Generic Vocabulary. More...

#include <TemplatedVocabulary.h>

Classes
struct	Node
	Tree node. More...

Public Member Functions
virtual void	create (const std::vector< std::vector< TDescriptor > > &training_features)

virtual void	create (const std::vector< std::vector< TDescriptor > > &training_features, int k, int L)

virtual void	create (const std::vector< std::vector< TDescriptor > > &training_features, int k, int L, WeightingType weighting, ScoringType scoring)

virtual bool	empty () const

int	getBranchingFactor () const

int	getDepthLevels () const

float	getEffectiveLevels () const

virtual NodeId	getParentNode (WordId wid, int levelsup) const

ScoringType	getScoringType () const

WeightingType	getWeightingType () const

virtual TDescriptor	getWord (WordId wid) const

void	getWordsFromNode (NodeId nid, std::vector< WordId > &words) const

virtual WordValue	getWordWeight (WordId wid) const

void	load (const std::string &filename)

virtual void	load (const cv::FileStorage &fs, const std::string &name="vocabulary")

bool	loadFromTextFile (const std::string &filename)

TemplatedVocabulary< TDescriptor, F > &	operator= (const TemplatedVocabulary< TDescriptor, F > &voc)

void	save (const std::string &filename) const

virtual void	save (cv::FileStorage &fs, const std::string &name="vocabulary") const

void	saveToTextFile (const std::string &filename) const

double	score (const BowVector &a, const BowVector &b) const

void	setScoringType (ScoringType type)

void	setWeightingType (WeightingType type)

virtual unsigned int	size () const

virtual int	stopWords (double minWeight)

	TemplatedVocabulary (int k=10, int L=5, WeightingType weighting=TF_IDF, ScoringType scoring=L1_NORM)

	TemplatedVocabulary (const std::string &filename)

	TemplatedVocabulary (const char *filename)

	TemplatedVocabulary (const TemplatedVocabulary< TDescriptor, F > &voc)

virtual void	transform (const std::vector< TDescriptor > &features, BowVector &v) const

virtual void	transform (const std::vector< TDescriptor > &features, BowVector &v, FeatureVector &fv, int levelsup) const

virtual WordId	transform (const TDescriptor &feature) const

virtual	~TemplatedVocabulary ()

Protected Types
typedef const TDescriptor *	pDescriptor
	Pointer to descriptor. More...

Protected Member Functions
void	createScoringObject ()

void	createWords ()

void	getFeatures (const vector< vector< TDescriptor > > &training_features, vector< pDescriptor > &features) const

void	HKmeansStep (NodeId parent_id, const vector< pDescriptor > &descriptors, int current_level)

virtual void	initiateClusters (const vector< pDescriptor > &descriptors, vector< TDescriptor > &clusters) const

void	initiateClustersKMpp (const vector< pDescriptor > &descriptors, vector< TDescriptor > &clusters) const

void	setNodeWeights (const vector< vector< TDescriptor > > &features)

virtual void	transform (const TDescriptor &feature, WordId &id, WordValue &weight, NodeId *nid=NULL, int levelsup=0) const

virtual void	transform (const TDescriptor &feature, WordId &id) const

Protected Attributes
int	m_k
	Branching factor. More...

int	m_L
	Depth levels. More...

std::vector< Node >	m_nodes
	Tree nodes. More...

ScoringType	m_scoring
	Scoring method. More...

GeneralScoring *	m_scoring_object
	Object for computing scores. More...

WeightingType	m_weighting
	Weighting method. More...

std::vector< Node * >	m_words

Detailed Description

template<class TDescriptor, class F>
class DBoW2::TemplatedVocabulary< TDescriptor, F >

Generic Vocabulary.

Parameters

TDescriptor	class of descriptor
F	class of descriptor functions

Definition at line 44 of file TemplatedVocabulary.h.

Member Typedef Documentation

template<class TDescriptor, class F>

typedef const TDescriptor* DBoW2::TemplatedVocabulary< TDescriptor, F >::pDescriptor

protected

Pointer to descriptor.

Definition at line 294 of file TemplatedVocabulary.h.

