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// License Agreement
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// For Open Source Computer Vision Library
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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//M*/
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#ifndef OPENCV_FLANN_HPP
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#define OPENCV_FLANN_HPP
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#include "opencv2/core.hpp"
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#include "opencv2/flann/miniflann.hpp"
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#include "opencv2/flann/flann_base.hpp"
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/**
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@defgroup flann Clustering and Search in Multi-Dimensional Spaces
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This section documents OpenCV's interface to the FLANN library. FLANN (Fast Library for Approximate
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Nearest Neighbors) is a library that contains a collection of algorithms optimized for fast nearest
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neighbor search in large datasets and for high dimensional features. More information about FLANN
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can be found in @cite Muja2009 .
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*/
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namespace cvflann
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{
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CV_EXPORTS flann_distance_t flann_distance_type();
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CV_DEPRECATED CV_EXPORTS void set_distance_type(flann_distance_t distance_type, int order);
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}
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namespace cv
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{
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namespace flann
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{
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//! @addtogroup flann
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//! @{
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template <typename T> struct CvType {};
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template <> struct CvType<unsigned char> { static int type() { return CV_8U; } };
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template <> struct CvType<char> { static int type() { return CV_8S; } };
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template <> struct CvType<unsigned short> { static int type() { return CV_16U; } };
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template <> struct CvType<short> { static int type() { return CV_16S; } };
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template <> struct CvType<int> { static int type() { return CV_32S; } };
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template <> struct CvType<float> { static int type() { return CV_32F; } };
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template <> struct CvType<double> { static int type() { return CV_64F; } };
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// bring the flann parameters into this namespace
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using ::cvflann::get_param;
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using ::cvflann::print_params;
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// bring the flann distances into this namespace
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using ::cvflann::L2_Simple;
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using ::cvflann::L2;
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using ::cvflann::L1;
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using ::cvflann::MinkowskiDistance;
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using ::cvflann::MaxDistance;
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using ::cvflann::HammingLUT;
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using ::cvflann::Hamming;
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using ::cvflann::Hamming2;
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using ::cvflann::HistIntersectionDistance;
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using ::cvflann::HellingerDistance;
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using ::cvflann::ChiSquareDistance;
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using ::cvflann::KL_Divergence;
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/** @brief The FLANN nearest neighbor index class. This class is templated with the type of elements for which
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the index is built.
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`Distance` functor specifies the metric to be used to calculate the distance between two points.
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There are several `Distance` functors that are readily available:
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cv::cvflann::L2_Simple - Squared Euclidean distance functor.
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This is the simpler, unrolled version. This is preferable for very low dimensionality data (eg 3D points)
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cv::flann::L2 - Squared Euclidean distance functor, optimized version.
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cv::flann::L1 - Manhattan distance functor, optimized version.
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cv::flann::MinkowskiDistance - The Minkowsky distance functor.
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This is highly optimised with loop unrolling.
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The computation of squared root at the end is omitted for efficiency.
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cv::flann::MaxDistance - The max distance functor. It computes the
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maximum distance between two vectors. This distance is not a valid kdtree distance, it's not
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dimensionwise additive.
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cv::flann::HammingLUT - %Hamming distance functor. It counts the bit
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differences between two strings using a lookup table implementation.
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cv::flann::Hamming - %Hamming distance functor. Population count is
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performed using library calls, if available. Lookup table implementation is used as a fallback.
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cv::flann::Hamming2 - %Hamming distance functor. Population count is
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implemented in 12 arithmetic operations (one of which is multiplication).
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cv::flann::HistIntersectionDistance - The histogram
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intersection distance functor.
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cv::flann::HellingerDistance - The Hellinger distance functor.
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cv::flann::ChiSquareDistance - The chi-square distance functor.
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cv::flann::KL_Divergence - The Kullback-Leibler divergence functor.
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Although the provided implementations cover a vast range of cases, it is also possible to use
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a custom implementation. The distance functor is a class whose `operator()` computes the distance
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between two features. If the distance is also a kd-tree compatible distance, it should also provide an
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`accum_dist()` method that computes the distance between individual feature dimensions.
