637 lines
20 KiB
C
637 lines
20 KiB
C
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/***********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright 2008-2009 Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
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* Copyright 2008-2009 David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
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*
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* THE BSD LICENSE
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
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* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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* IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
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* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*************************************************************************/
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#ifndef OPENCV_FLANN_KDTREE_INDEX_H_
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#define OPENCV_FLANN_KDTREE_INDEX_H_
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//! @cond IGNORED
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#include <algorithm>
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#include <map>
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#include <cstring>
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#include "nn_index.h"
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#include "dynamic_bitset.h"
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#include "matrix.h"
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#include "result_set.h"
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#include "heap.h"
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#include "allocator.h"
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#include "random.h"
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#include "saving.h"
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namespace cvflann
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{
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struct KDTreeIndexParams : public IndexParams
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{
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KDTreeIndexParams(int trees = 4)
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{
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(*this)["algorithm"] = FLANN_INDEX_KDTREE;
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(*this)["trees"] = trees;
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}
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};
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/**
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* Randomized kd-tree index
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*
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* Contains the k-d trees and other information for indexing a set of points
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* for nearest-neighbor matching.
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*/
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template <typename Distance>
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class KDTreeIndex : public NNIndex<Distance>
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{
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public:
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typedef typename Distance::ElementType ElementType;
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typedef typename Distance::ResultType DistanceType;
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/**
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* KDTree constructor
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*
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* Params:
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* inputData = dataset with the input features
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* params = parameters passed to the kdtree algorithm
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*/
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KDTreeIndex(const Matrix<ElementType>& inputData, const IndexParams& params = KDTreeIndexParams(),
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Distance d = Distance() ) :
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dataset_(inputData), index_params_(params), distance_(d)
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{
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size_ = dataset_.rows;
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veclen_ = dataset_.cols;
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trees_ = get_param(index_params_,"trees",4);
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tree_roots_ = new NodePtr[trees_];
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// Create a permutable array of indices to the input vectors.
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vind_.resize(size_);
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for (size_t i = 0; i < size_; ++i) {
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vind_[i] = int(i);
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}
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mean_ = new DistanceType[veclen_];
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var_ = new DistanceType[veclen_];
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}
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KDTreeIndex(const KDTreeIndex&);
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KDTreeIndex& operator=(const KDTreeIndex&);
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/**
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* Standard destructor
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*/
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~KDTreeIndex()
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{
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if (tree_roots_!=NULL) {
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delete[] tree_roots_;
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}
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delete[] mean_;
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delete[] var_;
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}
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/**
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* Builds the index
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*/
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void buildIndex() CV_OVERRIDE
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{
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/* Construct the randomized trees. */
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for (int i = 0; i < trees_; i++) {
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/* Randomize the order of vectors to allow for unbiased sampling. */
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#ifndef OPENCV_FLANN_USE_STD_RAND
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cv::randShuffle(vind_);
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#else
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std::random_shuffle(vind_.begin(), vind_.end());
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#endif
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tree_roots_[i] = divideTree(&vind_[0], int(size_) );
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}
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}
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flann_algorithm_t getType() const CV_OVERRIDE
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{
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return FLANN_INDEX_KDTREE;
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}
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void saveIndex(FILE* stream) CV_OVERRIDE
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{
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save_value(stream, trees_);
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for (int i=0; i<trees_; ++i) {
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save_tree(stream, tree_roots_[i]);
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}
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}
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void loadIndex(FILE* stream) CV_OVERRIDE
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{
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load_value(stream, trees_);
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if (tree_roots_!=NULL) {
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delete[] tree_roots_;
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}
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tree_roots_ = new NodePtr[trees_];
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for (int i=0; i<trees_; ++i) {
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load_tree(stream,tree_roots_[i]);
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}
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index_params_["algorithm"] = getType();
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index_params_["trees"] = tree_roots_;
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}
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/**
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* Returns size of index.
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*/
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size_t size() const CV_OVERRIDE
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{
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return size_;
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}
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/**
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* Returns the length of an index feature.
