This class implements a Vocabulary Forest holding several Vocabulary Trees. More...

#include <VocabularyTree.h>

Inheritance diagram for Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >:

Public Types
typedef TDescriptor	Descriptor
	The descriptor type of this forest.

typedef TDistance	Distance
	The distance data type of this forest.

typedef std::vector< TDescriptor >	TDescriptors
	Definition of a vector holding descriptors.

typedef std::vector< TDistance >	TDistances
	Definition of a vector holding distances.

typedef VocabularyTree< TDescriptor, TDistance, tDistanceFunction >	TVocabularyTree
	Definition of the Vocabulary Tree object.

using	Match = Match< TDistance >
	Definition of a Match object using the distance data type of this tree.

using	Matches = Matches< TDistance >
	Definition of a vector holding Match objects.

using	ClustersMeanFunction = TDescriptors()(const unsigned int numberClusters, const TDescriptor treeDescriptors, const Index32 descriptorIndices, const Index32 clusterIndicesForDescriptors, const size_t numberDescriptorIndices, Worker *worker)
	Definition of a function pointer allowing to determine the mean descriptors for individual clusters.

template<typename TMultiDescriptor >
using	MultiDescriptorFunction = const TDescriptor ()(const TMultiDescriptor &, const size_t)
	Definition of a function pointer to a function allowing to return individual descriptors from a multi-descriptor.

template<typename TMultiDescriptorGroup , typename TMultiDescriptor >
using	MultiDescriptorGroupFunction = const TMultiDescriptor ()(const TMultiDescriptorGroup &, const size_t)
	Definition of a function pointer to a function allowing to return individual multi-descriptors from a group of multi-descriptors.

using	ReusableData = typename TVocabularyTree::ReusableData
	Re-definition of the ReusableData object.

Public Types inherited from Ocean::Tracking::VocabularyStructure
enum	InitializationStrategy : uint32_t { IS_INVALID = 0u , IS_PURE_RANDOM , IS_LARGEST_DISTANCE }
	Definition of individual strategies to initialize the clustering of each tree node. More...

enum	MatchingMode : uint32_t { MM_INVALID = 0u , MM_FIRST_BEST_LEAF , MM_ALL_BEST_LEAFS , MM_ALL_GOOD_LEAFS_1 , MM_ALL_GOOD_LEAFS_2 }
	Definition of individual matching modes for descriptors. More...

template<typename TDistance >
using	Matches = std::vector< Match< TDistance > >
	Definition of a vector holding matches.

Public Member Functions
	VocabularyForest ()=default
	Creates a new empty forest without trees.

	VocabularyForest (const size_t numberTrees, const TDescriptor treeDescriptors, const size_t numberTreeDescriptors, const ClustersMeanFunction &clustersMeanFunction, const Parameters &parameters=Parameters(), Worker worker=nullptr, RandomGenerator *randomGenerator=nullptr)
	Creates a new forest with several trees for given descriptors.

template<MatchingMode tMatchingMode = MM_FIRST_BEST_LEAF>
Index32	matchDescriptor (const TDescriptor candidateDescriptors, const TDescriptor &queryDescriptor, TDistance distance=nullptr, const ReusableData &reusableData=ReusableData()) const
	Matches a query descriptor with all candidate descriptors in this forest.

template<MatchingMode tMatchingMode = MM_FIRST_BEST_LEAF>
Index32	matchMultiDescriptor (const TDescriptor candidateDescriptors, const TDescriptor queryMultiDescriptor, const size_t numberQuerySingleDescriptors, TDistance *distance=nullptr, const ReusableData &reusableData=ReusableData()) const
	Matches a query multi-descriptor with all candidate descriptors in this forest.

template<typename TMultiDescriptor , MultiDescriptorFunction< TMultiDescriptor > tMultiDescriptorFunction, MatchingMode tMatchingMode = MM_FIRST_BEST_LEAF>
Index32	matchMultiDescriptor (const TDescriptor candidateDescriptors, const TMultiDescriptor &queryMultiDescriptor, TDistance distance=nullptr, const ReusableData &reusableData=ReusableData()) const
	Matches a query multi-descriptor with all candidate descriptors in this forest.

