GAAS

/**
 * File: Vocabulary.h
 * Date: February 2011
 * Author: Dorian Galvez-Lopez
 * Description: templated vocabulary 
 * License: see the LICENSE.txt file
 *
 */

#ifndef __D_T__VOCABULARY__
#define __D_T__VOCABULARY__

#include <cassert>

#include <vector>
#include <numeric>
#include <fstream>
#include <iostream>
#include <string>
#include <algorithm>
#include <opencv2/core/core.hpp>
#include "../src/exports.h"
#include "../src/FeatureVector.h"
#include "../src/BowVector.h"
#include "../src/ScoringObject.h"
#include <limits>
namespace DBoW3 {
///   Vocabulary
class DBOW_API Vocabulary
{		
friend class FastSearch;
public:
  
  /**
   * Initiates an empty vocabulary
   * @param k branching factor
   * @param L depth levels
   * @param weighting weighting type
   * @param scoring scoring type
   */
  Vocabulary(int k = 10, int L = 5,
    WeightingType weighting = TF_IDF, ScoringType scoring = L1_NORM);
  
  /**
   * Creates the vocabulary by loading a file
   * @param filename
   */
  Vocabulary(const std::string &filename);
  
  /**
   * Creates the vocabulary by loading a file
   * @param filename
   */
  Vocabulary(const char *filename);
  
  /**
   * Creates the vocabulary by loading an input stream
   * @param filename
   */
  Vocabulary(std::istream &filename);
  
  /** 
   * Copy constructor
   * @param voc
   */
  Vocabulary(const Vocabulary &voc);
  
  /**
   * Destructor
   */
  virtual ~Vocabulary();
  
  /** 
   * Assigns the given vocabulary to this by copying its data and removing
   * all the data contained by this vocabulary before
   * @param voc
   * @return reference to this vocabulary
   */
  Vocabulary& operator=(
    const Vocabulary &voc);
  
  /**
   * Creates a vocabulary from the training features with the already
   * defined parameters
   * @param training_features
   */
  virtual void create
    (const std::vector<std::vector<cv::Mat> > &training_features);
  /**
   * Creates a vocabulary from the training features with the already
   * defined parameters
   * @param training_features. Each row of a matrix is a feature
   */
   virtual void create
    (const  std::vector<cv::Mat>   &training_features);

  /**
   * Creates a vocabulary from the training features, setting the branching
   * factor and the depth levels of the tree
   * @param training_features
   * @param k branching factor
   * @param L depth levels
   */
  virtual void create
    (const std::vector<std::vector<cv::Mat> > &training_features,
      int k, int L);

  /**
   * Creates a vocabulary from the training features, setting the branching
   * factor nad the depth levels of the tree, and the weighting and scoring
   * schemes
   */
  virtual void create
    (const std::vector<std::vector<cv::Mat> > &training_features,
      int k, int L, WeightingType weighting, ScoringType scoring);

  /**
   * Returns the number of words in the vocabulary
   * @return number of words
   */
  virtual inline unsigned int size() const{  return (unsigned int)m_words.size();}

  
  /**
   * Returns whether the vocabulary is empty (i.e. it has not been trained)
   * @return true iff the vocabulary is empty
   */
  virtual inline bool empty() const{ return m_words.empty();}

  /** Clears the vocabulary object
   */
  void clear();
  /**
   * Transforms a set of descriptores into a bow vector
   * @param features
   * @param v (out) bow vector of weighted words
   */
  virtual void transform(const std::vector<cv::Mat>& features, BowVector &v)
    const;
  /**
   * Transforms a set of descriptores into a bow vector
   * @param features, one per row
   * @param v (out) bow vector of weighted words
   */
  virtual void transform(const  cv::Mat & features, BowVector &v)
    const;
  /**
   * Transform a set of descriptors into a bow vector and a feature vector
   * @param features
   * @param v (out) bow vector
   * @param fv (out) feature vector of nodes and feature indexes
   * @param levelsup levels to go up the vocabulary tree to get the node index
   */
  virtual void transform(const std::vector<cv::Mat>& features,
    BowVector &v, FeatureVector &fv, int levelsup) const;

  /**
   * Transforms a single feature into a word (without weight)
   * @param feature
   * @return word id
   */
  virtual WordId transform(const cv::Mat& feature) const;
  
