FlannIndex.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
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8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef CORELIB_SRC_FLANNINDEX_H_
29 #define CORELIB_SRC_FLANNINDEX_H_
30 
31 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
32 #include <list>
33 #include <opencv2/opencv.hpp>
34 
35 namespace rtabmap {
36 
38 {
39 public:
40  FlannIndex();
41  virtual ~FlannIndex();
42 
43  void release();
44  unsigned int indexedFeatures() const;
45 
46  // return Bytes
47  unsigned long memoryUsed() const;
48 
49  // Note that useDistanceL1 doesn't have any effect if LSH is used
50  void buildLinearIndex(
51  const cv::Mat & features,
52  bool useDistanceL1 = false,
53  float rebalancingFactor = 2.0f);
54  void buildKDTreeIndex(
55  const cv::Mat & features,
56  int trees = 4,
57  bool useDistanceL1 = false,
58  float rebalancingFactor = 2.0f);
59  void buildKDTreeSingleIndex(
60  const cv::Mat & features,
61  int leafMaxSize = 10,
62  bool reorder = true,
63  bool useDistanceL1 = false,
64  float rebalancingFactor = 2.0f);
65  void buildLSHIndex(
66  const cv::Mat & features,
67  unsigned int table_number = 12,
68  unsigned int key_size = 20,
69  unsigned int multi_probe_level = 2,
70  float rebalancingFactor = 2.0f);
71 
72  bool isBuilt();
73 
74  int featuresType() const {return featuresType_;}
75  int featuresDim() const {return featuresDim_;}
76 
77  std::vector<unsigned int> addPoints(const cv::Mat & features);
78 
79  void removePoint(unsigned int index);
80 
81  // return squared distances (indices should be casted in size_t)
82  void knnSearch(
83  const cv::Mat & query,
84  cv::Mat & indices,
85  cv::Mat & dists,
86  int knn,
87  int checks = 32,
88  float eps = 0.0,
89  bool sorted = true) const;
90 
91  // return squared distances
92  void radiusSearch(
93  const cv::Mat & query,
94  std::vector<std::vector<size_t> > & indices,
95  std::vector<std::vector<float> > & dists,
96  float radius,
97  int maxNeighbors = 0,
98  int checks = 32,
99  float eps = 0.0,
100  bool sorted = true) const;
101 
102 private:
103  void * index_;
104  unsigned int nextIndex_;
107  bool isLSH_;
108  bool useDistanceL1_; // true=EUCLEDIAN_L2 false=MANHATTAN_L1
110 
111  // keep feature in memory until the tree is rebuilt
112  // (in case the word is deleted when removed from the VWDictionary)
113  std::map<int, cv::Mat> addedDescriptors_;
114  std::list<int> removedIndexes_;
115 };
116 
117 } /* namespace rtabmap */
118 
119 #endif /* CORELIB_SRC_FLANNINDEX_H_ */
f
std::map< int, cv::Mat > addedDescriptors_
Definition: FlannIndex.h:113
int featuresDim() const
Definition: FlannIndex.h:75
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
unsigned int nextIndex_
Definition: FlannIndex.h:104
int featuresType() const
Definition: FlannIndex.h:74
std::list< int > removedIndexes_
Definition: FlannIndex.h:114


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:58