EXPORTED int flann_find_nearest_neighbors_index(FLANN_INDEX index_ptr, float* testset, int tcount, int* result, float* dists, int nn, int checks, FLANNParameters* flann_params)
{
try {
init_flann_parameters(flann_params);
if (index_ptr==NULL) {
throw FLANNException("Invalid index");
}
NNIndexPtr index = NNIndexPtr(index_ptr);
int length = index->veclen();
StartStopTimer t;
t.start();
Params searchParams;
searchParams["checks"] = checks;
Dataset<int> result_set(tcount, nn, result);
Dataset<float> dists_set(tcount, nn, dists);
search_for_neighbors(*index, Dataset<float>(tcount, length, testset), result_set, dists_set, searchParams);
t.stop();
logger.info("Searching took %g seconds\n",t.value);
return 0;
}
catch(runtime_error& e) {
logger.error("Caught exception: %s\n",e.what());
return -1;
}
}
EXPORTED FLANN_INDEX flann_build_index(float* dataset, int rows, int cols, float* speedup, FLANNParameters* flann_params)
{
try {
if (flann_params == NULL) {
throw FLANNException("The index_params agument must be non-null");
}
init_flann_parameters(flann_params);
DatasetPtr inputData = new Dataset<float>(rows,cols,dataset);
float target_precision = flann_params->target_precision;
NNIndex* index = NULL;
if (flann_params->target_precision < 0) {
Params params = parametersToParams(*flann_params);
logger.info("Building index\n");
index = create_index((flann_algorithm_t)(int)params["algorithm"],*inputData,params);
StartStopTimer t;
t.start();
index->buildIndex();
t.stop();
logger.info("Building index took: %g\n",t.value);
}
else {
if (flann_params->build_weight < 0) {
throw FLANNException("The index_params.build_weight must be positive.");
}
if (flann_params->memory_weight < 0) {
throw FLANNException("The index_params.memory_weight must be positive.");
}
Autotune autotuner(flann_params->build_weight, flann_params->memory_weight, flann_params->sample_fraction);
Params params = autotuner.estimateBuildIndexParams(*inputData, target_precision);
index = create_index((flann_algorithm_t)(int)params["algorithm"],*inputData,params);
index->buildIndex();
autotuner.estimateSearchParams(*index,*inputData,target_precision,params);
paramsToParameters(params, flann_params);
if (speedup != NULL) {
*speedup = float(params["speedup"]);
}
}
return index;
}
catch (runtime_error& e) {
logger.error("Caught exception: %s\n",e.what());
return NULL;
}
}
EXPORTED int flann_find_nearest_neighbors(float* dataset, int rows, int cols, float* testset, int tcount, int* result, float* dists, int nn, FLANNParameters* flann_params)
{
try {
init_flann_parameters(flann_params);
DatasetPtr inputData = new Dataset<float>(rows,cols,dataset);
float target_precision = flann_params->target_precision;
StartStopTimer t;
NNIndexPtr index;
if (target_precision < 0) {
Params params = parametersToParams(*flann_params);
logger.info("Building index\n");
index = create_index((flann_algorithm_t)(int)params["algorithm"],*inputData,params);
t.start();
index->buildIndex();
t.stop();
logger.info("Building index took: %g\n",t.value);
}
else {
logger.info("Build index: %g\n", flann_params->build_weight);
Autotune autotuner(flann_params->build_weight, flann_params->memory_weight, flann_params->sample_fraction);
Params params = autotuner.estimateBuildIndexParams(*inputData, target_precision);
index = create_index((flann_algorithm_t)(int)params["algorithm"],*inputData,params);
index->buildIndex();
autotuner.estimateSearchParams(*index,*inputData,target_precision,params);
paramsToParameters(params, flann_params);
}
logger.info("Finished creating the index.\n");
logger.info("Searching for nearest neighbors.\n");
Params searchParams;
searchParams["checks"] = flann_params->checks;
Dataset<int> result_set(tcount, nn, result);
Dataset<float> dists_set(tcount, nn, dists);
search_for_neighbors(*index, Dataset<float>(tcount, cols, testset), result_set, dists_set, searchParams);
delete index;
delete inputData;
return 0;
}
catch(runtime_error& e) {
logger.error("Caught exception: %s\n",e.what());
return -1;
}
}
float search_with_ground_truth(NNIndex& index, const Matrix<float>& inputData, const Matrix<float>& testData, const Matrix<int>& matches, int nn, int checks, float& time, float& dist, int skipMatches)
{
if (matches.cols<nn) {
logger.info("matches.cols=%d, nn=%d\n",matches.cols,nn);
throw FLANNException("Ground truth is not computed for as many neighbors as requested");
}
KNNResultSet resultSet(nn+skipMatches);
SearchParams searchParams(checks);
int correct = 0;
float distR = 0;
StartStopTimer t;
int repeats = 0;
while (t.value<0.2) {
repeats++;
t.start();
correct = 0;
distR = 0;
for (int i = 0; i < testData.rows; i++) {
float* target = testData[i];
resultSet.init(target, testData.cols);
index.findNeighbors(resultSet,target, searchParams);
int* neighbors = resultSet.getNeighbors();
neighbors = neighbors+skipMatches;
correct += countCorrectMatches(neighbors,matches[i], nn);
