int
naiveNearestNeighbor( const float* vec, int laplacian,
const CvSeq* model_keypoints,
const CvSeq* model_descriptors )
{
int length = (int)(model_descriptors->elem_size/sizeof(float));
int i, neighbor = -1;
double d, dist1 = 1e6, dist2 = 1e6;
CvSeqReader reader, kreader;
cvStartReadSeq( model_keypoints, &kreader, 0 );
cvStartReadSeq( model_descriptors, &reader, 0 );
for( i = 0; i < model_descriptors->total; i++ )
{
const CvSURFPoint* kp = (const CvSURFPoint*)kreader.ptr;
const float* mvec = (const float*)reader.ptr;
CV_NEXT_SEQ_ELEM( kreader.seq->elem_size, kreader );
CV_NEXT_SEQ_ELEM( reader.seq->elem_size, reader );
if( laplacian != kp->laplacian )
continue;
d = compareSURFDescriptors( vec, mvec, dist2, length );
if( d < dist1 )
{
dist2 = dist1;
dist1 = d;
neighbor = i;
}
else if ( d < dist2 )
dist2 = d;
}
if ( dist1 < 0.6*dist2 )
return neighbor;
return -1;
}
int ObjectAspect::naiveNearestNeighbor(const float* vec,
const std::vector<cv::KeyPoint>& model_keypoints,
const float* model_descriptors, const std::map<int,int>& imageMap2D3D) {
// length of descriptor
const int LENGTH = 64;
int neighbor = -1;
double d = 0.;
double dist1 = DBL_MAX, dist2 = DBL_MAX;
for(size_t i = 0; i < model_keypoints.size(); i++ ) {
if(imageMap2D3D.find(i)==imageMap2D3D.end())
continue;
const float* mvec = &model_descriptors[i*64];
d = compareSURFDescriptors( vec, mvec, dist2, LENGTH );
if( d < dist1 ) {
dist2 = dist1;
dist1 = d;
neighbor = i;
}
else if ( d < dist2 )
dist2 = d;
}
if ( dist1 < 0.6*dist2 )
return neighbor;
return -1;
}
