493 lines
18 KiB
C
493 lines
18 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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/***********************************************************************
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* Author: Vincent Rabaud
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*************************************************************************/
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#ifndef OPENCV_FLANN_LSH_TABLE_H_
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#define OPENCV_FLANN_LSH_TABLE_H_
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#include <algorithm>
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#include <iostream>
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#include <iomanip>
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#include <limits.h>
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// TODO as soon as we use C++0x, use the code in USE_UNORDERED_MAP
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#ifdef __GXX_EXPERIMENTAL_CXX0X__
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# define USE_UNORDERED_MAP 1
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#else
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# define USE_UNORDERED_MAP 0
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#endif
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#if USE_UNORDERED_MAP
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#include <unordered_map>
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#else
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#include <map>
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#endif
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#include <math.h>
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#include <stddef.h>
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#include "dynamic_bitset.h"
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#include "matrix.h"
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namespace cvflann
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{
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namespace lsh
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{
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////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/** What is stored in an LSH bucket
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*/
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typedef uint32_t FeatureIndex;
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/** The id from which we can get a bucket back in an LSH table
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*/
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typedef unsigned int BucketKey;
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/** A bucket in an LSH table
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*/
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typedef std::vector<FeatureIndex> Bucket;
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////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/** POD for stats about an LSH table
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*/
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struct LshStats
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{
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std::vector<unsigned int> bucket_sizes_;
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size_t n_buckets_;
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size_t bucket_size_mean_;
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size_t bucket_size_median_;
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size_t bucket_size_min_;
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size_t bucket_size_max_;
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size_t bucket_size_std_dev;
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/** Each contained vector contains three value: beginning/end for interval, number of elements in the bin
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*/
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std::vector<std::vector<unsigned int> > size_histogram_;
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};
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/** Overload the << operator for LshStats
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* @param out the streams
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* @param stats the stats to display
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* @return the streams
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*/
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inline std::ostream& operator <<(std::ostream& out, const LshStats& stats)
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{
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int w = 20;
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out << "Lsh Table Stats:\n" << std::setw(w) << std::setiosflags(std::ios::right) << "N buckets : "
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<< stats.n_buckets_ << "\n" << std::setw(w) << std::setiosflags(std::ios::right) << "mean size : "
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<< std::setiosflags(std::ios::left) << stats.bucket_size_mean_ << "\n" << std::setw(w)
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<< std::setiosflags(std::ios::right) << "median size : " << stats.bucket_size_median_ << "\n" << std::setw(w)
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<< std::setiosflags(std::ios::right) << "min size : " << std::setiosflags(std::ios::left)
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<< stats.bucket_size_min_ << "\n" << std::setw(w) << std::setiosflags(std::ios::right) << "max size : "
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<< std::setiosflags(std::ios::left) << stats.bucket_size_max_;
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// Display the histogram
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out << std::endl << std::setw(w) << std::setiosflags(std::ios::right) << "histogram : "
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<< std::setiosflags(std::ios::left);
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for (std::vector<std::vector<unsigned int> >::const_iterator iterator = stats.size_histogram_.begin(), end =
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stats.size_histogram_.end(); iterator != end; ++iterator) out << (*iterator)[0] << "-" << (*iterator)[1] << ": " << (*iterator)[2] << ", ";
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return out;
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/** Lsh hash table. As its key is a sub-feature, and as usually
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* the size of it is pretty small, we keep it as a continuous memory array.
