agv_pro_ros2/rtabmap/tools/VocabularyComparison/main.cpp

/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include <opencv2/core/core.hpp>
#include <opencv2/core/types_c.h>
#include <opencv2/highgui/highgui_c.h>
#include <opencv2/imgproc/imgproc_c.h>
#include <opencv2/flann/miniflann.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/nonfree/features2d.hpp>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UMath.h>
#include <fstream>
#include <vector>
#include <list>
#include <string>
#include <iostream>

void showUsage()
{
	printf("Usage:\n"
			"vocabularyComparison.exe \"dictionary/path\"\n"
			"  Dictionary path example: \"data/Dictionary49k.txt\""
			"  Note that 400 first descriptors in the file are used as queries.\n");
	exit(1);
}

int main(int argc, char * argv[])
{
	if(argc < 2)
	{
		showUsage();
	}
	ULogger::setType(ULogger::kTypeConsole);
	ULogger::setLevel(ULogger::kDebug);

	std::string dictionaryPath = argv[argc-1];
	std::list<std::vector<float> > objectDescriptors;
	//std::list<std::vector<float> > descriptors;
	std::map<int, std::vector<float> > descriptors;
	int dimension  = 0;
	UTimer timer;
	int objectDescriptorsSize= 400;

	std::ifstream file;
	if(!dictionaryPath.empty())
	{
		file.open(dictionaryPath.c_str(), std::ifstream::in);
	}
	if(file.good())
	{
		UDEBUG("Loading the dictionary from \"%s\"", dictionaryPath.c_str());

		// first line is the header
		std::string str;
		std::list<std::string> strList;
		std::getline(file, str);
		strList = uSplitNumChar(str);
		for(std::list<std::string>::iterator iter = strList.begin(); iter != strList.end(); ++iter)
		{
			if(uIsDigit(iter->at(0)))
			{
				dimension = std::atoi(iter->c_str());
				break;
			}
		}

		if(dimension == 0 || dimension > 1000)
		{
			UERROR("Invalid dictionary file, visual word dimension (%d) is not valid, \"%s\"", dimension, dictionaryPath.c_str());
		}
		else
		{
			int descriptorsLoaded = 0;
			// Process all words
			while(file.good())
			{
				std::getline(file, str);
				strList = uSplit(str);
				if((int)strList.size() == dimension+1)
				{
					//first one is the visual word id
					std::list<std::string>::iterator iter = strList.begin();
					int id = atoi(iter->c_str());
					++iter;

					std::vector<float> descriptor(dimension);
					int i=0;

					//get descriptor
					for(;i<dimension && iter != strList.end(); ++i, ++iter)
					{
						descriptor[i] = uStr2Float(*iter);
					}
					if(i != dimension)
					{
						UERROR("");
					}

					if(++descriptorsLoaded<=objectDescriptorsSize)
					{
						objectDescriptors.push_back(descriptor);
					}
					else
					{
						//descriptors.push_back(descriptor);
						descriptors.insert(std::make_pair(id, descriptor));
					}
				}
				else if(str.size())
				{
					UWARN("Cannot parse line \"%s\"", str.c_str());
				}
			}
		}

		UDEBUG("Time loading dictionary = %fs, dimension=%d", timer.ticks(), dimension);
	}
	else
	{
		UERROR("Cannot open dictionary file \"%s\"", dictionaryPath.c_str());
	}
	file.close();

	if(descriptors.size() && objectDescriptors.size() && dimension)
	{
		cv::Mat dataTree;
		cv::Mat queries;

		UDEBUG("Creating data structures...");
		// Create the data structure
		dataTree = cv::Mat((int)descriptors.size(), dimension, CV_32F); // SURF descriptors are CV_32F
		{//scope
			//std::list<std::vector<float> >::const_iterator iter = descriptors.begin();
			std::map<int, std::vector<float> >::const_iterator iter = descriptors.begin();
			for(unsigned int i=0; i < descriptors.size(); ++i, ++iter)
			{
				UTimer tim;
				//memcpy(dataTree.ptr<float>(i), iter->data(), dimension*sizeof(float));
				memcpy(dataTree.ptr<float>(i), iter->second.data(), dimension*sizeof(float));
				//if(i%100==0)
				//	UDEBUG("i=%d/%d tim=%fs", i, descriptors.size(), tim.ticks());
			}
		}

		queries = cv::Mat((int)objectDescriptors.size(), dimension, CV_32F); // SURF descriptors are CV_32F
		{//scope
			std::list<std::vector<float> >::const_iterator iter = objectDescriptors.begin();
			for(unsigned int i=0; i < objectDescriptors.size(); ++i, ++iter)
			{
				UTimer tim;
				memcpy(queries.ptr<float>(i), iter->data(), dimension*sizeof(float));
				//if(i%100==0)
				//	UDEBUG("i=%d/%d tim=%fs", i, objectDescriptors.size(), tim.ticks());
			}
		}

