00001 /* 00002 Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke 00003 All rights reserved. 00004 00005 Redistribution and use in source and binary forms, with or without 00006 modification, are permitted provided that the following conditions are met: 00007 * Redistributions of source code must retain the above copyright 00008 notice, this list of conditions and the following disclaimer. 00009 * Redistributions in binary form must reproduce the above copyright 00010 notice, this list of conditions and the following disclaimer in the 00011 documentation and/or other materials provided with the distribution. 00012 * Neither the name of the Universite de Sherbrooke nor the 00013 names of its contributors may be used to endorse or promote products 00014 derived from this software without specific prior written permission. 00015 00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY 00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef VOCABULARY_H_ 00029 #define VOCABULARY_H_ 00030 00031 #include <QtCore/QMultiMap> 00032 #include <QtCore/QVector> 00033 #include <opencv2/opencv.hpp> 00034 00035 namespace find_object { 00036 00037 class Vocabulary { 00038 public: 00039 Vocabulary(); 00040 virtual ~Vocabulary(); 00041 00042 void clear(); 00043 QMultiMap<int, int> addWords(const cv::Mat & descriptors, int objectId, bool incremental); 00044 void update(); 00045 void search(const cv::Mat & descriptors, cv::Mat & results, cv::Mat & dists, int k); 00046 int size() const {return indexedDescriptors_.rows + notIndexedDescriptors_.rows;} 00047 const QMultiMap<int, int> & wordToObjects() const {return wordToObjects_;} 00048 const cv::Mat & indexedDescriptors() const {return indexedDescriptors_;} 00049 00050 void save(QDataStream & streamPtr) const; 00051 void load(QDataStream & streamPtr); 00052 00053 private: 00054 cv::flann::Index flannIndex_; 00055 cv::Mat indexedDescriptors_; 00056 cv::Mat notIndexedDescriptors_; 00057 QMultiMap<int, int> wordToObjects_; // <wordId, ObjectId> 00058 QVector<int> notIndexedWordIds_; 00059 }; 00060 00061 } // namespace find_object 00062 00063 #endif /* VOCABULARY_H_ */