This class implements a Vocabulary Tree for feature descriptors. More...

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

Data Structures
class	ReusableData
	Definition of a class which holds reusable data for internal use. More...

Public Types
typedef TDescriptor	Descriptor
	The descriptor type of this tree. More...

typedef TDistance	Distance
	The distance data type of this tree. More...

typedef NextLargerTyper< TDistance >::TypePerformance	TSumDistances
	The data type of the sum of distances, uint64_t for uint32_t, and float for float. More...

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

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

typedef VocabularyTree< TDescriptor, TDistance, tDistanceFunction >	Node
	Definition of a tree node which is just an alias for the tree (the root node). More...

typedef std::vector< Node * >	Nodes
	Definition of a vector holding tree nodes. More...

typedef std::vector< const Node * >	ConstNodes
	Definition of a vector holding constant tree nodes. More...

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

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

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. More...

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. More...

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. More...

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. More...

Public Member Functions
	VocabularyTree ()=default
	Creates an empty vocabulary tree. More...

	VocabularyTree (VocabularyTree &&vocabularyTree)
	Move constructor. More...

	VocabularyTree (const TDescriptor treeDescriptors, const size_t numberTreeDescriptors, const ClustersMeanFunction &clustersMeanFunction, const Parameters &parameters=Parameters(), Worker worker=nullptr, RandomGenerator *randomGenerator=nullptr)
	Creates a new tree for a known descriptors. More...

	~VocabularyTree ()
	Destructs the vocabulary tree. More...

const Indices32 &	determineBestLeaf (const TDescriptor &descriptor) const
	Determines the leaf best matching with a given descriptor. More...

void	determineBestLeafs (const TDescriptor &descriptor, std::vector< const Indices32 * > &leafs, const TDistance distanceEpsilon=TDistance(0)) const
	Determines the leafs best matching with a given descriptor. More...

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 tree. More...

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 tree. More...

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 tree. More...

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 tree. More...

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 tree. More...

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 tree. More...

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 tree. More...

const TDescriptor &	nodeDescriptor () const
	Returns the descriptor representing this tree/node. More...

const Indices32 &	descriptorIndices () const
	Returns all indices of descriptors which belong to this tree/node. More...

const Nodes &	childNodes () const
	Returns all child nodes of this node/tree. More...

VocabularyTree &	operator= (VocabularyTree &&vocabularyTree)
	Move operator. More...

VocabularyTree &	operator= (const VocabularyTree &vocabularyTree)=delete
	Disabled assign operator. More...

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

Static Public Member Functions
template<unsigned int tSize>
static TDescriptors	determineClustersMeanForBinaryDescriptor (const unsigned int numberClusters, const TDescriptor treeDescriptors, const Index32 descriptorIndices, const Index32 clusterIndicesForDescriptors, const size_t numberDescriptorIndices, Worker worker)
	Determines a binary mean descriptor for each cluster. More...

template<unsigned int tSize>
static TDescriptors	determineClustersMeanForFloatDescriptor (const unsigned int numberClusters, const TDescriptor treeDescriptors, const Index32 descriptorIndices, const Index32 clusterIndicesForDescriptors, const size_t numberDescriptorIndices, Worker worker)
	Determines a float mean descriptor for each cluster. More...

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

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 tree. More...

Protected Member Functions
	VocabularyTree (const VocabularyTree &vocabularyTree)=delete
	Disabled copy constructor. More...

	VocabularyTree (const unsigned int level, const TDescriptor &nodeDescriptor, const Parameters &parameters, const TDescriptor treeDescriptors, Index32 reusableDescriptorIndicesInput, Index32 reusableDescriptorIndicesOutput, const size_t numberDescriptorsIndices, RandomGenerator &randomGenerator, Index32 reusableClusterIndicesForDescriptors, const ClustersMeanFunction &clustersMeanFunction, Worker *worker)
	Creates a new intermediate tree node. More...

	VocabularyTree (const unsigned int level, const TDescriptor &nodeDescriptor, Index32 *descriptorIndices, size_t numberDescriptorsIndices)
	Creates a new leaf node. More...

void	createChildNodes (const unsigned int childNodeLevel, const Parameters &parameters, const TDescriptor treeDescriptors, const TDescriptor clusterCenters, const unsigned int clusterSizes, const size_t numberClusters, Index32 reusableDescriptorIndicesInput, Index32 reusableDescriptorIndicesOutput, const size_t numberDescriptorsIndices, RandomGenerator &randomGenerator, Index32 reusableClusterIndicesForDescriptors, const ClustersMeanFunction &clustersMeanFunction, Worker *worker)
	Creates the new child nodes. More...