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In addition to `operator()` and `accum_dist()`, a distance functor should also define the
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`ElementType` and the `ResultType` as the types of the elements it operates on and the type of the
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result it computes. If a distance functor can be used as a kd-tree distance (meaning that the full
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distance between a pair of features can be accumulated from the partial distances between the
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individual dimensions) a typedef `is_kdtree_distance` should be present inside the distance functor.
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If the distance is not a kd-tree distance, but it's a distance in a vector space (the individual
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dimensions of the elements it operates on can be accessed independently) a typedef
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`is_vector_space_distance` should be defined inside the functor. If neither typedef is defined, the
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distance is assumed to be a metric distance and will only be used with indexes operating on
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generic metric distances.
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*/
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template <typename Distance>
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class GenericIndex
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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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/** @brief Constructs a nearest neighbor search index for a given dataset.
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@param features Matrix of containing the features(points) to index. The size of the matrix is
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num_features x feature_dimensionality and the data type of the elements in the matrix must
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coincide with the type of the index.
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@param params Structure containing the index parameters. The type of index that will be
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constructed depends on the type of this parameter. See the description.
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@param distance
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The method constructs a fast search structure from a set of features using the specified algorithm
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with specified parameters, as defined by params. params is a reference to one of the following class
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IndexParams descendants:
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- **LinearIndexParams** When passing an object of this type, the index will perform a linear,
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brute-force search. :
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@code
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struct LinearIndexParams : public IndexParams
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{
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};
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@endcode
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- **KDTreeIndexParams** When passing an object of this type the index constructed will consist of
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a set of randomized kd-trees which will be searched in parallel. :
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@code
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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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@endcode
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- **KMeansIndexParams** When passing an object of this type the index constructed will be a
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hierarchical k-means tree. :
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@code
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struct KMeansIndexParams : public IndexParams
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{
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KMeansIndexParams(
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int branching = 32,
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int iterations = 11,
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flann_centers_init_t centers_init = CENTERS_RANDOM,
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float cb_index = 0.2 );
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};
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@endcode
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- **CompositeIndexParams** When using a parameters object of this type the index created
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combines the randomized kd-trees and the hierarchical k-means tree. :
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@code
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struct CompositeIndexParams : public IndexParams
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{
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CompositeIndexParams(
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int trees = 4,
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int branching = 32,
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int iterations = 11,
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flann_centers_init_t centers_init = CENTERS_RANDOM,
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float cb_index = 0.2 );
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};
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@endcode
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- **LshIndexParams** When using a parameters object of this type the index created uses
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multi-probe LSH (by Multi-Probe LSH: Efficient Indexing for High-Dimensional Similarity Search
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by Qin Lv, William Josephson, Zhe Wang, Moses Charikar, Kai Li., Proceedings of the 33rd
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International Conference on Very Large Data Bases (VLDB). Vienna, Austria. September 2007) :
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@code
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struct LshIndexParams : public IndexParams
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{
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LshIndexParams(
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unsigned int table_number,
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unsigned int key_size,
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unsigned int multi_probe_level );
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};
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@endcode
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- **AutotunedIndexParams** When passing an object of this type the index created is
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automatically tuned to offer the best performance, by choosing the optimal index type
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(randomized kd-trees, hierarchical kmeans, linear) and parameters for the dataset provided. :
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@code
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struct AutotunedIndexParams : public IndexParams
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{
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AutotunedIndexParams(
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float target_precision = 0.9,
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float build_weight = 0.01,
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float memory_weight = 0,
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float sample_fraction = 0.1 );
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};
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@endcode
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- **SavedIndexParams** This object type is used for loading a previously saved index from the
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disk. :
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@code
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struct SavedIndexParams : public IndexParams
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{
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SavedIndexParams( String filename );
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};
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@endcode
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*/
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GenericIndex(const Mat& features, const ::cvflann::IndexParams& params, Distance distance = Distance());
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~GenericIndex();
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/** @brief Performs a K-nearest neighbor search for a given query point using the index.
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@param query The query point
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@param indices Vector that will contain the indices of the K-nearest neighbors found. It must have
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at least knn size.
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@param dists Vector that will contain the distances to the K-nearest neighbors found. It must have
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at least knn size.