template<typename TMultiDescriptorGroup , typename TMultiDescriptor , MultiDescriptorGroupFunction< TMultiDescriptorGroup, TMultiDescriptor > tMultiDescriptorGroupFunction, MultiDescriptorFunction< TMultiDescriptor > tMultiDescriptorFunction, MatchingMode tMatchingMode = MM_FIRST_BEST_LEAF>
Index32	matchMultiDescriptorGroup (const TDescriptor candidateDescriptors, const TMultiDescriptorGroup &queryMultiDescriptorGroup, TDistance distance=nullptr, const ReusableData &reusableData=ReusableData()) const
	Matches a query group of multi-descriptors with all candidate descriptors in this forest.

template<MatchingMode tMatchingMode = MM_FIRST_BEST_LEAF>
void	matchDescriptors (const TDescriptor candidateDescriptors, const TDescriptor queryDescriptors, const size_t numberQueryDescriptors, const TDistance maximalDistance, Matches &matches, Worker *worker=nullptr) const
	Matches several query descriptors with all candidate descriptors in this forest.

template<typename TMultiDescriptor , MultiDescriptorFunction< TMultiDescriptor > tMultiDescriptorFunction, MatchingMode tMatchingMode = MM_FIRST_BEST_LEAF>
void	matchMultiDescriptors (const TDescriptor candidateDescriptors, const TMultiDescriptor queryMultiDescriptors, const size_t numberQueryMultiDescriptors, const TDistance maximalDistance, Matches &matches, Worker *worker=nullptr) const
	Matches several query multi-descriptors with all candidate descriptors in this forest.

template<typename TMultiDescriptorGroup , typename TMultiDescriptor , MultiDescriptorGroupFunction< TMultiDescriptorGroup, TMultiDescriptor > tMultiDescriptorGroupFunction, MultiDescriptorFunction< TMultiDescriptor > tMultiDescriptorFunction, MatchingMode tMatchingMode = MM_FIRST_BEST_LEAF>
void	matchMultiDescriptorGroups (const TDescriptor candidateDescriptors, const TMultiDescriptorGroup queryMultiDescriptorGroups, const size_t numberQueryMultiDescriptorGroups, const TDistance maximalDistance, Matches &matches, Worker *worker=nullptr) const
	Matches several query groups of multi-descriptors with all candidate descriptors in this forest.

Public Member Functions inherited from Ocean::Tracking::VocabularyStructure
virtual	~VocabularyStructure ()=default
	Destructs this object.

Static Public Attributes
static constexpr TDistance(*	distanceFunction )(const TDescriptor &, const TDescriptor &) = tDistanceFunction
	The pointer to the function determining the distance between two descriptors of this forest.

Protected Types
typedef std::vector< TVocabularyTree >	TVocabularyTrees
	Definition of a vector holding VocabularyTree objects.

Protected Member Functions
template<MatchingMode tMatchingMode>
void	matchDescriptorsSubset (const TDescriptor candidateDescriptors, const TDescriptor queryDescriptors, const TDistance maximalDistance, Matches matches, Lock lock, const unsigned int firstQueryDescriptor, const unsigned int numberQueryDescriptors) const
	Matches a subset of several query descriptors with all forest candidate descriptors.

template<typename TMultiDescriptor , MultiDescriptorFunction< TMultiDescriptor > tMultiDescriptorFunction, MatchingMode tMatchingMode>
void	matchMultiDescriptorsSubset (const TDescriptor candidateDescriptors, const TMultiDescriptor queryMultiDescriptors, const TDistance maximalDistance, Matches matches, Lock lock, const unsigned int firstQueryMultiDescriptor, const unsigned int numberQueryMultiDescriptors) const
	Matches a subset of several query multi-descriptors with all forest candidate descriptors.

template<typename TMultiDescriptorGroup , typename TMultiDescriptor , MultiDescriptorGroupFunction< TMultiDescriptorGroup, TMultiDescriptor > tMultiDescriptorGroupFunction, MultiDescriptorFunction< TMultiDescriptor > tMultiDescriptorFunction, MatchingMode tMatchingMode>
void	matchMultiDescriptorGroupsSubset (const TDescriptor candidateDescriptors, const TMultiDescriptorGroup queryMultiDescriptorGroups, const TDistance maximalDistance, Matches matches, Lock lock, const unsigned int firstQueryMultiDescriptorGroup, const unsigned int numberQueryMultiDescriptorGroups) const
	Matches a subset of several query groups of multi-descriptors with all candidate descriptors in this forest.