TDescriptors	clusterDescriptors (const Parameters &parameters, const TDescriptor treeDescriptors, Index32 reusableDescriptorIndicesInput, Index32 reusableDescriptorIndicesOutput, size_t numberDescriptorsIndices, RandomGenerator &randomGenerator, Index32 clusterIndicesForDescriptors, const ClustersMeanFunction &clustersMeanFunction, Indices32 clusterSizes=nullptr, Worker worker=nullptr)
	Distributes several descriptors into individual clusters. More...

TDescriptors	initialClusters (const Parameters &parameters, const TDescriptor treeDescriptors, Index32 reusableDescriptorIndicesInput, Index32 *reusableDescriptorIndicesOutput, size_t numberDescriptorsIndices, RandomGenerator &randomGenerator)
	Determines the initial clusters based on specified initialization strategy. More...

TDescriptors	initialClustersLargestDistance (const Parameters &parameters, const TDescriptor treeDescriptors, Index32 descriptorIndices, Index32 *reusableIndices, const size_t numberDescriptorsIndices, RandomGenerator &randomGenerator) const
	Determines the initial clusters based on the largest distance between each other. More...

TDescriptors	initialClustersPureRandom (const Parameters &parameters, const TDescriptor treeDescriptors, Index32 descriptorIndices, const size_t numberDescriptorsIndices, RandomGenerator &randomGenerator) const
	Determines the initial cluster based on a pure random choice. More...

void	createChildNodesSubset (const unsigned int childNodeLevel, const Parameters parameters, const TDescriptor treeDescriptors, const TDescriptor clusterCenters, const unsigned int clusterSizes, const size_t numberClusters, Index32 reusableDescriptorIndicesInput, Index32 reusableDescriptorIndicesOutput, const size_t numberDescriptorsIndices, RandomGenerator randomGenerator, Index32 reusableClusterIndicesForDescriptors, const ClustersMeanFunction *clustersMeanFunction, const unsigned int subsetFirstCluster, const unsigned int subsetNumberClusters)
	Creates a subset of the new child nodes. More...

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 tree candidate descriptors. More...

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 tree candidate descriptors. More...

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 tree. More...

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

Static Protected Member Functions
static Indices32	assignDescriptorsToClusters (const TDescriptor clusterCenters, const unsigned int numberClusters, const TDescriptor treeDescriptors, const Index32 descriptorIndices, Index32 clusterIndicesForDescriptors, const size_t numberDescriptorIndices, TSumDistances sumDistances=nullptr, Worker worker=nullptr)
	Assigns descriptors to clusters. More...

static void	assignDescriptorsToClustersSubset (const TDescriptor clusterCenters, const unsigned int numberClusters, const TDescriptor treeDescriptors, const Index32 descriptorIndices, Index32 clusterIndicesForDescriptors, Index32 clusterSizes, TSumDistances sumDistances, Lock *lock, const unsigned int firstDescriptorIndex, const unsigned int numberDescriptorIndices)
	Assigns a subset of descriptors to clusters. More...

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. More...

Protected Attributes
unsigned int	level_ = 0u
	The node's level. More...

TDescriptor	nodeDescriptor_
	The node's descriptor. More...

Indices32	descriptorIndices_
	The indices of the descriptors which are part of this node. More...

Nodes	childNodes_
	The child-nodes of this node. More...

Detailed Description

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

This class implements a Vocabulary Tree for feature descriptors.

Trees will not own the memory of the provided descriptors.
Tree descriptors have to be provided as one memory array and trees store indices to these descriptors only.
The tree descriptors need to exist as long as the corresponding tree exists.

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: VocabularyForest

Member Typedef Documentation

◆ ClustersMeanFunction

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

using Ocean::Tracking::VocabularyTree< 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(), determineClustersMeanForFloatDescriptor().

◆ ConstNodes

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

typedef std::vector<const Node*> Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::ConstNodes

Definition of a vector holding constant tree nodes.

◆ Descriptor

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

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

The descriptor type of this tree.

◆ Distance

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

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

The distance data type of this tree.