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@param knn Number of nearest neighbors to search for.
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@param params SearchParams
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*/
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void knnSearch(const std::vector<ElementType>& query, std::vector<int>& indices,
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std::vector<DistanceType>& dists, int knn, const ::cvflann::SearchParams& params);
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void knnSearch(const Mat& queries, Mat& indices, Mat& dists, int knn, const ::cvflann::SearchParams& params);
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/** @brief Performs a radius nearest neighbor search for a given query point using the index.
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@param query The query point.
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@param indices Vector that will contain the indices of the nearest neighbors found.
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@param dists Vector that will contain the distances to the nearest neighbors found. It has the same
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number of elements as indices.
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@param radius The search radius.
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@param params SearchParams
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This function returns the number of nearest neighbors found.
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*/
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int radiusSearch(const std::vector<ElementType>& query, std::vector<int>& indices,
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std::vector<DistanceType>& dists, DistanceType radius, const ::cvflann::SearchParams& params);
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int radiusSearch(const Mat& query, Mat& indices, Mat& dists,
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DistanceType radius, const ::cvflann::SearchParams& params);
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void save(String filename) { nnIndex->save(filename); }
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int veclen() const { return nnIndex->veclen(); }
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int size() const { return (int)nnIndex->size(); }
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::cvflann::IndexParams getParameters() { return nnIndex->getParameters(); }
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CV_DEPRECATED const ::cvflann::IndexParams* getIndexParameters() { return nnIndex->getIndexParameters(); }
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private:
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::cvflann::Index<Distance>* nnIndex;
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Mat _dataset;
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};
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//! @cond IGNORED
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#define FLANN_DISTANCE_CHECK \
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if ( ::cvflann::flann_distance_type() != cvflann::FLANN_DIST_L2) { \
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printf("[WARNING] You are using cv::flann::Index (or cv::flann::GenericIndex) and have also changed "\
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"the distance using cvflann::set_distance_type. This is no longer working as expected "\
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"(cv::flann::Index always uses L2). You should create the index templated on the distance, "\
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"for example for L1 distance use: GenericIndex< L1<float> > \n"); \
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}
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template <typename Distance>
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GenericIndex<Distance>::GenericIndex(const Mat& dataset, const ::cvflann::IndexParams& params, Distance distance)
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: _dataset(dataset)
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{
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CV_Assert(dataset.type() == CvType<ElementType>::type());
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CV_Assert(dataset.isContinuous());
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::cvflann::Matrix<ElementType> m_dataset((ElementType*)_dataset.ptr<ElementType>(0), _dataset.rows, _dataset.cols);
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nnIndex = new ::cvflann::Index<Distance>(m_dataset, params, distance);
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FLANN_DISTANCE_CHECK
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nnIndex->buildIndex();
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}
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template <typename Distance>
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GenericIndex<Distance>::~GenericIndex()
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{
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delete nnIndex;
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}
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template <typename Distance>
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void GenericIndex<Distance>::knnSearch(const std::vector<ElementType>& query, std::vector<int>& indices, std::vector<DistanceType>& dists, int knn, const ::cvflann::SearchParams& searchParams)
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{
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::cvflann::Matrix<ElementType> m_query((ElementType*)&query[0], 1, query.size());
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::cvflann::Matrix<int> m_indices(&indices[0], 1, indices.size());
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::cvflann::Matrix<DistanceType> m_dists(&dists[0], 1, dists.size());
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FLANN_DISTANCE_CHECK
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nnIndex->knnSearch(m_query,m_indices,m_dists,knn,searchParams);
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}
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template <typename Distance>
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void GenericIndex<Distance>::knnSearch(const Mat& queries, Mat& indices, Mat& dists, int knn, const ::cvflann::SearchParams& searchParams)
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{
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CV_Assert(queries.type() == CvType<ElementType>::type());
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CV_Assert(queries.isContinuous());
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::cvflann::Matrix<ElementType> m_queries((ElementType*)queries.ptr<ElementType>(0), queries.rows, queries.cols);