Protected Member Functions inherited from Ocean::Tracking::VocabularyStructure
	VocabularyStructure ()=default
	Default constructor.

Protected Attributes
TVocabularyTrees	vocabularyTrees_
	The trees of this forest.

Additional Inherited Members
Static Public Member Functions inherited from Ocean::Tracking::VocabularyStructure
static constexpr Index32	invalidMatchIndex ()
	Returns an invalid matching index.

Static Protected Member Functions inherited from Ocean::Tracking::VocabularyStructure
static std::vector< uint8_t >	generateBitSeparationLookup8 ()
	Returns the lookup table which separates the bits of a byte into 8 individual bytes.

Detailed Description

template<typename TDescriptor, typename TDistance, TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>
class Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >

This class implements a Vocabulary Forest holding several Vocabulary Trees.

Using several trees with individual clustering can increase the probability to determine the correct descriptor.

Template Parameters

TDescriptor	The data type of the descriptors for which the tree will be created
TDistance	The data type of the distance measure between two descriptors, e.g., 'unsigned int', 'float'
tDistanceFunction	The pointers to the function able to calculate the distance between two descriptors

See also: VocabularyTree

Member Typedef Documentation

◆ ClustersMeanFunction

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

using Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::ClustersMeanFunction = TDescriptors(*)(const unsigned int numberClusters, const TDescriptor* treeDescriptors, const Index32* descriptorIndices, const Index32* clusterIndicesForDescriptors, const size_t numberDescriptorIndices, Worker* worker)

Definition of a function pointer allowing to determine the mean descriptors for individual clusters.

See also: determineClustersMeanForBinaryDescriptor().

◆ Descriptor

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

typedef TDescriptor Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::Descriptor

The descriptor type of this forest.

◆ Distance

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

typedef TDistance Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::Distance

The distance data type of this forest.

◆ Match

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

using Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::Match = Match<TDistance>

Definition of a Match object using the distance data type of this tree.

◆ Matches

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

using Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::Matches = Matches<TDistance>

Definition of a vector holding Match objects.

◆ MultiDescriptorFunction

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

template<typename TMultiDescriptor >

using Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::MultiDescriptorFunction = const TDescriptor*(*)(const TMultiDescriptor&, const size_t)

Definition of a function pointer to a function allowing to return individual descriptors from a multi-descriptor.

A feature point can be described with a multi-descriptor if the feature point has been seen from individual distances (to be scale invariant to some extent). First function parameter is the multi-descriptor, second parameter is the index of the actual descriptor to return, returns nullptr if the index is out of range

◆ MultiDescriptorGroupFunction

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

template<typename TMultiDescriptorGroup , typename TMultiDescriptor >

using Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::MultiDescriptorGroupFunction = const TMultiDescriptor*(*)(const TMultiDescriptorGroup&, const size_t)

Definition of a function pointer to a function allowing to return individual multi-descriptors from a group of multi-descriptors.

A feature point can be described with a group of multi-descriptors if the feature point has been seen from individual locations or at individual moments in time (e.g., day vs. night). First function parameter is the multi-descriptor group, second parameter is the index of the actual multi-descriptor to return, returns nullptr if the index is out of range

◆ ReusableData

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

using Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::ReusableData = typename TVocabularyTree::ReusableData

Re-definition of the ReusableData object.

◆ TDescriptors

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

typedef std::vector<TDescriptor> Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::TDescriptors

Definition of a vector holding descriptors.

◆ TDistances

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

typedef std::vector<TDistance> Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::TDistances

Definition of a vector holding distances.

◆ TVocabularyTree

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

typedef VocabularyTree<TDescriptor, TDistance, tDistanceFunction> Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::TVocabularyTree

Definition of the Vocabulary Tree object.

◆ TVocabularyTrees

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

typedef std::vector<TVocabularyTree> Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::TVocabularyTrees

protected

Definition of a vector holding VocabularyTree objects.

Constructor & Destructor Documentation

◆ VocabularyForest() [1/2]

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::VocabularyForest ( )

default

Creates a new empty forest without trees.

◆ VocabularyForest() [2/2]

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::VocabularyForest	(	const size_t	numberTrees,
		const TDescriptor *	treeDescriptors,
		const size_t	numberTreeDescriptors,
		const ClustersMeanFunction &	clustersMeanFunction,
		const Parameters &	parameters = `Parameters()`,
		Worker *	worker = `nullptr`,
		RandomGenerator *	randomGenerator = `nullptr`
	)

Creates a new forest with several trees for given descriptors.