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*/
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size_t veclen() const CV_OVERRIDE
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{
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return veclen_;
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}
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/**
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* Computes the inde memory usage
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* Returns: memory used by the index
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*/
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int usedMemory() const CV_OVERRIDE
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{
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return int(pool_.usedMemory+pool_.wastedMemory+dataset_.rows*sizeof(int)); // pool memory and vind array memory
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}
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/**
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* Find set of nearest neighbors to vec. Their indices are stored inside
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* the result object.
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*
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* Params:
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* result = the result object in which the indices of the nearest-neighbors are stored
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* vec = the vector for which to search the nearest neighbors
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* maxCheck = the maximum number of restarts (in a best-bin-first manner)
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*/
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void findNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, const SearchParams& searchParams) CV_OVERRIDE
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{
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const int maxChecks = get_param(searchParams,"checks", 32);
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const float epsError = 1+get_param(searchParams,"eps",0.0f);
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const bool explore_all_trees = get_param(searchParams,"explore_all_trees",false);
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if (maxChecks==FLANN_CHECKS_UNLIMITED) {
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getExactNeighbors(result, vec, epsError);
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}
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else {
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getNeighbors(result, vec, maxChecks, epsError, explore_all_trees);
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}
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}
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IndexParams getParameters() const CV_OVERRIDE
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{
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return index_params_;
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}
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private:
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/*--------------------- Internal Data Structures --------------------------*/
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struct Node
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{
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/**
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* Dimension used for subdivision.
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*/
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int divfeat;
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/**
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* The values used for subdivision.
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*/
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DistanceType divval;
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/**
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* The child nodes.
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*/
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Node* child1, * child2;
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};
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typedef Node* NodePtr;
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typedef BranchStruct<NodePtr, DistanceType> BranchSt;
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typedef BranchSt* Branch;
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void save_tree(FILE* stream, NodePtr tree)
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{
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save_value(stream, *tree);
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if (tree->child1!=NULL) {
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save_tree(stream, tree->child1);
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}
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if (tree->child2!=NULL) {
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save_tree(stream, tree->child2);
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}
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}
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void load_tree(FILE* stream, NodePtr& tree)
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{
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tree = pool_.allocate<Node>();
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load_value(stream, *tree);
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if (tree->child1!=NULL) {
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load_tree(stream, tree->child1);
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}
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if (tree->child2!=NULL) {
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load_tree(stream, tree->child2);
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}
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}
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/**
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* Create a tree node that subdivides the list of vecs from vind[first]
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* to vind[last]. The routine is called recursively on each sublist.
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* Place a pointer to this new tree node in the location pTree.
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*
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* Params: pTree = the new node to create
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* first = index of the first vector
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* last = index of the last vector
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*/
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NodePtr divideTree(int* ind, int count)
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{
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NodePtr node = pool_.allocate<Node>(); // allocate memory
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/* If too few exemplars remain, then make this a leaf node. */
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if ( count == 1) {
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node->child1 = node->child2 = NULL; /* Mark as leaf node. */
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node->divfeat = *ind; /* Store index of this vec. */
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}
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else {
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int idx;
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int cutfeat;
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DistanceType cutval;
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meanSplit(ind, count, idx, cutfeat, cutval);
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node->divfeat = cutfeat;
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node->divval = cutval;
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node->child1 = divideTree(ind, idx);
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node->child2 = divideTree(ind+idx, count-idx);
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}
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return node;
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}
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/**
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* Choose which feature to use in order to subdivide this set of vectors.
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* Make a random choice among those with the highest variance, and use
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* its variance as the threshold value.
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*/
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void meanSplit(int* ind, int count, int& index, int& cutfeat, DistanceType& cutval)
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{
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memset(mean_,0,veclen_*sizeof(DistanceType));
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memset(var_,0,veclen_*sizeof(DistanceType));
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/* Compute mean values. Only the first SAMPLE_MEAN values need to be
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sampled to get a good estimate.