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CV_Assert(indices.type() == CV_32S);
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CV_Assert(indices.isContinuous());
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::cvflann::Matrix<int> m_indices((int*)indices.ptr<int>(0), indices.rows, indices.cols);
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CV_Assert(dists.type() == CvType<DistanceType>::type());
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CV_Assert(dists.isContinuous());
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::cvflann::Matrix<DistanceType> m_dists((DistanceType*)dists.ptr<DistanceType>(0), dists.rows, dists.cols);
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FLANN_DISTANCE_CHECK
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nnIndex->knnSearch(m_queries,m_indices,m_dists,knn, searchParams);
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}
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template <typename Distance>
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int GenericIndex<Distance>::radiusSearch(const std::vector<ElementType>& query, std::vector<int>& indices, std::vector<DistanceType>& dists, DistanceType radius, const ::cvflann::SearchParams& searchParams)
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{
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::cvflann::Matrix<ElementType> m_query((ElementType*)&query[0], 1, query.size());
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::cvflann::Matrix<int> m_indices(&indices[0], 1, indices.size());
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::cvflann::Matrix<DistanceType> m_dists(&dists[0], 1, dists.size());
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FLANN_DISTANCE_CHECK
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return nnIndex->radiusSearch(m_query,m_indices,m_dists,radius,searchParams);
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}
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template <typename Distance>
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int GenericIndex<Distance>::radiusSearch(const Mat& query, Mat& indices, Mat& dists, DistanceType radius, const ::cvflann::SearchParams& searchParams)
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{
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CV_Assert(query.type() == CvType<ElementType>::type());
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CV_Assert(query.isContinuous());
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::cvflann::Matrix<ElementType> m_query((ElementType*)query.ptr<ElementType>(0), query.rows, query.cols);
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CV_Assert(indices.type() == CV_32S);
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CV_Assert(indices.isContinuous());
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::cvflann::Matrix<int> m_indices((int*)indices.ptr<int>(0), indices.rows, indices.cols);
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CV_Assert(dists.type() == CvType<DistanceType>::type());
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CV_Assert(dists.isContinuous());
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::cvflann::Matrix<DistanceType> m_dists((DistanceType*)dists.ptr<DistanceType>(0), dists.rows, dists.cols);
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FLANN_DISTANCE_CHECK
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return nnIndex->radiusSearch(m_query,m_indices,m_dists,radius,searchParams);
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}
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/**
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* @deprecated Use GenericIndex class instead
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*/
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template <typename T>
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class Index_
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{
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public:
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typedef typename L2<T>::ElementType ElementType;
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typedef typename L2<T>::ResultType DistanceType;
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CV_DEPRECATED Index_(const Mat& dataset, const ::cvflann::IndexParams& params)
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{
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printf("[WARNING] The cv::flann::Index_<T> class is deperecated, use cv::flann::GenericIndex<Distance> instead\n");
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CV_Assert(dataset.type() == CvType<ElementType>::type());
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CV_Assert(dataset.isContinuous());
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::cvflann::Matrix<ElementType> m_dataset((ElementType*)dataset.ptr<ElementType>(0), dataset.rows, dataset.cols);
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if ( ::cvflann::flann_distance_type() == cvflann::FLANN_DIST_L2 ) {
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nnIndex_L1 = NULL;
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nnIndex_L2 = new ::cvflann::Index< L2<ElementType> >(m_dataset, params);
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}
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else if ( ::cvflann::flann_distance_type() == cvflann::FLANN_DIST_L1 ) {
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nnIndex_L1 = new ::cvflann::Index< L1<ElementType> >(m_dataset, params);
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nnIndex_L2 = NULL;
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}
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else {
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printf("[ERROR] cv::flann::Index_<T> only provides backwards compatibility for the L1 and L2 distances. "
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"For other distance types you must use cv::flann::GenericIndex<Distance>\n");
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CV_Assert(0);
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}
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if (nnIndex_L1) nnIndex_L1->buildIndex();
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if (nnIndex_L2) nnIndex_L2->buildIndex();
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}
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CV_DEPRECATED ~Index_()
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{
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if (nnIndex_L1) delete nnIndex_L1;
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if (nnIndex_L2) delete nnIndex_L2;
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}
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CV_DEPRECATED void knnSearch(const std::vector<ElementType>& query, std::vector<int>& indices, std::vector<DistanceType>& dists, int knn, const ::cvflann::SearchParams& searchParams)