The given descriptors must not change afterwards, the descriptors must exist as long as the forest exists.

Parameters

numberTrees	The number of trees to be created within the forest, with range [1, infinity)
treeDescriptors	The descriptors for which the new tree will be created, must be valid
numberTreeDescriptors	The number of tree descriptors, with range [1, infinity)
clustersMeanFunction	The function allowing to determine the mean descriptors for individual clusters, must be valid
parameters	The parameters used to construct the forest, must be valid
worker	Optional worker object to distribute the computation
randomGenerator	Optional explicit random generator object

Member Function Documentation

◆ matchDescriptor()

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

template<VocabularyStructure::MatchingMode tMatchingMode>

Index32 Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::matchDescriptor	(	const TDescriptor *	candidateDescriptors,
		const TDescriptor &	queryDescriptor,
		TDistance *	distance = `nullptr`,
		const ReusableData &	reusableData = `ReusableData()`
	)		const

Matches a query descriptor with all candidate descriptors in this forest.

Parameters

candidateDescriptors	The entire set of tree candidate descriptors which have been used to create the tree, from which the best matching descriptor will be determined, must be valid
queryDescriptor	The query descriptor for which the best matching tree candidate descriptor will be determined
distance	Optional resulting distance, nullptr if not of interest
reusableData	An reusable object to speedup the search, should be located outside of the function call if several function calls are done after each other

Returns: The index of the matched tree candidate descriptor, with range [0, 'numberTreeDescriptors' - 1], invalidMatchIndex() if no match could be determined

Template Parameters

tMatchingMode The mode which is used for matching

See also: VocabularyTree::matchDescriptor().

◆ matchDescriptors()

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

template<VocabularyStructure::MatchingMode tMatchingMode>

void Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::matchDescriptors	(	const TDescriptor *	candidateDescriptors,
		const TDescriptor *	queryDescriptors,
		const size_t	numberQueryDescriptors,
		const TDistance	maximalDistance,
		Matches &	matches,
		Worker *	worker = `nullptr`
	)		const

Matches several query descriptors with all candidate descriptors in this forest.

Parameters

candidateDescriptors	The entire set of tree candidate descriptors which have been used to create the tree, from which the best matching descriptor will be determined, must be valid
queryDescriptors	The query descriptors for which the best matching tree candidate descriptors will be determined, can be nullptr if 'numberQueryDescriptors == 0'
numberQueryDescriptors	The number of given query descriptors, with range [0, infinity)
maximalDistance	The maximal distance between two matching descriptors, with range [0, infinity)
matches	The resulting matches
worker	Optional worker object to distribute the computation

Template Parameters

tMatchingMode The mode which is used for matching

See also: VocabularyTree::matchDescriptors().

◆ matchDescriptorsSubset()

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

template<VocabularyStructure::MatchingMode tMatchingMode>

void Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::matchDescriptorsSubset	(	const TDescriptor *	candidateDescriptors,
		const TDescriptor *	queryDescriptors,
		const TDistance	maximalDistance,
		Matches *	matches,
		Lock *	lock,
		const unsigned int	firstQueryDescriptor,
		const unsigned int	numberQueryDescriptors
	)		const

protected

Matches a subset of several query descriptors with all forest candidate descriptors.

Parameters

candidateDescriptors	The entire set of tree candidate descriptors which have been used to create the tree, from which the best matching descriptor will be determined, must be valid
queryDescriptors	The query descriptors for which the best matching tree candidate descriptors will be determined, must be valid
maximalDistance	The maximal distance between two matching descriptors, with range [0, infinity)
matches	The resulting matches
lock	Optional lock when executed in multiple threads in parallel, nullptr otherwise
firstQueryDescriptor	The index of the first query descriptor to be handled, with range [0, infinity)
numberQueryDescriptors	The number of query descriptors to be handled, with range [1, infinity)

Template Parameters

tMatchingMode The mode which is used for matching

◆ matchMultiDescriptor() [1/2]

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

template<VocabularyStructure::MatchingMode tMatchingMode>

Index32 Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::matchMultiDescriptor	(	const TDescriptor *	candidateDescriptors,
		const TDescriptor *	queryMultiDescriptor,
		const size_t	numberQuerySingleDescriptors,
		TDistance *	distance = `nullptr`,
		const ReusableData &	reusableData = `ReusableData()`
	)		const

Matches a query multi-descriptor with all candidate descriptors in this forest.