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*/
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int cnt = std::min((int)SAMPLE_MEAN+1, count);
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for (int j = 0; j < cnt; ++j) {
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ElementType* v = dataset_[ind[j]];
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for (size_t k=0; k<veclen_; ++k) {
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mean_[k] += v[k];
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}
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}
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for (size_t k=0; k<veclen_; ++k) {
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mean_[k] /= cnt;
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}
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/* Compute variances (no need to divide by count). */
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for (int j = 0; j < cnt; ++j) {
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ElementType* v = dataset_[ind[j]];
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for (size_t k=0; k<veclen_; ++k) {
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DistanceType dist = v[k] - mean_[k];
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var_[k] += dist * dist;
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}
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}
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/* Select one of the highest variance indices at random. */
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cutfeat = selectDivision(var_);
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cutval = mean_[cutfeat];
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int lim1, lim2;
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planeSplit(ind, count, cutfeat, cutval, lim1, lim2);
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if (lim1>count/2) index = lim1;
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else if (lim2<count/2) index = lim2;
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else index = count/2;
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/* If either list is empty, it means that all remaining features
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* are identical. Split in the middle to maintain a balanced tree.
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*/
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if ((lim1==count)||(lim2==0)) index = count/2;
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}
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/**
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* Select the top RAND_DIM largest values from v and return the index of
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* one of these selected at random.
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*/
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int selectDivision(DistanceType* v)
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{
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int num = 0;
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size_t topind[RAND_DIM];
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/* Create a list of the indices of the top RAND_DIM values. */
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for (size_t i = 0; i < veclen_; ++i) {
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if ((num < RAND_DIM)||(v[i] > v[topind[num-1]])) {
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/* Put this element at end of topind. */
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if (num < RAND_DIM) {
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topind[num++] = i; /* Add to list. */
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}
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else {
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topind[num-1] = i; /* Replace last element. */
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}
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/* Bubble end value down to right location by repeated swapping. */
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int j = num - 1;
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while (j > 0 && v[topind[j]] > v[topind[j-1]]) {
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std::swap(topind[j], topind[j-1]);
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--j;
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}
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}
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}
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/* Select a random integer in range [0,num-1], and return that index. */
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int rnd = rand_int(num);
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return (int)topind[rnd];
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}
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/**
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* Subdivide the list of points by a plane perpendicular on axe corresponding
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* to the 'cutfeat' dimension at 'cutval' position.
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*
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* On return:
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* dataset[ind[0..lim1-1]][cutfeat]<cutval
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* dataset[ind[lim1..lim2-1]][cutfeat]==cutval
|
||
|
|
* dataset[ind[lim2..count]][cutfeat]>cutval
|
||
|
|
*/
|
||
|
|
void planeSplit(int* ind, int count, int cutfeat, DistanceType cutval, int& lim1, int& lim2)
|
||
|
|
{
|
||
|
|
/* Move vector indices for left subtree to front of list. */
|
||
|
|
int left = 0;
|
||
|
|
int right = count-1;
|
||
|
|
for (;; ) {
|
||
|
|
while (left<=right && dataset_[ind[left]][cutfeat]<cutval) ++left;
|
||
|
|
while (left<=right && dataset_[ind[right]][cutfeat]>=cutval) --right;
|
||
|
|
if (left>right) break;
|
||
|
|
std::swap(ind[left], ind[right]); ++left; --right;
|
||
|
|
}
|
||
|
|
lim1 = left;
|
||
|
|
right = count-1;
|
||
|
|
for (;; ) {
|
||
|
|
while (left<=right && dataset_[ind[left]][cutfeat]<=cutval) ++left;
|
||
|
|
while (left<=right && dataset_[ind[right]][cutfeat]>cutval) --right;
|
||
|
|
if (left>right) break;
|
||
|
|
std::swap(ind[left], ind[right]); ++left; --right;
|
||
|
|
}
|
||
|
|
lim2 = left;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Performs an exact nearest neighbor search. The exact search performs a full
|
||
|
|
* traversal of the tree.
|
||
|
|
*/
|
||
|
|
void getExactNeighbors(ResultSet<DistanceType>& result, const ElementType* vec, float epsError)
|
||
|
|
{
|
||
|
|
// checkID -= 1; /* Set a different unique ID for each search. */
|
||
|
|
|
||
|
|
if (trees_ > 1) {
|
||
|
|
fprintf(stderr,"It doesn't make any sense to use more than one tree for exact search");
|
||
|
|
}
|
||
|
|
if (trees_>0) {
|
||
|
|
searchLevelExact(result, vec, tree_roots_[0], 0.0, epsError);
|
||
|
|
}
|
||
|
|
CV_Assert(result.full());
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Performs the approximate nearest-neighbor search. The search is approximate
|
||
|
|
* because the tree traversal is abandoned after a given number of descends in
|
||
|
|
* the tree.
