contrib/rpl/rgrl/rgrl_matcher_k_nearest_random.cxx

Go to the documentation of this file.

//:
// \file
// \author Gehua Yang
// \date   March 2005
#include "rgrl_matcher_k_nearest_random.h"
#include <rgrl/rgrl_feature.h>
#include <rgrl/rgrl_feature_set.h>
#include <rgrl/rgrl_transformation.h>
#include <rgrl/rgrl_view.h>
#include <rgrl/rgrl_match_set.h>

#include <vcl_vector.h>
#include <vcl_algorithm.h>

rgrl_matcher_k_nearest_random::
rgrl_matcher_k_nearest_random( unsigned int k, unsigned int max_num )
  : rgrl_matcher_k_nearest( k ),
    max_num_( max_num )
{
}


rgrl_matcher_k_nearest_random::
rgrl_matcher_k_nearest_random( unsigned int k, unsigned int max_num, double dist_thres )
  : rgrl_matcher_k_nearest( k, dist_thres ),
    max_num_( max_num )
{
}


rgrl_match_set_sptr
rgrl_matcher_k_nearest_random::
compute_matches( rgrl_feature_set const&       from_set,
                 rgrl_feature_set const&       to_set,
                 rgrl_view const&              current_view,
                 rgrl_transformation const&    current_xform,
                 rgrl_scale const&             /* current_scale */,
                 rgrl_match_set_sptr const&    /*old_matches*/ )
{
  typedef rgrl_view::feature_vector feat_vector;
  typedef feat_vector::const_iterator feat_iter;

  rgrl_match_set_sptr matches_sptr 
    = new rgrl_match_set( from_set.type(), to_set.type(), from_set.label(), to_set.label() );

  //  get the features in the current view
  feat_vector from;
  if( !current_view.features_in_region( from, from_set ) ) {
    DebugMacro( 1, "Cannot get features in current region!!!" << vcl_endl );
    return matches_sptr;
  }

  // reserve size
  feat_vector matching_features, pruned_set;
  matching_features.reserve( 10 );
  pruned_set.reserve( 10 );

  matches_sptr->reserve( from.size() );

  // set up a vector of same from size to indicate which feature shall be used
  vcl_vector<bool> to_use( from.size(), true );
  
  if( from.size() > max_num_ )
    generate_random_indices( to_use );
  
  //  generate the matches for each feature of this feature type in the current region
  unsigned int k;
  feat_iter fitr;
  for ( k=0, fitr = from.begin(); fitr != from.end(); ++fitr, ++k ) 
    if( to_use[k] ) {

    rgrl_feature_sptr mapped = (*fitr)->transform( current_xform );
    if( !validate( mapped, current_view.to_image_roi() ) )
      continue;   // feature is invalid

    matching_features.clear();
    to_set.k_nearest_features( matching_features, mapped, k_ );

    // prune the matches to satisfy the threshold
    //
    if ( thres_ > 0 ) {
      pruned_set.clear();
      for ( feat_iter i = matching_features.begin(); i != matching_features.end(); ++i ) {
        if ( vnl_vector_ssd( (*i)->location(), mapped->location() ) < thres_ ) {
          pruned_set.push_back( *i );
        }
      }
      if ( !pruned_set.empty() ) {
        matches_sptr->add_feature_and_matches( *fitr, mapped,
                                               pruned_set );
      }
    } else {
      matches_sptr->add_feature_and_matches( *fitr, mapped,
                                             matching_features );
    }
  }

  return matches_sptr;
}

void
rgrl_matcher_k_nearest_random::
generate_random_indices( vcl_vector<bool>& to_use ) const 
{
  const unsigned size = to_use.size();

  // set all entries to false
  vcl_fill( to_use.begin(), to_use.end(), false );
    
  unsigned num = 0;
  while( num < max_num_ ) {
    
    unsigned index = random_.lrand32( size );
    // already marked?
    if( to_use[index] )
      continue;
    
    // mark it
    // vcl_cout << index << ' ';
    to_use[index] = true;
    ++num;
  }
  // vcl_cout <<"\n";
}