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* The value is an index in the corpus of features (we keep it as an unsigned
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* int for pure memory reasons, it could be a size_t)
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*/
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template<typename ElementType>
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class LshTable
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{
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public:
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/** A container of all the feature indices. Optimized for space
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*/
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#if USE_UNORDERED_MAP
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typedef std::unordered_map<BucketKey, Bucket> BucketsSpace;
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#else
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typedef std::map<BucketKey, Bucket> BucketsSpace;
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#endif
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/** A container of all the feature indices. Optimized for speed
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*/
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typedef std::vector<Bucket> BucketsSpeed;
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/** Default constructor
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*/
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LshTable()
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{
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}
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/** Default constructor
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* Create the mask and allocate the memory
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* @param feature_size is the size of the feature (considered as a ElementType[])
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* @param key_size is the number of bits that are turned on in the feature
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*/
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LshTable(unsigned int feature_size, unsigned int key_size)
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{
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(void)feature_size;
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(void)key_size;
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std::cerr << "LSH is not implemented for that type" << std::endl;
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assert(0);
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}
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/** Add a feature to the table
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* @param value the value to store for that feature
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* @param feature the feature itself
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*/
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void add(unsigned int value, const ElementType* feature)
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{
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// Add the value to the corresponding bucket
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BucketKey key = (lsh::BucketKey)getKey(feature);
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switch (speed_level_) {
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case kArray:
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// That means we get the buckets from an array
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buckets_speed_[key].push_back(value);
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break;
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case kBitsetHash:
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// That means we can check the bitset for the presence of a key
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key_bitset_.set(key);
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buckets_space_[key].push_back(value);
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break;
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case kHash:
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{
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// That means we have to check for the hash table for the presence of a key
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buckets_space_[key].push_back(value);
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break;
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}
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}
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}
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/** Add a set of features to the table
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* @param dataset the values to store
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*/
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void add(Matrix<ElementType> dataset)
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{
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#if USE_UNORDERED_MAP
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buckets_space_.rehash((buckets_space_.size() + dataset.rows) * 1.2);
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#endif
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// Add the features to the table
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for (unsigned int i = 0; i < dataset.rows; ++i) add(i, dataset[i]);
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// Now that the table is full, optimize it for speed/space
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optimize();
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}
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/** Get a bucket given the key
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* @param key
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* @return
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*/
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inline const Bucket* getBucketFromKey(BucketKey key) const
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{
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// Generate other buckets
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switch (speed_level_) {
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case kArray:
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// That means we get the buckets from an array
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return &buckets_speed_[key];
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break;
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case kBitsetHash:
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// That means we can check the bitset for the presence of a key
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if (key_bitset_.test(key)) return &buckets_space_.find(key)->second;
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else return 0;
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break;
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case kHash:
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{
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// That means we have to check for the hash table for the presence of a key
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BucketsSpace::const_iterator bucket_it, bucket_end = buckets_space_.end();
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bucket_it = buckets_space_.find(key);