  /**
   * Returns the score of two vectors
   * @param a vector
   * @param b vector
   * @return score between vectors
   * @note the vectors must be already sorted and normalized if necessary
   */
  double score(const BowVector &a, const BowVector &b) const{    return m_scoring_object->score(a, b);}

  /**
   * Returns the id of the node that is "levelsup" levels from the word given
   * @param wid word id
   * @param levelsup 0..L
   * @return node id. if levelsup is 0, returns the node id associated to the
   *   word id
   */
  virtual NodeId getParentNode(WordId wid, int levelsup) const;
  
  /**
   * Returns the ids of all the words that are under the given node id,
   * by traversing any of the branches that goes down from the node
   * @param nid starting node id
   * @param words ids of words
   */
  void getWordsFromNode(NodeId nid, std::vector<WordId> &words) const;
  
  /**
   * Returns the branching factor of the tree (k)
   * @return k
   */
  inline int getBranchingFactor() const { return m_k; }
  
  /** 
   * Returns the depth levels of the tree (L)
   * @return L
   */
  inline int getDepthLevels() const { return m_L; }
  
  /**
   * Returns the real depth levels of the tree on average
   * @return average of depth levels of leaves
   */
  float getEffectiveLevels() const;
  
  /**
   * Returns the descriptor of a word
   * @param wid word id
   * @return descriptor
   */
  virtual inline cv::Mat getWord(WordId wid) const;
  
  /**
   * Returns the weight of a word
   * @param wid word id
   * @return weight
   */
  virtual inline WordValue getWordWeight(WordId wid) const;
  
  /** 
   * Returns the weighting method
   * @return weighting method
   */
  inline WeightingType getWeightingType() const { return m_weighting; }
  
  /** 
   * Returns the scoring method
   * @return scoring method
   */
  inline ScoringType getScoringType() const { return m_scoring; }
  
  /**
   * Changes the weighting method
   * @param type new weighting type
   */
  inline void setWeightingType(WeightingType type);
  
  /**
   * Changes the scoring method
   * @param type new scoring type
   */
  void setScoringType(ScoringType type);
  
  /**
   * Saves the vocabulary into a file. If filename extension contains .yml, opencv YALM format is used. Otherwise, binary format is employed
   * @param filename
   */
  void save(const std::string &filename, bool binary_compressed=true) const;

  /**
   * Loads the vocabulary from a file created with save
   * @param filename.
   */
  void load(const std::string &filename);

  /**
   * Loads the vocabulary from an input stream created with save
   * @param stream.
   */
  bool load(std::istream &stream);

  /** 
   * Saves the vocabulary to a file storage structure
   * @param fn node in file storage
   */
  virtual void save(cv::FileStorage &fs, 
    const std::string &name = "vocabulary") const;
  
  /**
   * Loads the vocabulary from a file storage node
   * @param fn first node
   * @param subname name of the child node of fn where the tree is stored.
   *   If not given, the fn node is used instead
   */  
  virtual void load(const cv::FileStorage &fs, 
    const std::string &name = "vocabulary");

  /** 
   * Stops those words whose weight is below minWeight.
   * Words are stopped by setting their weight to 0. There are not returned
   * later when transforming image features into vectors.
   * Note that when using IDF or TF_IDF, the weight is the idf part, which
   * is equivalent to -log(f), where f is the frequency of the word
   * (f = Ni/N, Ni: number of training images where the word is present, 
   * N: number of training images).
   * Note that the old weight is forgotten, and subsequent calls to this 
   * function with a lower minWeight have no effect.
   * @return number of words stopped now
   */
  virtual int stopWords(double minWeight);


  /** Returns the size of the descriptor employed. If the Vocabulary is empty, returns -1
   */
  int getDescritorSize()const;
  /** Returns the type of the descriptor employed normally(8U_C1, 32F_C1)
   */
  int getDescritorType()const;
  //io to-from a stream
  void toStream(  std::ostream &str, bool compressed=true) const throw(std::exception);
  void fromStream(  std::istream &str )   throw(std::exception);

 protected:

  ///  reference to descriptor
  typedef const cv::Mat pDescriptor;