◆ Match

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

using Ocean::Tracking::VocabularyTree< 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::VocabularyTree< 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::VocabularyTree< 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::VocabularyTree< 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

◆ Node

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

typedef VocabularyTree<TDescriptor, TDistance, tDistanceFunction> Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::Node

Definition of a tree node which is just an alias for the tree (the root node).

◆ Nodes

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

typedef std::vector<Node*> Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::Nodes

Definition of a vector holding tree nodes.

◆ TDescriptors

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

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

Definition of a vector holding distances.

◆ TSumDistances

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

typedef NextLargerTyper<TDistance>::TypePerformance Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::TSumDistances

The data type of the sum of distances, uint64_t for uint32_t, and float for float.

Constructor & Destructor Documentation

◆ VocabularyTree() [1/6]

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

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

default

Creates an empty vocabulary tree.

◆ VocabularyTree() [2/6]

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

Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::VocabularyTree ( VocabularyTree< TDescriptor, TDistance, tDistanceFunction > && vocabularyTree )

Move constructor.

Parameters

vocabularyTree The vocabulary tree to be moved

◆ VocabularyTree() [3/6]

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

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

Creates a new tree for a known descriptors.

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

Parameters

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 tree, must be valid
worker	Optional worker object to distribute the computation
randomGenerator	Optional explicit random generator object

◆ ~VocabularyTree()

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

Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::~VocabularyTree

Destructs the vocabulary tree.

◆ VocabularyTree() [4/6]

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

Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::VocabularyTree ( const VocabularyTree< TDescriptor, TDistance, tDistanceFunction > & vocabularyTree )

protecteddelete

Disabled copy constructor.

Parameters

vocabularyTree The vocabulary tree to be copied

◆ VocabularyTree() [5/6]

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

Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::VocabularyTree	(	const unsigned int	level,
		const TDescriptor &	nodeDescriptor,
		const Parameters &	parameters,
		const TDescriptor *	treeDescriptors,
		Index32 *	reusableDescriptorIndicesInput,
		Index32 *	reusableDescriptorIndicesOutput,
		const size_t	numberDescriptorsIndices,
		RandomGenerator &	randomGenerator,
		Index32 *	reusableClusterIndicesForDescriptors,
		const ClustersMeanFunction &	clustersMeanFunction,
		Worker *	worker
	)

protected

Creates a new intermediate tree node.

Parameters

level	The current node level, with range [0, infinity)
nodeDescriptor	The descriptor of the new node
parameters	The parameters used to construct the tree node, must be valid
treeDescriptors	The descriptors of the entire tree from which some will be part of this new tree node, must be valid
reusableDescriptorIndicesInput	The indices of the descriptors for which the new node will be created, must be valid
reusableDescriptorIndicesOutput	Memory block of indices with same size as 'reusableDescriptorIndicesInput' which can be re-used internally, must be valid
numberDescriptorsIndices	The number of given indices in 'reusableDescriptorIndicesInput', with range [1, infinity)
randomGenerator	The random generator to be used
reusableClusterIndicesForDescriptors	Memory block of indices with same size as 'reusableDescriptorIndicesInput' which can be reused internally, must be valid
clustersMeanFunction	The function allowing to determine the mean descriptors for individual clusters, must be valid
worker	Optional worker object to distribute the computation

◆ VocabularyTree() [6/6]

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

Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::VocabularyTree	(	const unsigned int	level,
		const TDescriptor &	nodeDescriptor,
		Index32 *	descriptorIndices,
		size_t	numberDescriptorsIndices
	)

protected

Creates a new leaf node.

Parameters

level	The level of the leaf node, with range [0, infinity)
nodeDescriptor	The descriptor of the leaf node
descriptorIndices	The indices of the descriptors which represent the leaf node, must be valid
numberDescriptorsIndices	The number of given descriptor indices, with range [1, infinity)

Member Function Documentation

◆ assignDescriptorsToClusters()

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

Indices32 Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::assignDescriptorsToClusters	(	const TDescriptor *	clusterCenters,
		const unsigned int	numberClusters,
		const TDescriptor *	treeDescriptors,
		const Index32 *	descriptorIndices,
		Index32 *	clusterIndicesForDescriptors,
		const size_t	numberDescriptorIndices,
		TSumDistances *	sumDistances = `nullptr`,
		Worker *	worker = `nullptr`
	)

staticprotected

Assigns descriptors to clusters.