Constructor & Destructor Documentation

template<class TDescriptor , class F >

DBoW2::TemplatedVocabulary< TDescriptor, F >::TemplatedVocabulary	(	int	k = `10`,
		int	L = `5`,
		WeightingType	weighting = `TF_IDF`,
		ScoringType	scoring = `L1_NORM`
	)

Initiates an empty vocabulary

Parameters

k	branching factor
L	depth levels
weighting	weighting type
scoring	scoring type

Definition at line 435 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

DBoW2::TemplatedVocabulary< TDescriptor, F >::TemplatedVocabulary ( const std::string & filename )

Creates the vocabulary by loading a file

Parameters

filename

Definition at line 446 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

DBoW2::TemplatedVocabulary< TDescriptor, F >::TemplatedVocabulary ( const char * filename )

Creates the vocabulary by loading a file

Parameters

filename

Definition at line 455 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

DBoW2::TemplatedVocabulary< TDescriptor, F >::TemplatedVocabulary ( const TemplatedVocabulary< TDescriptor, F > & voc )

Copy constructor

Parameters

voc

Definition at line 517 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

DBoW2::TemplatedVocabulary< TDescriptor, F >::~TemplatedVocabulary ( )

virtual

Destructor

Definition at line 527 of file TemplatedVocabulary.h.

Member Function Documentation

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::create ( const std::vector< std::vector< TDescriptor > > & training_features )

virtual

Creates a vocabulary from the training features with the already defined parameters

Parameters

training_features

Definition at line 558 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::create	(	const std::vector< std::vector< TDescriptor > > &	training_features,
		int	k,
		int	L
	)

virtual

Creates a vocabulary from the training features, setting the branching factor and the depth levels of the tree

Parameters

training_features
k	branching factor
L	depth levels

Definition at line 592 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::create	(	const std::vector< std::vector< TDescriptor > > &	training_features,
		int	k,
		int	L,
		WeightingType	weighting,
		ScoringType	scoring
	)

virtual

Creates a vocabulary from the training features, setting the branching factor nad the depth levels of the tree, and the weighting and scoring schemes

Definition at line 605 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::createScoringObject ( )

protected

Creates an instance of the scoring object accoring to m_scoring

Definition at line 463 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::createWords ( )

protected

Create the words of the vocabulary once the tree has been built

Definition at line 918 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

bool DBoW2::TemplatedVocabulary< TDescriptor, F >::empty ( ) const

inlinevirtual

Returns whether the vocabulary is empty (i.e. it has not been trained)

Returns: true iff the vocabulary is empty

Definition at line 1009 of file TemplatedVocabulary.h.

template<class TDescriptor, class F>

int DBoW2::TemplatedVocabulary< TDescriptor, F >::getBranchingFactor ( ) const

inline

Returns the branching factor of the tree (k)

Returns: k

Definition at line 185 of file TemplatedVocabulary.h.

template<class TDescriptor, class F>

int DBoW2::TemplatedVocabulary< TDescriptor, F >::getDepthLevels ( ) const

inline

Returns the depth levels of the tree (L)

Returns: L

Definition at line 191 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

float DBoW2::TemplatedVocabulary< TDescriptor, F >::getEffectiveLevels ( ) const

Returns the real depth levels of the tree on average

Returns: average of depth levels of leaves

Definition at line 1017 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::getFeatures	(	const vector< vector< TDescriptor > > &	training_features,
		vector< pDescriptor > &	features
	)		const

protected

Returns a set of pointers to descriptores

Parameters

training_features	all the features
features	(out) pointers to the training features

Definition at line 621 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

NodeId DBoW2::TemplatedVocabulary< TDescriptor, F >::getParentNode	(	WordId	wid,
		int	levelsup
	)		const

virtual

Returns the id of the node that is "levelsup" levels from the word given

Parameters

wid	word id
levelsup	0..L

Returns: node id. if levelsup is 0, returns the node id associated to the word id

Definition at line 1265 of file TemplatedVocabulary.h.

template<class TDescriptor, class F>

ScoringType DBoW2::TemplatedVocabulary< TDescriptor, F >::getScoringType ( ) const

inline

Returns the scoring method

Returns: scoring method

Definition at line 223 of file TemplatedVocabulary.h.

