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Update inverted index for HashBow

This commit is contained in:
Vladyslav Usenko 2019-08-12 12:48:37 +02:00
parent 4099457045
commit de3e23ce2a
1 changed files with 14 additions and 11 deletions
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17
include/basalt/hash_bow/hash_bow.h
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@ -9,6 +9,7 @@
#include <basalt/utils/common_types.h>
#include <tbb/concurrent_unordered_map.h>
#include <tbb/concurrent_vector.h>
namespace basalt {
@ -61,8 +62,8 @@ class HashBow {
inline void add_to_database(const TimeCamId& tcid,
const HashBowVector& bow_vector) {
for (const auto& kv : bow_vector) {
std::pair<TimeCamId, double> p = std::make_pair(tcid, kv.second);
inverted_index.emplace(kv.first, p);
// std::pair<TimeCamId, double> p = std::make_pair(tcid, kv.second);
inverted_index[kv.first].emplace_back(tcid, kv.second);
}
}
@ -75,13 +76,14 @@ class HashBow {
std::unordered_map<TimeCamId, double, tbb::tbb_hash<TimeCamId>> scores;
for (const auto& kv : bow_vector) {
const auto range_it = inverted_index.equal_range(kv.first);
const auto range_it = inverted_index.find(kv.first);
for (auto it = range_it.first; it != range_it.second; ++it) {
if (range_it != inverted_index.end())
for (const auto& v : range_it->second) {
// if there is a maximum query time select only the frames that have
// timestamp below max_t_ns
if (!max_t_ns || it->second.first.frame_id < (*max_t_ns))
scores[it->second.first] += kv.second * it->second.second;
if (!max_t_ns || v.first.frame_id < (*max_t_ns))
scores[v.first] += kv.second * v.second;
}
}
@ -152,7 +154,8 @@ class HashBow {
size_t num_bits;
tbb::concurrent_unordered_multimap<FeatureHash, std::pair<TimeCamId, double>,
tbb::concurrent_unordered_map<
FeatureHash, tbb::concurrent_vector<std::pair<TimeCamId, double>>,
std::hash<FeatureHash>>
inverted_index;
};