Parameters

clusterCenters	The centers of the clusters to which the descriptors will be assigned, must be valid
numberClusters	The number of clusters, with range [1, infinity)
treeDescriptors	The descriptors of the entire tree from which some will belong to the new clusters, must be valid
descriptorIndices	The indices of the descriptors which need to be assigned, must be valid
clusterIndicesForDescriptors	The resulting cluster indices to which the descriptors have been assigned, must be valid
numberDescriptorIndices	The number of given indices of descriptors which will be assigned to the clusters, with range [1, infinity)
sumDistances	Optional resulting sum of distances between all assigned descriptors and their corresponding cluster centers, nullptr if not of interest
worker	Optional worker to distribute the computation

◆ assignDescriptorsToClustersSubset()

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

void Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::assignDescriptorsToClustersSubset	(	const TDescriptor *	clusterCenters,
		const unsigned int	numberClusters,
		const TDescriptor *	treeDescriptors,
		const Index32 *	descriptorIndices,
		Index32 *	clusterIndicesForDescriptors,
		Index32 *	clusterSizes,
		TSumDistances *	sumDistances,
		Lock *	lock,
		const unsigned int	firstDescriptorIndex,
		const unsigned int	numberDescriptorIndices
	)

staticprotected

Assigns a subset of descriptors to clusters.

Parameters

clusterCenters	The centers of the clusters to which the descriptors will be assigned, must be valid
numberClusters	The number of clusters, with range [1, infinity)
treeDescriptors	The descriptors of the entire tree from which some will belong to the new clusters, must be valid
descriptorIndices	The indices of the descriptors which need to be assigned, must be valid
clusterIndicesForDescriptors	The resulting cluster indices to which the descriptors have been assigned, must be valid
clusterSizes	The sizes of the individual clusters, one for each cluster, must be valid
sumDistances	Optional resulting sum of distances between all assigned descriptors and their corresponding cluster centers, nullptr if not of interest
lock	Optional lock when executed in multiple threads in parallel, nullptr otherwise
firstDescriptorIndex	The first descriptor index to be handled, with range [0, infinity)
numberDescriptorIndices	The number of descriptor indices to be handled, with range [1, infinity)

◆ childNodes()

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

const VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::Nodes & Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::childNodes

inline

Returns all child nodes of this node/tree.

Returns: The node's child nodes, empty for leaf nodes

◆ clusterDescriptors()

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

VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::TDescriptors Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::clusterDescriptors	(	const Parameters &	parameters,
		const TDescriptor *	treeDescriptors,
		Index32 *	reusableDescriptorIndicesInput,
		Index32 *	reusableDescriptorIndicesOutput,
		size_t	numberDescriptorsIndices,
		RandomGenerator &	randomGenerator,
		Index32 *	clusterIndicesForDescriptors,
		const ClustersMeanFunction &	clustersMeanFunction,
		Indices32 *	clusterSizes = `nullptr`,
		Worker *	worker = `nullptr`
	)

protected

Distributes several descriptors into individual clusters.

Parameters

parameters	The parameters used to construct the tree, must be valid
treeDescriptors	The descriptors of the entire tree from which some will be part of the clusters, must be valid
reusableDescriptorIndicesInput	The indices of the descriptors for which the new clusters will be created, must be valid
reusableDescriptorIndicesOutput	Memory block of indices with same size as 'reusableDescriptorIndicesInput' which can be re-used internally, must be valid
numberDescriptorsIndices	The number of provided indices of the tree descriptors, with range [1, infinity)
randomGenerator	The random generator to be used
clusterIndicesForDescriptors	The resulting cluster indices to which the descriptors have been assigned, must be valid
clustersMeanFunction	The function allowing to determine the mean descriptors for individual clusters, must be valid
clusterSizes	Optional resulting sizes of the individual resulting clusters
worker	Optional worker object to distribute the computation

Returns: The descriptors of the centers of the resulting clusters

◆ createChildNodes()

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

void Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::createChildNodes	(	const unsigned int	childNodeLevel,
		const Parameters &	parameters,
		const TDescriptor *	treeDescriptors,
		const TDescriptor *	clusterCenters,
		const unsigned int *	clusterSizes,
		const size_t	numberClusters,
		Index32 *	reusableDescriptorIndicesInput,
		Index32 *	reusableDescriptorIndicesOutput,
		const size_t	numberDescriptorsIndices,
		RandomGenerator &	randomGenerator,
		Index32 *	reusableClusterIndicesForDescriptors,
		const ClustersMeanFunction &	clustersMeanFunction,
		Worker *	worker
	)

protected

Creates the new child nodes.