template<class TDescriptor, class F>

WeightingType DBoW2::TemplatedVocabulary< TDescriptor, F >::getWeightingType ( ) const

inline

Returns the weighting method

Returns: weighting method

Definition at line 217 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

TDescriptor DBoW2::TemplatedVocabulary< TDescriptor, F >::getWord ( WordId wid ) const

inlinevirtual

Returns the descriptor of a word

Parameters

wid word id

Returns: descriptor

Definition at line 1034 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::getWordsFromNode	(	NodeId	nid,
		std::vector< WordId > &	words
	)		const

Returns the ids of all the words that are under the given node id, by traversing any of the branches that goes down from the node

Parameters

nid	starting node id
words	ids of words

Definition at line 1280 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

WordValue DBoW2::TemplatedVocabulary< TDescriptor, F >::getWordWeight ( WordId wid ) const

inlinevirtual

Returns the weight of a word

Parameters

wid word id

Returns: weight

Definition at line 1042 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::HKmeansStep	(	NodeId	parent_id,
		const vector< pDescriptor > &	descriptors,
		int	current_level
	)

protected

Creates a level in the tree, under the parent, by running kmeans with a descriptor set, and recursively creates the subsequent levels too

Parameters

parent_id	id of parent node
descriptors	descriptors to run the kmeans on
current_level	current level in the tree

Definition at line 642 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::initiateClusters	(	const vector< pDescriptor > &	descriptors,
		vector< TDescriptor > &	clusters
	)		const

protectedvirtual

Creates k clusters from the given descriptors with some seeding algorithm.

Note: In this class, kmeans++ is used, but this function should be overriden by inherited classes.

Definition at line 825 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::initiateClustersKMpp	(	const vector< pDescriptor > &	descriptors,
		vector< TDescriptor > &	clusters
	)		const

protected

Creates k clusters from the given descriptor sets by running the initial step of kmeans++

Parameters

descriptors
clusters	resulting clusters

Definition at line 833 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::load ( const std::string & filename )

Loads the vocabulary from a file

Parameters

filename

Definition at line 1465 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::load	(	const cv::FileStorage &	fs,
		const std::string &	name = `"vocabulary"`
	)

virtual

Loads the vocabulary from a file storage node

Parameters

fn	first node
subname	name of the child node of fn where the tree is stored. If not given, the fn node is used instead

Definition at line 1573 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

bool DBoW2::TemplatedVocabulary< TDescriptor, F >::loadFromTextFile ( const std::string & filename )

Loads the vocabulary from a text file

Parameters

filename

Definition at line 1338 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

TemplatedVocabulary< TDescriptor, F > & DBoW2::TemplatedVocabulary< TDescriptor, F >::operator= ( const TemplatedVocabulary< TDescriptor, F > & voc )

Assigns the given vocabulary to this by copying its data and removing all the data contained by this vocabulary before

Parameters

voc

Returns: reference to this vocabulary

Definition at line 537 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::save ( const std::string & filename ) const

Saves the vocabulary into a file

Parameters

filename

Definition at line 1454 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::save	(	cv::FileStorage &	fs,
		const std::string &	name = `"vocabulary"`
	)		const

virtual

Saves the vocabulary to a file storage structure

Parameters

fn	node in file storage

Definition at line 1476 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::saveToTextFile ( const std::string & filename ) const

Saves the vocabulary into a text file

Parameters

filename

Definition at line 1429 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

double DBoW2::TemplatedVocabulary< TDescriptor, F >::score	(	const BowVector &	a,
		const BowVector &	b
	)		const

inline

Returns the score of two vectors

Parameters

a	vector
b	vector

Returns: score between vectors

Note: the vectors must be already sorted and normalized if necessary

Definition at line 1200 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::setNodeWeights ( const vector< vector< TDescriptor > > & features )

protected

Sets the weights of the nodes of tree according to the given features. Before calling this function, the nodes and the words must be already created (by calling HKmeansStep and createWords)

Parameters

features

Definition at line 944 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::setScoringType ( ScoringType type )

Changes the scoring method

Parameters

type	new scoring type

Definition at line 500 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::setWeightingType ( WeightingType type )

inline

Changes the weighting method

Parameters

type	new weighting type

Definition at line 509 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

unsigned int DBoW2::TemplatedVocabulary< TDescriptor, F >::size ( ) const

inlinevirtual

Returns the number of words in the vocabulary

Returns: number of words

Definition at line 1001 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

int DBoW2::TemplatedVocabulary< TDescriptor, F >::stopWords ( double minWeight )

virtual

Stops those words whose weight is below minWeight. Words are stopped by setting their weight to 0. There are not returned later when transforming image features into vectors. Note that when using IDF or TF_IDF, the weight is the idf part, which is equivalent to -log(f), where f is the frequency of the word (f = Ni/N, Ni: number of training images where the word is present, N: number of training images). Note that the old weight is forgotten, and subsequent calls to this function with a lower minWeight have no effect.

