First draft of a fixed vocabulary (issue #2)

src/FindObject.cpp

@@ -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());
+				words = vocabulary_->addWords(info.sceneDescriptors_, -1);
-				if(!Settings::getGeneral_vocabularyIncremental())
-				{
 				vocabulary_->update();
-				}
 				info.timeStamps_.insert(DetectionInfo::kTimeIndexing, time.restart());
 			}
 

src/Vocabulary.cpp

@@ -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;
 		}
 
+		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;
+			bool matched = false;
-			// Apply NNDR
+			if(Settings::getNearestNeighbor_3nndrRatioUsed() &&
-			if(fullResults.size() >= 2 &&
+			   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

src/Vocabulary.h

@@ -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;}