Parameters

childNodeLevel	The level of the child nodes, with range [1, infinity)
parameters	The parameters used to construct the tree node, must be valid
treeDescriptors	The descriptors of the entire tree from which some will be part of this new tree node, must be valid
clusterCenters	The descriptors of the individual child nodes (the centers of the clusters, one for each child node, must be valid
clusterSizes	The sizes of the individual clusters, one for each cluster, must be valid
numberClusters	The number of clusters and thus the number of child nodes, with range [1, infinity)
reusableDescriptorIndicesInput	The indices of the descriptors for which the new node will be created, must be valid
reusableDescriptorIndicesOutput	Memory block of indices with same size as 'reusableDescriptorIndicesInput' which can be re-used internally, must be valid
numberDescriptorsIndices	The number of given indices in 'reusableDescriptorIndicesInput', with range [1, infinity)
randomGenerator	The random generator to be used
reusableClusterIndicesForDescriptors	Memory block of indices with same size as 'reusableDescriptorIndicesInput' which can be reused internally, must be valid
clustersMeanFunction	The function allowing to determine the mean descriptors for individual clusters, must be valid
worker	Optional worker object to distribute the computation

◆ createChildNodesSubset()

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

void Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::createChildNodesSubset	(	const unsigned int	childNodeLevel,
		const Parameters *	parameters,
		const TDescriptor *	treeDescriptors,
		const TDescriptor *	clusterCenters,
		const unsigned int *	clusterSizes,
		const size_t	numberClusters,
		Index32 *	reusableDescriptorIndicesInput,
		Index32 *	reusableDescriptorIndicesOutput,
		const size_t	numberDescriptorsIndices,
		RandomGenerator *	randomGenerator,
		Index32 *	reusableClusterIndicesForDescriptors,
		const ClustersMeanFunction *	clustersMeanFunction,
		const unsigned int	subsetFirstCluster,
		const unsigned int	subsetNumberClusters
	)

protected

Creates a subset of the new child nodes.

Parameters

childNodeLevel	The level of the child nodes, with range [1, infinity)
parameters	The parameters used to construct the tree node, must be valid
treeDescriptors	The descriptors of the entire tree from which some will be part of this new tree node, must be valid
clusterCenters	The descriptors of the individual child nodes (the centers of the clusters, one for each child node, must be valid
clusterSizes	The sizes of the individual clusters, one for each cluster, must be valid
numberClusters	The number of clusters and thus the number of child nodes, with range [1, infinity)
reusableDescriptorIndicesInput	The indices of the descriptors for which the new node will be created, must be valid
reusableDescriptorIndicesOutput	Memory block of indices with same size as 'reusableDescriptorIndicesInput' which can be re-used internally, must be valid
numberDescriptorsIndices	The number of given indices in 'reusableDescriptorIndicesInput', with range [1, infinity)
randomGenerator	The random generator to be used
reusableClusterIndicesForDescriptors	Memory block of indices with same size as 'reusableDescriptorIndicesInput' which can be reused internally, must be valid
clustersMeanFunction	The function allowing to determine the mean descriptors for individual clusters, must be valid
subsetFirstCluster	The index of the first cluster (the first child node) to be handled, with range [0, numberClusters - 1]
subsetNumberClusters	The number of clusters (child nodes) to be handled, with range [1, numberClusters - subsetFirstCluster]

◆ descriptorIndices()

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

const Indices32 & Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::descriptorIndices

inline

Returns all indices of descriptors which belong to this tree/node.

Returns: The node's descriptors, empty in non-leaf nodes

◆ determineBestLeaf()

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

const Indices32 & Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::determineBestLeaf ( const TDescriptor & descriptor ) const

Determines the leaf best matching with a given descriptor.

Actually this function returns the tree's descriptors within the leaf.

Parameters

descriptor The descriptor for which the best leaf will be determined

Returns: The indices of the descriptors within the leaf

◆ determineBestLeafs()

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

void Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::determineBestLeafs	(	const TDescriptor &	descriptor,
		std::vector< const Indices32 * > &	leafs,
		const TDistance	distanceEpsilon = `TDistance(0)`
	)		const

Determines the leafs best matching with a given descriptor.

Actually this function returns the tree's descriptors within the leafs.