Returns: number of words stopped now

Definition at line 1320 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::transform	(	const std::vector< TDescriptor > &	features,
		BowVector &	v
	)		const

virtual

Transforms a set of descriptores into a bow vector

Parameters

features
v	(out) bow vector of weighted words

Definition at line 1066 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::transform	(	const std::vector< TDescriptor > &	features,
		BowVector &	v,
		FeatureVector &	fv,
		int	levelsup
	)		const

virtual

Transform a set of descriptors into a bow vector and a feature vector

Parameters

features
v	(out) bow vector
fv	(out) feature vector of nodes and feature indexes
levelsup	levels to go up the vocabulary tree to get the node index

Definition at line 1127 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

WordId DBoW2::TemplatedVocabulary< TDescriptor, F >::transform ( const TDescriptor & feature ) const

virtual

Transforms a single feature into a word (without weight)

Parameters

feature

Returns: word id

Definition at line 1051 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::transform	(	const TDescriptor &	feature,
		WordId &	id,
		WordValue &	weight,
		NodeId *	nid = `NULL`,
		int	levelsup = `0`
	)		const

protectedvirtual

Returns the word id associated to a feature

Parameters

feature
id	(out) word id
weight	(out) word weight
nid	(out) if given, id of the node "levelsup" levels up
levelsup

Definition at line 1218 of file TemplatedVocabulary.h.

template<class TDescriptor , class F >

void DBoW2::TemplatedVocabulary< TDescriptor, F >::transform	(	const TDescriptor &	feature,
		WordId &	id
	)		const

protectedvirtual

Returns the word id associated to a feature

Parameters

feature
id	(out) word id

Definition at line 1209 of file TemplatedVocabulary.h.

Member Data Documentation

template<class TDescriptor, class F>

int DBoW2::TemplatedVocabulary< TDescriptor, F >::m_k

protected

Branching factor.

Definition at line 408 of file TemplatedVocabulary.h.

template<class TDescriptor, class F>

int DBoW2::TemplatedVocabulary< TDescriptor, F >::m_L

protected

Depth levels.

Definition at line 411 of file TemplatedVocabulary.h.

template<class TDescriptor, class F>

std::vector<Node> DBoW2::TemplatedVocabulary< TDescriptor, F >::m_nodes

protected

Tree nodes.

Definition at line 423 of file TemplatedVocabulary.h.

template<class TDescriptor, class F>

ScoringType DBoW2::TemplatedVocabulary< TDescriptor, F >::m_scoring

protected

Scoring method.

Definition at line 417 of file TemplatedVocabulary.h.

template<class TDescriptor, class F>

GeneralScoring* DBoW2::TemplatedVocabulary< TDescriptor, F >::m_scoring_object

protected

Object for computing scores.

Definition at line 420 of file TemplatedVocabulary.h.

template<class TDescriptor, class F>

WeightingType DBoW2::TemplatedVocabulary< TDescriptor, F >::m_weighting

protected

Weighting method.

Definition at line 414 of file TemplatedVocabulary.h.

template<class TDescriptor, class F>

std::vector<Node*> DBoW2::TemplatedVocabulary< TDescriptor, F >::m_words

protected

Words of the vocabulary (tree leaves) this condition holds: m_words[wid]->word_id == wid

Definition at line 427 of file TemplatedVocabulary.h.

The documentation for this class was generated from the following file:

TemplatedVocabulary.h

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<class TDescriptor, class F> class DBoW2::TemplatedVocabulary< TDescriptor, F >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class TDescriptor, class F>
class DBoW2::TemplatedVocabulary< TDescriptor, F >