|
||
|
|
*/
|
||
|
|
void getNeighbors(ResultSet<DistanceType>& result, const ElementType* vec,
|
||
|
|
int maxCheck, float epsError, bool explore_all_trees = false)
|
||
|
|
{
|
||
|
|
int i;
|
||
|
|
BranchSt branch;
|
||
|
|
int checkCount = 0;
|
||
|
|
DynamicBitset checked(size_);
|
||
|
|
|
||
|
|
// Priority queue storing intermediate branches in the best-bin-first search
|
||
|
|
const cv::Ptr<Heap<BranchSt>>& heap = Heap<BranchSt>::getPooledInstance(cv::utils::getThreadID(), (int)size_);
|
||
|
|
|
||
|
|
/* Search once through each tree down to root. */
|
||
|
|
for (i = 0; i < trees_; ++i) {
|
||
|
|
searchLevel(result, vec, tree_roots_[i], 0, checkCount, maxCheck,
|
||
|
|
epsError, heap, checked, explore_all_trees);
|
||
|
|
if (!explore_all_trees && (checkCount >= maxCheck) && result.full())
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Keep searching other branches from heap until finished. */
|
||
|
|
while ( heap->popMin(branch) && (checkCount < maxCheck || !result.full() )) {
|
||
|
|
searchLevel(result, vec, branch.node, branch.mindist, checkCount, maxCheck,
|
||
|
|
epsError, heap, checked, false);
|
||
|
|
}
|
||
|
|
|
||
|
|
CV_Assert(result.full());
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Search starting from a given node of the tree. Based on any mismatches at
|
||
|
|
* higher levels, all exemplars below this level must have a distance of
|
||
|
|
* at least "mindistsq".
|
||
|
|
*/
|
||
|
|
void searchLevel(ResultSet<DistanceType>& result_set, const ElementType* vec, NodePtr node, DistanceType mindist, int& checkCount, int maxCheck,
|
||
|
|
float epsError, const cv::Ptr<Heap<BranchSt>>& heap, DynamicBitset& checked, bool explore_all_trees = false)
|
||
|
|
{
|
||
|
|
if (result_set.worstDist()<mindist) {
|
||
|
|
// printf("Ignoring branch, too far\n");
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* If this is a leaf node, then do check and return. */
|
||
|
|
if ((node->child1 == NULL)&&(node->child2 == NULL)) {
|
||
|
|
/* Do not check same node more than once when searching multiple trees.
|
||
|
|
Once a vector is checked, we set its location in vind to the
|
||
|
|
current checkID.
|
||
|
|
*/
|
||
|
|
int index = node->divfeat;
|
||
|
|
if ( checked.test(index) ||
|
||
|
|
(!explore_all_trees && (checkCount>=maxCheck) && result_set.full()) ) {
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
checked.set(index);
|
||
|
|
checkCount++;
|
||
|
|
|
||
|
|
DistanceType dist = distance_(dataset_[index], vec, veclen_);
|
||
|
|
result_set.addPoint(dist,index);
|
||
|
|
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Which child branch should be taken first? */
|
||
|
|
ElementType val = vec[node->divfeat];
|
||
|
|
DistanceType diff = val - node->divval;
|
||
|
|
NodePtr bestChild = (diff < 0) ? node->child1 : node->child2;
|
||
|
|
NodePtr otherChild = (diff < 0) ? node->child2 : node->child1;
|
||
|
|
|
||
|
|
/* Create a branch record for the branch not taken. Add distance
|
||
|
|
of this feature boundary (we don't attempt to correct for any
|
||
|
|
use of this feature in a parent node, which is unlikely to
|
||
|
|
happen and would have only a small effect). Don't bother
|
||
|
|
adding more branches to heap after halfway point, as cost of
|
||
|
|
adding exceeds their value.
|
||
|
|
*/
|
||
|
|
|
||
|
|
DistanceType new_distsq = mindist + distance_.accum_dist(val, node->divval, node->divfeat);
|
||
|
|
// if (2 * checkCount < maxCheck || !result.full()) {
|
||
|
|
if ((new_distsq*epsError < result_set.worstDist())|| !result_set.full()) {
|
||
|
|
heap->insert( BranchSt(otherChild, new_distsq) );
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Call recursively to search next level down. */
|
||
|
|
searchLevel(result_set, vec, bestChild, mindist, checkCount, maxCheck, epsError, heap, checked);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Performs an exact search in the tree starting from a node.