Parameters

descriptor	The descriptor for which the best leafs will be determined
leafs	The resulting groups of indices of the descriptors within the leafs, must be empty when calling
distanceEpsilon	The epsilon distance between the currently best node and node candidates

◆ determineClustersMeanForBinaryDescriptor()

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

template<unsigned int tSize>

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

static

Determines a binary mean descriptor for each cluster.

Parameters

numberClusters	The number of clusters, with range [1, infinity)
treeDescriptors	The descriptors of the entire tree from which some will be part of the clusters, must be valid
descriptorIndices	The indices of the individual descriptors wrt. the given descriptors, must be valid
clusterIndicesForDescriptors	The indices of the clusters to which each individual descriptor belongs (a lookup table with cluster indices), one for each descriptor
numberDescriptorIndices	The number of provided descriptor indices (the number of descriptors which are part of all clusters), must be valid
worker	Optional worker to distribute the computation

Returns: The resulting mean descriptors, one for each cluster

Template Parameters

tSize The number of bits per binary descriptor

◆ determineClustersMeanForFloatDescriptor()

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

template<unsigned int tSize>

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

static

Determines a float mean descriptor for each cluster.

Parameters

numberClusters	The number of clusters, with range [1, infinity)
treeDescriptors	The descriptors of the entire tree from which some will be part of the clusters, must be valid
descriptorIndices	The indices of the individual descriptors wrt. the given descriptors, must be valid
clusterIndicesForDescriptors	The indices of the clusters to which each individual descriptor belongs (a lookup table with cluster indices), one for each descriptor
numberDescriptorIndices	The number of provided descriptor indices (the number of descriptors which are part of all clusters), must be valid
worker	Optional worker to distribute the computation

Returns: The resulting mean descriptors, one for each cluster

Template Parameters

tSize The number of elements per float descriptor

◆ initialClusters()

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

VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::TDescriptors Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::initialClusters	(	const Parameters &	parameters,
		const TDescriptor *	treeDescriptors,
		Index32 *	reusableDescriptorIndicesInput,
		Index32 *	reusableDescriptorIndicesOutput,
		size_t	numberDescriptorsIndices,
		RandomGenerator &	randomGenerator
	)

protected

Determines the initial clusters based on specified initialization strategy.

Parameters

parameters	The parameters used to construct the tree, must be valid
treeDescriptors	The descriptors of the entire tree from which some will be part of the clusters, must be valid
reusableDescriptorIndicesInput	The indices of the descriptors for which the new clusters will be created, must be valid
reusableDescriptorIndicesOutput	Memory block of indices with same size as 'reusableDescriptorIndicesInput' which can be re-used internally, must be valid
numberDescriptorsIndices	The number of provided indices of the tree descriptors, with range [1, infinity)
randomGenerator	The random generator to be used

Returns: The descriptors of the centers of the initial clusters

◆ initialClustersLargestDistance()

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

VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::TDescriptors Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::initialClustersLargestDistance	(	const Parameters &	parameters,
		const TDescriptor *	treeDescriptors,
		Index32 *	descriptorIndices,
		Index32 *	reusableIndices,
		const size_t	numberDescriptorsIndices,
		RandomGenerator &	randomGenerator
	)		const

protected

Determines the initial clusters based on the largest distance between each other.

The first cluster is selected randomly, the following clusters are selected so that they have the largest distance to the existing clusters.

Parameters

parameters	The parameters used to construct the tree, must be valid
treeDescriptors	The descriptors of the entire tree from which some will be part of the clusters, must be valid
descriptorIndices	The indices of the tree descriptors for which the new clusters will be determined, must be valid
reusableIndices	Memory block of indices with same size as 'descsriptorIndices' which can be re-used internally, must be valid
numberDescriptorsIndices	The number of provided indices of the tree descriptors, with range [1, infinity)
randomGenerator	The random generator to be used

Returns: The descriptors of the centers of the initial clusters

◆ initialClustersPureRandom()

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

VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::TDescriptors Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::initialClustersPureRandom	(	const Parameters &	parameters,
		const TDescriptor *	treeDescriptors,
		Index32 *	descriptorIndices,
		const size_t	numberDescriptorsIndices,
		RandomGenerator &	randomGenerator
	)		const

protected

Determines the initial cluster based on a pure random choice.