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// Stop here if that bucket does not exist
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if (bucket_it == bucket_end) return 0;
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else return &bucket_it->second;
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break;
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}
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}
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return 0;
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}
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/** Compute the sub-signature of a feature
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*/
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size_t getKey(const ElementType* /*feature*/) const
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{
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std::cerr << "LSH is not implemented for that type" << std::endl;
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assert(0);
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return 1;
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}
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/** Get statistics about the table
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* @return
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*/
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LshStats getStats() const;
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private:
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/** defines the speed fo the implementation
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* kArray uses a vector for storing data
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* kBitsetHash uses a hash map but checks for the validity of a key with a bitset
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* kHash uses a hash map only
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*/
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enum SpeedLevel
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{
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kArray, kBitsetHash, kHash
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};
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/** Initialize some variables
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*/
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void initialize(size_t key_size)
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{
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const size_t key_size_lower_bound = 1;
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//a value (size_t(1) << key_size) must fit the size_t type so key_size has to be strictly less than size of size_t
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const size_t key_size_upper_bound = std::min(sizeof(BucketKey) * CHAR_BIT + 1, sizeof(size_t) * CHAR_BIT);
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if (key_size < key_size_lower_bound || key_size >= key_size_upper_bound)
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{
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CV_Error(cv::Error::StsBadArg, cv::format("Invalid key_size (=%d). Valid values for your system are %d <= key_size < %d.", (int)key_size, (int)key_size_lower_bound, (int)key_size_upper_bound));
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}
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speed_level_ = kHash;
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key_size_ = (unsigned)key_size;
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}
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/** Optimize the table for speed/space
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*/
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void optimize()
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{
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// If we are already using the fast storage, no need to do anything
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if (speed_level_ == kArray) return;
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// Use an array if it will be more than half full
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if (buckets_space_.size() > ((size_t(1) << key_size_) / 2)) {
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speed_level_ = kArray;
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// Fill the array version of it
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buckets_speed_.resize(size_t(1) << key_size_);
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for (BucketsSpace::const_iterator key_bucket = buckets_space_.begin(); key_bucket != buckets_space_.end(); ++key_bucket) buckets_speed_[key_bucket->first] = key_bucket->second;
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// Empty the hash table
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buckets_space_.clear();
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return;
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}
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// If the bitset is going to use less than 10% of the RAM of the hash map (at least 1 size_t for the key and two
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// for the vector) or less than 512MB (key_size_ <= 30)
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if (((std::max(buckets_space_.size(), buckets_speed_.size()) * CHAR_BIT * 3 * sizeof(BucketKey)) / 10
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>= (size_t(1) << key_size_)) || (key_size_ <= 32)) {
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speed_level_ = kBitsetHash;
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key_bitset_.resize(size_t(1) << key_size_);
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key_bitset_.reset();
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// Try with the BucketsSpace
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for (BucketsSpace::const_iterator key_bucket = buckets_space_.begin(); key_bucket != buckets_space_.end(); ++key_bucket) key_bitset_.set(key_bucket->first);
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}
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else {
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speed_level_ = kHash;
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key_bitset_.clear();
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}
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}
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/** The vector of all the buckets if they are held for speed
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*/
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BucketsSpeed buckets_speed_;
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/** The hash table of all the buckets in case we cannot use the speed version
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*/
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BucketsSpace buckets_space_;
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/** What is used to store the data */
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SpeedLevel speed_level_;
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/** If the subkey is small enough, it will keep track of which subkeys are set through that bitset
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* That is just a speedup so that we don't look in the hash table (which can be mush slower that checking a bitset)
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*/
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DynamicBitset key_bitset_;