Parameters

candidateDescriptors	The entire set of tree candidate descriptors which have been used to create the tree, from which the best matching descriptor will be determined, must be valid
queryMultiDescriptor	The first single descriptor of the query multi-descriptor for which the best matching tree candidate descriptor will be determined
numberQuerySingleDescriptors	The number of single descriptors within the multi-descriptor, with range [1, infinity)
distance	Optional resulting distance, nullptr if not of interest
reusableData	An reusable object to speedup the search, should be located outside of the function call if several function calls are done after each other

Returns: The index of the matched tree candidate descriptor, with range [0, 'numberTreeDescriptors' - 1], invalidMatchIndex() if no match could be determined

Template Parameters

tMatchingMode The mode which is used for matching

See also: VocabularyTree::matchMultiDescriptor().

◆ matchMultiDescriptor() [2/2]

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

template<typename TMultiDescriptor , const TDescriptor *(*)(const TMultiDescriptor &, const size_t) tMultiDescriptorFunction, VocabularyStructure::MatchingMode tMatchingMode>

Index32 Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::matchMultiDescriptor	(	const TDescriptor *	candidateDescriptors,
		const TMultiDescriptor &	queryMultiDescriptor,
		TDistance *	distance = `nullptr`,
		const ReusableData &	reusableData = `ReusableData()`
	)		const

Matches a query multi-descriptor with all candidate descriptors in this forest.

Parameters

candidateDescriptors	The entire set of tree candidate descriptors which have been used to create the tree, from which the best matching descriptor will be determined, must be valid
queryMultiDescriptor	The query multi-descriptor for which the best matching tree candidate descriptor will be determined
distance	Optional resulting distance, nullptr if not of interest
reusableData	An reusable object to speedup the search, should be located outside of the function call if several function calls are done after each other

Returns: The index of the matched tree candidate descriptor, with range [0, 'numberTreeDescriptors' - 1], invalidMatchIndex() if no match could be determined

Template Parameters

TMultiDescriptor	The data type of the multi-descriptor
tMultiDescriptorFunction	The function pointer to a static function allowing to access one single-descriptor of a multi-descriptor, must be valid
tMatchingMode	The mode which is used for matching

See also: VocabularyTree::matchMultiDescriptor().

◆ matchMultiDescriptorGroup()

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

template<typename TMultiDescriptorGroup , typename TMultiDescriptor , const TMultiDescriptor *(*)(const TMultiDescriptorGroup &, const size_t) tMultiDescriptorGroupFunction, const TDescriptor *(*)(const TMultiDescriptor &, const size_t) tMultiDescriptorFunction, VocabularyStructure::MatchingMode tMatchingMode>

Index32 Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::matchMultiDescriptorGroup	(	const TDescriptor *	candidateDescriptors,
		const TMultiDescriptorGroup &	queryMultiDescriptorGroup,
		TDistance *	distance = `nullptr`,
		const ReusableData &	reusableData = `ReusableData()`
	)		const

Matches a query group of multi-descriptors with all candidate descriptors in this forest.

A feature point can be described with a group of multi-descriptors if the feature point has been seen from individual locations or at individual moments in time (e.g., day vs. night).

Parameters

candidateDescriptors	The entire set of tree candidate descriptors which have been used to create the tree, from which the best matching descriptor will be determined, must be valid
queryMultiDescriptorGroup	The query group of multi-descriptors (all representing one query feature) for which the best matching tree candidate descriptor will be determined
distance	Optional resulting distance, nullptr if not of interest
reusableData	An reusable object to speedup the search, should be located outside of the function call if several function calls are done after each other

Returns: The index of the matched tree candidate descriptor, with range [0, 'numberTreeDescriptors' - 1], invalidMatchIndex() if no match could be determined

Template Parameters

TMultiDescriptorGroup	The data type of the multi-descriptor group
TMultiDescriptor	The data type of the multi-descriptor
tMultiDescriptorGroupFunction	The function pointer to a static function allowing to access one multi-descriptor of a group of multi-descriptors, must be valid
tMultiDescriptorFunction	The function pointer to a static function allowing to access one single-descriptor of a multi-descriptor, must be valid
tMatchingMode	The mode which is used for matching

◆ matchMultiDescriptorGroups()