Parameters

parameters	The parameters used to construct the tree, must be valid
treeDescriptors	The descriptors of the entire tree from which some will be part of the clusters, must be valid
descriptorIndices	The indices of the tree descriptors for which the new clusters will be determined, must be valid
numberDescriptorsIndices	The number of provided indices of the tree descriptors, with range [1, infinity)
randomGenerator	The random generator to be used

Returns: The descriptors of the centers of the initial clusters

◆ matchDescriptor()

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

template<VocabularyStructure::MatchingMode tMatchingMode>

Index32 Ocean::Tracking::VocabularyTree< 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 tree.

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

◆ matchDescriptors()

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

template<VocabularyStructure::MatchingMode tMatchingMode>

void Ocean::Tracking::VocabularyTree< 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 tree.

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

◆ matchDescriptorsSubset()

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

template<VocabularyStructure::MatchingMode tMatchingMode>

void Ocean::Tracking::VocabularyTree< 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 tree 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::VocabularyTree< 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 tree.

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

◆ 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::VocabularyTree< 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 tree.

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).

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

◆ 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::VocabularyTree< 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 tree.

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::VocabularyTree< 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 tree.

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::VocabularyTree< 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 tree.

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::VocabularyTree< 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 tree.

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

◆ 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::VocabularyTree< 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 tree 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

◆ nodeDescriptor()

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

const TDescriptor & Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::nodeDescriptor

inline

Returns the descriptor representing this tree/node.

Returns: The node's descriptor

◆ operator=() [1/2]

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

VocabularyTree& Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::operator= ( const VocabularyTree< TDescriptor, TDistance, tDistanceFunction > & vocabularyTree )

delete

Disabled assign operator.

Parameters

vocabularyTree The vocabulary tree to be copied

Returns: Reference to this object

◆ operator=() [2/2]

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

VocabularyTree< TDescriptor, TDistance, tDistanceFunction > & Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::operator= ( VocabularyTree< TDescriptor, TDistance, tDistanceFunction > && vocabularyTree )

Move operator.

Parameters

vocabularyTree The vocabulary tree to be moved

Returns: Reference to this object

Field Documentation

◆ childNodes_

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

Nodes Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::childNodes_

protected

The child-nodes of this node.

◆ descriptorIndices_

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

Indices32 Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::descriptorIndices_

protected

The indices of the descriptors which are part of this node.

◆ distanceFunction

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

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

staticconstexpr

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

◆ level_

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

unsigned int Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::level_ = 0u

protected

The node's level.

◆ nodeDescriptor_

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

TDescriptor Ocean::Tracking::VocabularyTree< TDescriptor, TDistance, tDistanceFunction >::nodeDescriptor_

protected

The node's descriptor.

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

VocabularyTree.h

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ClustersMeanFunction

◆ ConstNodes

◆ Descriptor

◆ Distance

◆ Match

◆ Matches

◆ MultiDescriptorFunction

◆ MultiDescriptorGroupFunction

◆ Node

◆ Nodes

◆ TDescriptors

◆ TDistances

◆ TSumDistances

Constructor & Destructor Documentation

◆ VocabularyTree() [1/6]

◆ VocabularyTree() [2/6]

◆ VocabularyTree() [3/6]

◆ ~VocabularyTree()

◆ VocabularyTree() [4/6]

◆ VocabularyTree() [5/6]

◆ VocabularyTree() [6/6]

Member Function Documentation

◆ assignDescriptorsToClusters()

◆ assignDescriptorsToClustersSubset()

◆ childNodes()

◆ clusterDescriptors()

◆ createChildNodes()

◆ createChildNodesSubset()

◆ descriptorIndices()

◆ determineBestLeaf()

◆ determineBestLeafs()

◆ determineClustersMeanForBinaryDescriptor()

◆ determineClustersMeanForFloatDescriptor()

◆ initialClusters()

◆ initialClustersLargestDistance()

◆ initialClustersPureRandom()

◆ matchDescriptor()

◆ matchDescriptors()

◆ matchDescriptorsSubset()

◆ matchMultiDescriptor() [1/2]

◆ matchMultiDescriptor() [2/2]

◆ matchMultiDescriptorGroup()

◆ matchMultiDescriptorGroups()

◆ matchMultiDescriptorGroupsSubset()

◆ matchMultiDescriptors()

◆ matchMultiDescriptorsSubset()

◆ nodeDescriptor()

◆ operator=() [1/2]

◆ operator=() [2/2]

Field Documentation

◆ childNodes_

◆ descriptorIndices_

◆ distanceFunction

◆ level_

◆ nodeDescriptor_

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