  /// Tree node
  struct Node 
  {
    /// Node id
    NodeId id;
    /// Weight if the node is a word
    WordValue weight;
    /// Children 
    std::vector<NodeId> children;
    /// Parent node (undefined in case of root)
    NodeId parent;
    /// Node descriptor
    cv::Mat descriptor;

    /// Word id if the node is a word
    WordId word_id;

    /**
     * Empty constructor
     */
    Node(): id(0), weight(0), parent(0), word_id(0){}
    
    /**
     * Constructor
     * @param _id node id
     */
    Node(NodeId _id): id(_id), weight(0), parent(0), word_id(0){}

    /**
     * Returns whether the node is a leaf node
     * @return true iff the node is a leaf
     */
    inline bool isLeaf() const { return children.empty(); }
  };

protected:

  /**
   * Creates an instance of the scoring object accoring to m_scoring
   */
  void createScoringObject();

  /** 
   * Returns a set of pointers to descriptores
   * @param training_features all the features
   * @param features (out) pointers to the training features
   */
  void getFeatures(const std::vector<std::vector<cv::Mat> > &training_features,
    std::vector<cv::Mat> &features) const;

  /**
   * Returns the word id associated to a feature
   * @param feature
   * @param id (out) word id
   * @param weight (out) word weight
   * @param nid (out) if given, id of the node "levelsup" levels up
   * @param levelsup
   */
  virtual void transform(const cv::Mat &feature,
    WordId &id, WordValue &weight, NodeId* nid  , int levelsup = 0) const;
  /**
   * Returns the word id associated to a feature
   * @param feature
   * @param id (out) word id
   * @param weight (out) word weight
   * @param nid (out) if given, id of the node "levelsup" levels up
   * @param levelsup
   */
  virtual void transform(const cv::Mat &feature,
    WordId &id, WordValue &weight ) const;

  /**
   * Returns the word id associated to a feature
   * @param feature
   * @param id (out) word id
   */
  virtual void transform(const cv::Mat &feature, WordId &id) const;
      
  /**
   * Creates a level in the tree, under the parent, by running kmeans with
   * a descriptor set, and recursively creates the subsequent levels too
   * @param parent_id id of parent node
   * @param descriptors descriptors to run the kmeans on
   * @param current_level current level in the tree
   */
  void HKmeansStep(NodeId parent_id, const std::vector<cv::Mat> &descriptors,
    int current_level);

  /**
   * Creates k clusters from the given descriptors with some seeding algorithm.
   * @note In this class, kmeans++ is used, but this function should be
   *   overriden by inherited classes.
   */
  virtual void initiateClusters(const std::vector<cv::Mat> &descriptors,
    std::vector<cv::Mat> &clusters) const;
  
  /**
   * Creates k clusters from the given descriptor sets by running the
   * initial step of kmeans++
   * @param descriptors 
   * @param clusters resulting clusters
   */
  void initiateClustersKMpp(const std::vector<cv::Mat> &descriptors,
    std::vector<cv::Mat> &clusters) const;
  
  /**
   * Create the words of the vocabulary once the tree has been built
   */
  void createWords();
  
  /**
   * Sets the weights of the nodes of tree according to the given features.
   * Before calling this function, the nodes and the words must be already
   * created (by calling HKmeansStep and createWords)
   * @param features
   */
  void setNodeWeights(const std::vector<std::vector<cv::Mat> > &features);
  

  /**
   * Writes printable information of the vocabulary
   * @param os stream to write to
   * @param voc
   */
   DBOW_API friend std::ostream& operator<<(std::ostream &os,  const Vocabulary &voc);

   /**Loads from ORBSLAM txt files
    */
   void load_fromtxt(const std::string &filename)throw(std::runtime_error);

protected:

  /// Branching factor
  int m_k;
  
  /// Depth levels 
  int m_L;
  
  /// Weighting method
  WeightingType m_weighting;
  
  /// Scoring method
  ScoringType m_scoring;
  
  /// Object for computing scores
  GeneralScoring* m_scoring_object;
  
  /// Tree nodes
  std::vector<Node> m_nodes;
  
  /// Words of the vocabulary (tree leaves)
  /// this condition holds: m_words[wid]->word_id == wid
  std::vector<Node*> m_words;
public:
  //for debug (REMOVE)
  inline Node* getNodeWord(uint32_t idx){return m_words[idx];}

};


} // namespace DBoW3

#endif