distR += computeDistanceRaport(inputData, target,neighbors,matches[i], testData.cols, nn);
}
t.stop();
}
time = (float)(t.value/repeats);
float precicion = (float)correct/(nn*testData.rows);
dist = distR/(testData.rows*nn);
logger.info("%8d %10.4g %10.5g %10.5g %10.5g\n",
checks, precicion, time, 1000.0 * time / testData.rows, dist);
return precicion;
}
DemoScene( unsigned int windowWidth,
unsigned int windowHeight,
bool fullscreen,
unsigned int multisample ) :
time(0.0f),
fps(0.0f),
dt(0.0f),
drawHelp(true),
needToTakeScreenshot(false)
{
Engine* engine = Engine::Instance();
// setup graphics
{
using namespace slon::scene;
using namespace slon::animation;
// setup logging
{
log::currentLogManager().redirectOutput("database", "database_log.txt");
log::currentLogManager().redirectOutput("graphics", "graphics_log.txt");
}
GraphicsManager& graphicsManager = engine->getGraphicsManager();
graphicsManager.setVideoMode(windowWidth, windowHeight, 32, fullscreen, false, multisample);
// create renderer
{
ForwardRendererDesc desc;
desc.useDepthPass = true;
desc.makeDepthMap = true;
desc.useDebugRender = true;
Renderer* renderer = graphicsManager.initRenderer(desc);
renderer->connectPostRenderCallback( boost::bind(&DemoScene::OnPostRender, this, _1) );
}
#ifdef WIN32
FreeConsole();
#endif
// create world
realm::World* world = realm::currentWorld();
realm::location_ptr location(new realm::BVHLocation);
world->addLocation(location);
// Create skybox
SkyBox* skyBox = new SkyBox();
{
const std::string SKY_BOX_MAPS[6] =
{
"Data/SkyBox/sunset_west.jpg",
"Data/SkyBox/sunset_east.jpg",
"Data/SkyBox/sunset_up.jpg",
"Data/SkyBox/sunset_down.jpg",
"Data/SkyBox/sunset_south.jpg",
"Data/SkyBox/sunset_north.jpg"
};
skyBox->MakeFromSideTextures(SKY_BOX_MAPS);
}
world->addInfiniteNode(skyBox);
// create scene
{
database::library_ptr library = database::loadLibrary("Data/Models/troll.DAE");
location->add(library->visualScenes.begin()->second.get());
database::Library::key_animation_map animations = library->animations;
if ( !animations.empty() )
{
StartStopTimer* timer = new StartStopTimer();
timer->start();
animations.begin()->second->play(timer);
}
// create light
scene::DirectionalLight* light = new DirectionalLight();
light->setDirection( normalize( Vector3f(-1.5f, -0.1f, 0.85f) ) );
light->setColor( Vector4f(0.8f, 0.8f, 0.8f, 1.0f) );
light->setAmbient(0.3f);
light->setIntensity(1.5f);
world->addInfiniteNode(light);
}
// Create camera
{
sgl::rectangle viewport(0, 0, windowWidth, windowHeight);
camera.reset( createMainCamera(viewport) );
graphicsManager.addCamera( camera.get() );
}
camera->setPosition( Vector3f(60.0f, 20.0f, 0.0f) );
camera->setDirection( Vector3f(-1.0f, -1.0f, 1.0f) );
camera->setUp( Vector3f(0.0f, 1.0f, 0.0f) );
// create font
font.reset( currentDevice()->CreateFont() );
{
sgl::Image* image = currentDevice()->CreateImage();
image->LoadFromFile("Data/Fonts/font.png");
font->SetTexture( image->CreateTexture2D() );
}
}
// setup input
{
using boost::bind;
using namespace slon::input;
using namespace slon::thread;
InputManager& inputManager = engine->getInputManager();
inputManager.showCursor(false);
// fix cursor in the window center
Vector2ui cursorPosition = screenSize / 2 ;
inputManager.setCursorPosition(cursorPosition.x, cursorPosition.y);
inputManager.fixCursorPosition(cursorPosition.x, cursorPosition.y);
keyboardHandler.reset( new KeyboardHandler() );
inputManager.addInputHandler( keyboardHandler.get() );
keyboardHandler->connectKeyPressEventHandler( input::KEY_F1, bind(&DemoScene::toggleHelpText, this) );
keyboardHandler->connectKeyPressEventHandler( input::KEY_F2, bind(&DemoScene::toggleWireframe, this) );
keyboardHandler->connectKeyPressEventHandler( input::KEY_F9, bind(&DemoScene::takeScreenShot, this) );
keyboardHandler->connectKeyPressEventHandler( input::KEY_ESCAPE, bind(&DemoScene::stopDemo, this) );
keyboardHandler->connectKeyDownHandler( input::KEY_w, bind(&DemoScene::flyCamera, this, math::Vector3f( 0.0f, 0.0f, 10.0f)) );
keyboardHandler->connectKeyDownHandler( input::KEY_s, bind(&DemoScene::flyCamera, this, math::Vector3f( 0.0f, 0.0f, -10.0f)) );
keyboardHandler->connectKeyDownHandler( input::KEY_d, bind(&DemoScene::flyCamera, this, math::Vector3f( 10.0f, 0.0f, 0.0f)) );
keyboardHandler->connectKeyDownHandler( input::KEY_a, bind(&DemoScene::flyCamera, this, math::Vector3f(-10.0f, 0.0f, 0.0f)) );
keyboardHandler->connectKeyDownHandler( input::KEY_q, bind(&DemoScene::flyCamera, this, math::Vector3f( 0.0f, 10.0f, 0.0f)) );
keyboardHandler->connectKeyDownHandler( input::KEY_e, bind(&DemoScene::flyCamera, this, math::Vector3f( 0.0f, -10.0f, 0.0f)) );
// setup mouse input
MouseHandler* mouseHandler = new MouseHandler();
inputManager.addInputHandler(mouseHandler);
mouseHandler->connectRelativeMouseMotionEventHandler( bind(&DemoScene::turnCamera, this, _1, _2) );
}
Engine::DESC desc;
desc.multithreaded = false;
desc.grabInput = true;
engine->run(desc);
}