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

template<typename TMultiDescriptorGroup , typename TMultiDescriptor , const TMultiDescriptor *(*)(const TMultiDescriptorGroup &, const size_t) tMultiDescriptorGroupFunction, const TDescriptor *(*)(const TMultiDescriptor &, const size_t) tMultiDescriptorFunction, VocabularyStructure::MatchingMode tMatchingMode>

void Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::matchMultiDescriptorGroups	(	const TDescriptor *	candidateDescriptors,
		const TMultiDescriptorGroup *	queryMultiDescriptorGroups,
		const size_t	numberQueryMultiDescriptorGroups,
		const TDistance	maximalDistance,
		Matches &	matches,
		Worker *	worker = `nullptr`
	)		const

Matches several query groups of multi-descriptors with all candidate descriptors in this forest.

Parameters

candidateDescriptors	The entire set of tree candidate descriptors which have been used to create the tree, from which the best matching descriptor will be determined, must be valid
queryMultiDescriptorGroups	The query groups of multi-descriptors for which the best matching tree candidate descriptors will be determined, can be nullptr if 'numberQueryMultiDescriptors == 0'
numberQueryMultiDescriptorGroups	The number of given query groups of multi-descriptors, with range [0, infinity)
maximalDistance	The maximal distance between two matching descriptors, with range [0, infinity)
matches	The resulting matches
worker	Optional worker object to distribute the computation

Template Parameters

TMultiDescriptorGroup	The data type of the multi-descriptor group
TMultiDescriptor	The data type of the multi-descriptor
tMultiDescriptorGroupFunction	The function pointer to a static function allowing to access one multi-descriptor of a group of multi-descriptors, must be valid
tMultiDescriptorFunction	The function pointer to a static function allowing to access one single-descriptor of a multi-descriptor, must be valid
tMatchingMode	The mode which is used for matching

◆ matchMultiDescriptorGroupsSubset()

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

template<typename TMultiDescriptorGroup , typename TMultiDescriptor , const TMultiDescriptor *(*)(const TMultiDescriptorGroup &, const size_t) tMultiDescriptorGroupFunction, const TDescriptor *(*)(const TMultiDescriptor &, const size_t) tMultiDescriptorFunction, VocabularyStructure::MatchingMode tMatchingMode>

void Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::matchMultiDescriptorGroupsSubset	(	const TDescriptor *	candidateDescriptors,
		const TMultiDescriptorGroup *	queryMultiDescriptorGroups,
		const TDistance	maximalDistance,
		Matches *	matches,
		Lock *	lock,
		const unsigned int	firstQueryMultiDescriptorGroup,
		const unsigned int	numberQueryMultiDescriptorGroups
	)		const

protected

Matches a subset of several query groups of multi-descriptors with all candidate descriptors in this forest.

Parameters

candidateDescriptors	The entire set of tree candidate descriptors which have been used to create the tree, from which the best matching descriptor will be determined, must be valid
queryMultiDescriptorGroups	The query groups of multi-descriptors for which the best matching tree candidate descriptors will be determined, can be nullptr if 'numberQueryMultiDescriptors == 0'
maximalDistance	The maximal distance between two matching descriptors, with range [0, infinity)
matches	The resulting matches
lock	Optional lock when executed in multiple threads in parallel, nullptr otherwise
firstQueryMultiDescriptorGroup	The index of the first query group of multi-descriptors to be handled, with range [0, infinity)
numberQueryMultiDescriptorGroups	The number of query groups of multi-descriptors to be handled, with range [1, infinity)

Template Parameters

TMultiDescriptorGroup	The data type of the multi-descriptor group
TMultiDescriptor	The data type of the multi-descriptor
tMultiDescriptorGroupFunction	The function pointer to a static function allowing to access one multi-descriptor of a group of multi-descriptors, must be valid
tMultiDescriptorFunction	The function pointer to a static function allowing to access one single-descriptor of a multi-descriptor, must be valid
tMatchingMode	The mode which is used for matching

◆ matchMultiDescriptors()

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

template<typename TMultiDescriptor , const TDescriptor *(*)(const TMultiDescriptor &, const size_t) tMultiDescriptorFunction, VocabularyStructure::MatchingMode tMatchingMode>

void Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::matchMultiDescriptors	(	const TDescriptor *	candidateDescriptors,
		const TMultiDescriptor *	queryMultiDescriptors,
		const size_t	numberQueryMultiDescriptors,
		const TDistance	maximalDistance,
		Matches &	matches,
		Worker *	worker = `nullptr`
	)		const

Matches several query multi-descriptors with all candidate descriptors in this forest.