		UDEBUG("descriptors.size()=%d, objectDescriptorsSize=%d, copying data = %f s",descriptors.size(), objectDescriptors.size(), timer.ticks());

		UDEBUG("Creating indexes...");
		cv::flann::Index * linearIndex = new cv::flann::Index(dataTree, cv::flann::LinearIndexParams());
		UDEBUG("Time to create linearIndex = %f s", timer.ticks());

		cv::flann::Index * kdTreeIndex1 = new cv::flann::Index(dataTree, cv::flann::KDTreeIndexParams(1));
		UDEBUG("Time to create kdTreeIndex1 = %f s", timer.ticks());

		cv::flann::Index * kdTreeIndex4 = new cv::flann::Index(dataTree, cv::flann::KDTreeIndexParams(4));
		UDEBUG("Time to create kdTreeIndex4 = %f s", timer.ticks());

		cv::flann::Index * kMeansIndex = new cv::flann::Index(dataTree, cv::flann::KMeansIndexParams());
		UDEBUG("Time to create kMeansIndex = %f s", timer.ticks());

		cv::flann::Index * compositeIndex = new cv::flann::Index(dataTree, cv::flann::CompositeIndexParams());
		UDEBUG("Time to create compositeIndex = %f s", timer.ticks());

		//cv::flann::Index * autoTunedIndex = new cv::flann::Index(dataTree, cv::flann::AutotunedIndexParams());
		//UDEBUG("Time to create autoTunedIndex = %f s", timer.ticks());


		UDEBUG("Search indexes...");
		int k=2; // 2 nearest neighbors
		cv::Mat results(queries.rows, k, CV_32SC1); // results index
		cv::Mat dists(queries.rows, k, CV_32FC1); // Distance results are CV_32FC1

		linearIndex->knnSearch(queries, results, dists, k);
		//std::cout << results.t() << std::endl;
		cv::Mat transposedLinear = dists.t();
		UDEBUG("Time to search linearIndex = %f s", timer.ticks());

		kdTreeIndex1->knnSearch(queries, results, dists, k);
		//std::cout << results.t() << std::endl;
		cv::Mat transposed = dists.t();
		UDEBUG("Time to search kdTreeIndex1 = %f s (size=%d, dist error(k1,k2)=(%f,%f))",
				timer.ticks(),
				transposed.cols,
				uMeanSquaredError(  (float*)transposed.data,
					transposed.cols,
					(float*)transposedLinear.data,
					transposedLinear.cols),
				uMeanSquaredError(  &transposed.at<float>(1,0),
					transposed.cols,
					&transposedLinear.at<float>(1,0),
					transposedLinear.cols));

		kdTreeIndex4->knnSearch(queries, results, dists, k);
		//std::cout << results.t() << std::endl;
		transposed = dists.t();
		UDEBUG("Time to search kdTreeIndex4 = %f s (size=%d, dist error(k1,k2)=(%f,%f))",
				timer.ticks(),
				transposed.cols,
				uMeanSquaredError(  (float*)transposed.data,
					transposed.cols,
					(float*)transposedLinear.data,
					transposedLinear.cols),
				uMeanSquaredError(  &transposed.at<float>(1,0),
					transposed.cols,
					&transposedLinear.at<float>(1,0),
					transposedLinear.cols));

		kMeansIndex->knnSearch(queries, results, dists, k);
		//std::cout << results.t() << std::endl;
		transposed = dists.t();
		UDEBUG("Time to search kMeansIndex = %f s (size=%d, dist error(k1,k2)=(%f,%f))",
				timer.ticks(),
				transposed.cols,
				uMeanSquaredError(  (float*)transposed.data,
					transposed.cols,
					(float*)transposedLinear.data,
					transposedLinear.cols),
				uMeanSquaredError(  &transposed.at<float>(1,0),
					transposed.cols,
					&transposedLinear.at<float>(1,0),
					transposedLinear.cols));

		compositeIndex->knnSearch(queries, results, dists, k);
		//std::cout << results.t() << std::endl;
		transposed = dists.t();
		UDEBUG("Time to search compositeIndex = %f s (size=%d, dist error(k1,k2)=(%f,%f))",
				timer.ticks(),
				transposed.cols,
				uMeanSquaredError(  (float*)transposed.data,
					transposed.cols,
					(float*)transposedLinear.data,
					transposedLinear.cols),
				uMeanSquaredError(  &transposed.at<float>(1,0),
					transposed.cols,
					&transposedLinear.at<float>(1,0),
					transposedLinear.cols));

		//autoTunedIndex->knnSearch(queries, results, dists, k);
		//UDEBUG("Time to search autoTunedIndex = %f s", timer.ticks());

		delete linearIndex;
		delete kdTreeIndex1;
		delete kdTreeIndex4;
		delete kMeansIndex;
		delete compositeIndex;
		//delete autoTunedIndex;
	}

    return 0;
}