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/** The size of the sub-signature in bits
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*/
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unsigned int key_size_;
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// Members only used for the unsigned char specialization
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/** The mask to apply to a feature to get the hash key
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* Only used in the unsigned char case
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*/
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std::vector<size_t> mask_;
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};
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////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Specialization for unsigned char
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template<>
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inline LshTable<unsigned char>::LshTable(unsigned int feature_size, unsigned int subsignature_size)
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{
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initialize(subsignature_size);
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// Allocate the mask
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mask_ = std::vector<size_t>((size_t)ceil((float)(feature_size * sizeof(char)) / (float)sizeof(size_t)), 0);
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// A bit brutal but fast to code
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std::vector<size_t> indices(feature_size * CHAR_BIT);
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for (size_t i = 0; i < feature_size * CHAR_BIT; ++i) indices[i] = i;
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std::random_shuffle(indices.begin(), indices.end());
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// Generate a random set of order of subsignature_size_ bits
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for (unsigned int i = 0; i < key_size_; ++i) {
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size_t index = indices[i];
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// Set that bit in the mask
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size_t divisor = CHAR_BIT * sizeof(size_t);
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size_t idx = index / divisor; //pick the right size_t index
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mask_[idx] |= size_t(1) << (index % divisor); //use modulo to find the bit offset
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}
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// Set to 1 if you want to display the mask for debug
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||
|
|
#if 0
|
||
|
|
{
|
||
|
|
size_t bcount = 0;
|
||
|
|
BOOST_FOREACH(size_t mask_block, mask_){
|
||
|
|
out << std::setw(sizeof(size_t) * CHAR_BIT / 4) << std::setfill('0') << std::hex << mask_block
|
||
|
|
<< std::endl;
|
||
|
|
bcount += __builtin_popcountll(mask_block);
|
||
|
|
}
|
||
|
|
out << "bit count : " << std::dec << bcount << std::endl;
|
||
|
|
out << "mask size : " << mask_.size() << std::endl;
|
||
|
|
return out;
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/** Return the Subsignature of a feature
|
||
|
|
* @param feature the feature to analyze
|
||
|
|
*/
|
||
|
|
template<>
|
||
|
|
inline size_t LshTable<unsigned char>::getKey(const unsigned char* feature) const
|
||
|
|
{
|
||
|
|
// no need to check if T is dividable by sizeof(size_t) like in the Hamming
|
||
|
|
// distance computation as we have a mask
|
||
|
|
const size_t* feature_block_ptr = reinterpret_cast<const size_t*> ((const void*)feature);
|
||
|
|
|
||
|
|
// Figure out the subsignature of the feature
|
||
|
|
// Given the feature ABCDEF, and the mask 001011, the output will be
|
||
|
|
// 000CEF
|
||
|
|
size_t subsignature = 0;
|
||
|
|
size_t bit_index = 1;
|
||
|
|
|
||
|
|
for (std::vector<size_t>::const_iterator pmask_block = mask_.begin(); pmask_block != mask_.end(); ++pmask_block) {
|
||
|
|
// get the mask and signature blocks
|
||
|
|
size_t feature_block = *feature_block_ptr;
|
||
|
|
size_t mask_block = *pmask_block;
|
||
|
|
while (mask_block) {
|
||
|
|
// Get the lowest set bit in the mask block
|
||
|
|
size_t lowest_bit = mask_block & (-(ptrdiff_t)mask_block);
|
||
|
|
// Add it to the current subsignature if necessary
|
||
|
|
subsignature += (feature_block & lowest_bit) ? bit_index : 0;
|
||
|
|
// Reset the bit in the mask block
|
||
|
|
mask_block ^= lowest_bit;
|
||
|
|
// increment the bit index for the subsignature
|
||
|
|
bit_index <<= 1;
|
||
|
|
}
|
||
|
|
// Check the next feature block
|
||
|
|
++feature_block_ptr;
|
||
|
|
}
|
||
|
|
return subsignature;
|
||
|
|
}
|
||
|
|
|
||
|
|
template<>
|
||
|
|
inline LshStats LshTable<unsigned char>::getStats() const
|
||
|
|
{
|
||
|
|
LshStats stats;
|
||
|
|
stats.bucket_size_mean_ = 0;
|
||
|
|
if ((buckets_speed_.empty()) && (buckets_space_.empty())) {
|
||
|
|
stats.n_buckets_ = 0;
|
||
|
|
stats.bucket_size_median_ = 0;
|
||
|
|
stats.bucket_size_min_ = 0;
|
||
|
|
stats.bucket_size_max_ = 0;
|
||
|
|
return stats;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!buckets_speed_.empty()) {
|
||
|
|
for (BucketsSpeed::const_iterator pbucket = buckets_speed_.begin(); pbucket != buckets_speed_.end(); ++pbucket) {
|
||
|
|
stats.bucket_sizes_.push_back((lsh::FeatureIndex)pbucket->size());
|
||
|
|
stats.bucket_size_mean_ += pbucket->size();
|
||
|
|
}
|
||
|
|
stats.bucket_size_mean_ /= buckets_speed_.size();
|
||
|
|
stats.n_buckets_ = buckets_speed_.size();
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
for (BucketsSpace::const_iterator x = buckets_space_.begin(); x != buckets_space_.end(); ++x) {
|
||
|
|
stats.bucket_sizes_.push_back((lsh::FeatureIndex)x->second.size());
|
||
|
|
stats.bucket_size_mean_ += x->second.size();
|
||
|
|
}
|
||
|
|
stats.bucket_size_mean_ /= buckets_space_.size();
|
||
|
|
stats.n_buckets_ = buckets_space_.size();
|
||
|
|
}
|
||
|
|
|
||
|
|
std::sort(stats.bucket_sizes_.begin(), stats.bucket_sizes_.end());
|
||
|
|
|
||
|
|
// BOOST_FOREACH(int size, stats.bucket_sizes_)
|
||
|
|
// std::cout << size << " ";
|
||
|
|
// std::cout << std::endl;
|
||
|
|
stats.bucket_size_median_ = stats.bucket_sizes_[stats.bucket_sizes_.size() / 2];
|
||
|
|
stats.bucket_size_min_ = stats.bucket_sizes_.front();
|
||
|
|
stats.bucket_size_max_ = stats.bucket_sizes_.back();
|
||
|
|
|
||
|
|
// TODO compute mean and std
|
||
|
|
/*float mean, stddev;
|
||
|
|
stats.bucket_size_mean_ = mean;
|
||
|
|
stats.bucket_size_std_dev = stddev;*/
|
||
|
|
|
||
|
|
// Include a histogram of the buckets
|
||
|
|
unsigned int bin_start = 0;
|
||
|
|
unsigned int bin_end = 20;
|
||
|
|
bool is_new_bin = true;
|
||
|
|
for (std::vector<unsigned int>::iterator iterator = stats.bucket_sizes_.begin(), end = stats.bucket_sizes_.end(); iterator
|
||
|
|
!= end; )
|
||
|
|
if (*iterator < bin_end) {
|
||
|
|
if (is_new_bin) {
|
||
|
|
stats.size_histogram_.push_back(std::vector<unsigned int>(3, 0));
|
||
|
|
stats.size_histogram_.back()[0] = bin_start;
|
||
|
|
stats.size_histogram_.back()[1] = bin_end - 1;
|
||
|
|
is_new_bin = false;
|
||
|
|
}
|
||
|
|
++stats.size_histogram_.back()[2];
|
||
|
|
++iterator;
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
bin_start += 20;
|
||
|
|
bin_end += 20;
|
||
|
|
is_new_bin = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
return stats;
|
||
|
|
}
|
||
|
|
|
||
|
|
// End the two namespaces
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||
|
|
|
||
|
|
#endif /* OPENCV_FLANN_LSH_TABLE_H_ */
|