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{
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::cvflann::Matrix<ElementType> m_query((ElementType*)&query[0], 1, query.size());
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::cvflann::Matrix<int> m_indices(&indices[0], 1, indices.size());
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::cvflann::Matrix<DistanceType> m_dists(&dists[0], 1, dists.size());
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if (nnIndex_L1) nnIndex_L1->knnSearch(m_query,m_indices,m_dists,knn,searchParams);
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if (nnIndex_L2) nnIndex_L2->knnSearch(m_query,m_indices,m_dists,knn,searchParams);
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}
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CV_DEPRECATED void knnSearch(const Mat& queries, Mat& indices, Mat& dists, int knn, const ::cvflann::SearchParams& searchParams)
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{
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CV_Assert(queries.type() == CvType<ElementType>::type());
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CV_Assert(queries.isContinuous());
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::cvflann::Matrix<ElementType> m_queries((ElementType*)queries.ptr<ElementType>(0), queries.rows, queries.cols);
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CV_Assert(indices.type() == CV_32S);
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CV_Assert(indices.isContinuous());
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::cvflann::Matrix<int> m_indices((int*)indices.ptr<int>(0), indices.rows, indices.cols);
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CV_Assert(dists.type() == CvType<DistanceType>::type());
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CV_Assert(dists.isContinuous());
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::cvflann::Matrix<DistanceType> m_dists((DistanceType*)dists.ptr<DistanceType>(0), dists.rows, dists.cols);
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if (nnIndex_L1) nnIndex_L1->knnSearch(m_queries,m_indices,m_dists,knn, searchParams);
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if (nnIndex_L2) nnIndex_L2->knnSearch(m_queries,m_indices,m_dists,knn, searchParams);
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}
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CV_DEPRECATED int radiusSearch(const std::vector<ElementType>& query, std::vector<int>& indices, std::vector<DistanceType>& dists, DistanceType radius, const ::cvflann::SearchParams& searchParams)
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{
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::cvflann::Matrix<ElementType> m_query((ElementType*)&query[0], 1, query.size());
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::cvflann::Matrix<int> m_indices(&indices[0], 1, indices.size());
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::cvflann::Matrix<DistanceType> m_dists(&dists[0], 1, dists.size());
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if (nnIndex_L1) return nnIndex_L1->radiusSearch(m_query,m_indices,m_dists,radius,searchParams);
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if (nnIndex_L2) return nnIndex_L2->radiusSearch(m_query,m_indices,m_dists,radius,searchParams);
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}
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CV_DEPRECATED int radiusSearch(const Mat& query, Mat& indices, Mat& dists, DistanceType radius, const ::cvflann::SearchParams& searchParams)
|
{
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CV_Assert(query.type() == CvType<ElementType>::type());
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CV_Assert(query.isContinuous());
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::cvflann::Matrix<ElementType> m_query((ElementType*)query.ptr<ElementType>(0), query.rows, query.cols);
|
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CV_Assert(indices.type() == CV_32S);
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CV_Assert(indices.isContinuous());
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::cvflann::Matrix<int> m_indices((int*)indices.ptr<int>(0), indices.rows, indices.cols);
|
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CV_Assert(dists.type() == CvType<DistanceType>::type());
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CV_Assert(dists.isContinuous());
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::cvflann::Matrix<DistanceType> m_dists((DistanceType*)dists.ptr<DistanceType>(0), dists.rows, dists.cols);
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if (nnIndex_L1) return nnIndex_L1->radiusSearch(m_query,m_indices,m_dists,radius,searchParams);
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if (nnIndex_L2) return nnIndex_L2->radiusSearch(m_query,m_indices,m_dists,radius,searchParams);
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}
|
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CV_DEPRECATED void save(String filename)
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{
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if (nnIndex_L1) nnIndex_L1->save(filename);
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if (nnIndex_L2) nnIndex_L2->save(filename);
|
}
|
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CV_DEPRECATED int veclen() const
|
{
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if (nnIndex_L1) return nnIndex_L1->veclen();
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if (nnIndex_L2) return nnIndex_L2->veclen();
|
}
|
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CV_DEPRECATED int size() const
|
{
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if (nnIndex_L1) return nnIndex_L1->size();
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if (nnIndex_L2) return nnIndex_L2->size();
|
}
|
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CV_DEPRECATED ::cvflann::IndexParams getParameters()
|
{
|
if (nnIndex_L1) return nnIndex_L1->getParameters();
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if (nnIndex_L2) return nnIndex_L2->getParameters();
|
|
}
|
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CV_DEPRECATED const ::cvflann::IndexParams* getIndexParameters()
|
{
|
if (nnIndex_L1) return nnIndex_L1->getIndexParameters();
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if (nnIndex_L2) return nnIndex_L2->getIndexParameters();
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}
|
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private:
|
// providing backwards compatibility for L2 and L1 distances (most common)
|
::cvflann::Index< L2<ElementType> >* nnIndex_L2;
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::cvflann::Index< L1<ElementType> >* nnIndex_L1;
|
};
|
|
//! @endcond
|
|
/** @brief Clusters features using hierarchical k-means algorithm.
