Vocabulary();
void clear();
QMultiMap<int, int> addWords(const cv::Mat & descriptors, int objectId, bool incremental);
QMultiMap<int, int> addWords(const cv::Mat & descriptors, int objectId);
void update();
void search(const cv::Mat & descriptors, cv::Mat & results, cv::Mat & dists, int k);
int size() const {return indexedDescriptors_.rows + notIndexedDescriptors_.rows;}