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Add VLAD Similarity Evaluation #1255

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Add VLAD Similarity Evaluation #1255

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34 changes: 27 additions & 7 deletions corelib/src/Signature.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -221,17 +221,37 @@ void Signature::removeVirtualLinks()

float Signature::compareTo(const Signature & s) const
{
UASSERT(this->sensorData().globalDescriptors().size() == s.sensorData().globalDescriptors().size());

float similarity = 0.0f;
const std::multimap<int, int> & words = s.getWords();
int totalDescs = 0;

for(size_t i=0; i<this->sensorData().globalDescriptors().size(); ++i)
{
if(this->sensorData().globalDescriptors()[i].type()==1 && s.sensorData().globalDescriptors()[i].type()==1)
{
similarity += this->sensorData().globalDescriptors()[i].data().dot(s.sensorData().globalDescriptors()[i].data());
totalDescs += 1;
}
}

if(!s.isBadSignature() && !this->isBadSignature())
if(totalDescs)
{
std::list<std::pair<int, std::pair<int, int> > > pairs;
int totalWords = ((int)_words.size()-_invalidWordsCount)>((int)words.size()-s.getInvalidWordsCount())?((int)_words.size()-_invalidWordsCount):((int)words.size()-s.getInvalidWordsCount());
UASSERT(totalWords > 0);
EpipolarGeometry::findPairs(words, _words, pairs);
similarity /= totalDescs;
}
else
{
const std::multimap<int, int> & words = s.getWords();

similarity = float(pairs.size()) / float(totalWords);
if(!s.isBadSignature() && !this->isBadSignature())
{
std::list<std::pair<int, std::pair<int, int> > > pairs;
int totalWords = ((int)_words.size()-_invalidWordsCount)>((int)words.size()-s.getInvalidWordsCount())?((int)_words.size()-_invalidWordsCount):((int)words.size()-s.getInvalidWordsCount());
UASSERT(totalWords > 0);
EpipolarGeometry::findPairs(words, _words, pairs);

similarity = float(pairs.size()) / float(totalWords);
}
}
return similarity;
}
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