|
|
@param features The points to be clustered. The matrix must have elements of type
|
Distance::ElementType.
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@param centers The centers of the clusters obtained. The matrix must have type
|
Distance::ResultType. The number of rows in this matrix represents the number of clusters desired,
|
however, because of the way the cut in the hierarchical tree is chosen, the number of clusters
|
computed will be the highest number of the form (branching-1)\*k+1 that's lower than the number of
|
clusters desired, where branching is the tree's branching factor (see description of the
|
KMeansIndexParams).
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@param params Parameters used in the construction of the hierarchical k-means tree.
|
@param d Distance to be used for clustering.
|
|
The method clusters the given feature vectors by constructing a hierarchical k-means tree and
|
choosing a cut in the tree that minimizes the cluster's variance. It returns the number of clusters
|
found.
|
*/
|
template <typename Distance>
|
int hierarchicalClustering(const Mat& features, Mat& centers, const ::cvflann::KMeansIndexParams& params,
|
Distance d = Distance())
|
{
|
typedef typename Distance::ElementType ElementType;
|
typedef typename Distance::ResultType DistanceType;
|
|
CV_Assert(features.type() == CvType<ElementType>::type());
|
CV_Assert(features.isContinuous());
|
::cvflann::Matrix<ElementType> m_features((ElementType*)features.ptr<ElementType>(0), features.rows, features.cols);
|
|
CV_Assert(centers.type() == CvType<DistanceType>::type());
|
CV_Assert(centers.isContinuous());
|
::cvflann::Matrix<DistanceType> m_centers((DistanceType*)centers.ptr<DistanceType>(0), centers.rows, centers.cols);
|
|
return ::cvflann::hierarchicalClustering<Distance>(m_features, m_centers, params, d);
|
}
|
|
//! @cond IGNORED
|
|
template <typename ELEM_TYPE, typename DIST_TYPE>
|
CV_DEPRECATED int hierarchicalClustering(const Mat& features, Mat& centers, const ::cvflann::KMeansIndexParams& params)
|
{
|
printf("[WARNING] cv::flann::hierarchicalClustering<ELEM_TYPE,DIST_TYPE> is deprecated, use "
|
"cv::flann::hierarchicalClustering<Distance> instead\n");
|
|
if ( ::cvflann::flann_distance_type() == cvflann::FLANN_DIST_L2 ) {
|
return hierarchicalClustering< L2<ELEM_TYPE> >(features, centers, params);
|
}
|
else if ( ::cvflann::flann_distance_type() == cvflann::FLANN_DIST_L1 ) {
|
return hierarchicalClustering< L1<ELEM_TYPE> >(features, centers, params);
|
}
|
else {
|
printf("[ERROR] cv::flann::hierarchicalClustering<ELEM_TYPE,DIST_TYPE> only provides backwards "
|
"compatibility for the L1 and L2 distances. "
|
"For other distance types you must use cv::flann::hierarchicalClustering<Distance>\n");
|
CV_Assert(0);
|
}
|
}
|
|
//! @endcond
|
|
//! @} flann
|
|
} } // namespace cv::flann
|
|
#endif
|