|
||
|
|
*/
|
||
|
|
void searchLevelExact(ResultSet<DistanceType>& result_set, const ElementType* vec, const NodePtr node, DistanceType mindist, const float epsError)
|
||
|
|
{
|
||
|
|
/* If this is a leaf node, then do check and return. */
|
||
|
|
if ((node->child1 == NULL)&&(node->child2 == NULL)) {
|
||
|
|
int index = node->divfeat;
|
||
|
|
DistanceType dist = distance_(dataset_[index], vec, veclen_);
|
||
|
|
result_set.addPoint(dist,index);
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Which child branch should be taken first? */
|
||
|
|
ElementType val = vec[node->divfeat];
|
||
|
|
DistanceType diff = val - node->divval;
|
||
|
|
NodePtr bestChild = (diff < 0) ? node->child1 : node->child2;
|
||
|
|
NodePtr otherChild = (diff < 0) ? node->child2 : node->child1;
|
||
|
|
|
||
|
|
/* Create a branch record for the branch not taken. Add distance
|
||
|
|
of this feature boundary (we don't attempt to correct for any
|
||
|
|
use of this feature in a parent node, which is unlikely to
|
||
|
|
happen and would have only a small effect). Don't bother
|
||
|
|
adding more branches to heap after halfway point, as cost of
|
||
|
|
adding exceeds their value.
|
||
|
|
*/
|
||
|
|
|
||
|
|
DistanceType new_distsq = mindist + distance_.accum_dist(val, node->divval, node->divfeat);
|
||
|
|
|
||
|
|
/* Call recursively to search next level down. */
|
||
|
|
searchLevelExact(result_set, vec, bestChild, mindist, epsError);
|
||
|
|
|
||
|
|
if (new_distsq*epsError<=result_set.worstDist()) {
|
||
|
|
searchLevelExact(result_set, vec, otherChild, new_distsq, epsError);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
enum
|
||
|
|
{
|
||
|
|
/**
|
||
|
|
* To improve efficiency, only SAMPLE_MEAN random values are used to
|
||
|
|
* compute the mean and variance at each level when building a tree.
|
||
|
|
* A value of 100 seems to perform as well as using all values.
|
||
|
|
*/
|
||
|
|
SAMPLE_MEAN = 100,
|
||
|
|
/**
|
||
|
|
* Top random dimensions to consider
|
||
|
|
*
|
||
|
|
* When creating random trees, the dimension on which to subdivide is
|
||
|
|
* selected at random from among the top RAND_DIM dimensions with the
|
||
|
|
* highest variance. A value of 5 works well.
|
||
|
|
*/
|
||
|
|
RAND_DIM=5
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Number of randomized trees that are used
|
||
|
|
*/
|
||
|
|
int trees_;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Array of indices to vectors in the dataset.
|
||
|
|
*/
|
||
|
|
std::vector<int> vind_;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* The dataset used by this index
|
||
|
|
*/
|
||
|
|
const Matrix<ElementType> dataset_;
|
||
|
|
|
||
|
|
IndexParams index_params_;
|
||
|
|
|
||
|
|
size_t size_;
|
||
|
|
size_t veclen_;
|
||
|
|
|
||
|
|
|
||
|
|
DistanceType* mean_;
|
||
|
|
DistanceType* var_;
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Array of k-d trees used to find neighbours.
|
||
|
|
*/
|
||
|
|
NodePtr* tree_roots_;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Pooled memory allocator.
|
||
|
|
*
|
||
|
|
* Using a pooled memory allocator is more efficient
|
||
|
|
* than allocating memory directly when there is a large
|
||
|
|
* number small of memory allocations.
|
||
|
|
*/
|
||
|
|
PooledAllocator pool_;
|
||
|
|
|
||
|
|
Distance distance_;
|
||
|
|
|
||
|
|
|
||
|
|
}; // class KDTreeForest
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
//! @endcond
|
||
|
|
|
||
|
|
#endif //OPENCV_FLANN_KDTREE_INDEX_H_
|