Parameters

candidateDescriptors	The entire set of tree candidate descriptors which have been used to create the tree, from which the best matching descriptor will be determined, must be valid
queryMultiDescriptors	The query multi-descriptors for which the best matching tree candidate descriptors will be determined, can be nullptr if 'numberQueryMultiDescriptors == 0'
numberQueryMultiDescriptors	The number of given query multi-descriptors, with range [0, infinity)
maximalDistance	The maximal distance between two matching descriptors, with range [0, infinity)
matches	The resulting matches
worker	Optional worker object to distribute the computation

Template Parameters

TMultiDescriptor	The data type of a multi-descriptor
tMultiDescriptorFunction	The function pointer to a static function allowing to access one single-descriptor of a multi-descriptor, must be valid
tMatchingMode	The mode which is used for matching

See also: VocabularyTree::matchMultiDescriptors().

◆ matchMultiDescriptorsSubset()

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

template<typename TMultiDescriptor , const TDescriptor *(*)(const TMultiDescriptor &, const size_t) tMultiDescriptorFunction, VocabularyStructure::MatchingMode tMatchingMode>

void Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::matchMultiDescriptorsSubset	(	const TDescriptor *	candidateDescriptors,
		const TMultiDescriptor *	queryMultiDescriptors,
		const TDistance	maximalDistance,
		Matches *	matches,
		Lock *	lock,
		const unsigned int	firstQueryMultiDescriptor,
		const unsigned int	numberQueryMultiDescriptors
	)		const

protected

Matches a subset of several query multi-descriptors with all forest candidate descriptors.

Parameters

candidateDescriptors	The entire set of tree candidate descriptors which have been used to create the tree, from which the best matching descriptor will be determined, must be valid
queryMultiDescriptors	The query multi-descriptors for which the best matching tree candidate descriptors will be determined, must be valid
maximalDistance	The maximal distance between two matching descriptors, with range [0, infinity)
matches	The resulting matches
lock	Optional lock when executed in multiple threads in parallel, nullptr otherwise
firstQueryMultiDescriptor	The index of the first query multi-descriptor to be handled, with range [0, infinity)
numberQueryMultiDescriptors	The number of query multi-descriptors to be handled, with range [1, infinity)

Template Parameters

TMultiDescriptor	The data type of a multi-descriptor
tMultiDescriptorFunction	The function pointer to a static function allowing to access one single-descriptor of a multi-descriptor, must be valid
tMatchingMode	The mode which is used for matching

Field Documentation

◆ distanceFunction

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

constexpr TDistance(* Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::distanceFunction) (const TDescriptor &, const TDescriptor &) = tDistanceFunction

staticconstexpr

The pointer to the function determining the distance between two descriptors of this forest.

◆ vocabularyTrees_

template<typename TDescriptor , typename TDistance , TDistance(*)(const TDescriptor &, const TDescriptor &) tDistanceFunction>

TVocabularyTrees Ocean::Tracking::VocabularyForest< TDescriptor, TDistance, tDistanceFunction >::vocabularyTrees_

protected

The trees of this forest.

The documentation for this class was generated from the following file:

VocabularyTree.h

Public Types

Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ClustersMeanFunction

◆ Descriptor

◆ Distance

◆ Match

◆ Matches

◆ MultiDescriptorFunction

◆ MultiDescriptorGroupFunction

◆ ReusableData

◆ TDescriptors

◆ TDistances

◆ TVocabularyTree

◆ TVocabularyTrees

Constructor & Destructor Documentation

◆ VocabularyForest() [1/2]

◆ VocabularyForest() [2/2]

Member Function Documentation

◆ matchDescriptor()

◆ matchDescriptors()

◆ matchDescriptorsSubset()

◆ matchMultiDescriptor() [1/2]

◆ matchMultiDescriptor() [2/2]

◆ matchMultiDescriptorGroup()

◆ matchMultiDescriptorGroups()

◆ matchMultiDescriptorGroupsSubset()

◆ matchMultiDescriptors()

◆ matchMultiDescriptorsSubset()

Field Documentation

◆ distanceFunction

◆ vocabularyTrees_