input to vocabularyComparison

[lynnsky]

How can I get a dictionary file as the input to vocabularyComparison.exe?
By the way,where can I see information of UDEBUG("Time to create kdTreeIndex4 = %f s", timer.ticks());

[matlabbe]

The format is the same as the file DumpMemoryWordDesc.txt when you dump the memory (Edit->Advanced->Dump the memory). To see the log messages, you should start the application from the console.

For now, vocabularyComparison.exe will only work with dictionary using float descriptors (SIFT or SURF). You may use 0.10.10 as I just fixed an exporting crash bug in 0.11.

For example, using the exported dictionary DumpMemoryWordDesc.txt:

$ vocabularyComparison.exe DumpMemoryWordDesc.txt
[DEBUG] (2016-05-05 11:32:35.667) main.cpp:79::main() Loading the dictionary from "DumpMemoryWordDesc.txt"
[DEBUG] (2016-05-05 11:32:51.260) main.cpp:144::main() Time loading dictionary = 15.593227s, dimension=64
[DEBUG] (2016-05-05 11:32:51.261) main.cpp:157::main() Creating data structures...
[DEBUG] (2016-05-05 11:32:51.262) main.cpp:185::main() descriptors.size()=2792, objectDescriptorsSize=400, copying data = 0.001221 s
[DEBUG] (2016-05-05 11:32:51.262) main.cpp:187::main() Creating indexes...
[DEBUG] (2016-05-05 11:32:51.265) main.cpp:189::main() Time to create linearIndex = 0.002998 s
[DEBUG] (2016-05-05 11:32:51.269) main.cpp:192::main() Time to create kdTreeIndex1 = 0.004752 s
[DEBUG] (2016-05-05 11:32:51.283) main.cpp:195::main() Time to create kdTreeIndex4 = 0.013089 s
[DEBUG] (2016-05-05 11:32:51.396) main.cpp:198::main() Time to create kMeansIndex = 0.113059 s
[DEBUG] (2016-05-05 11:32:51.501) main.cpp:201::main() Time to create compositeIndex = 0.105632 s
[DEBUG] (2016-05-05 11:32:51.501) main.cpp:207::main() Search indexes...
[DEBUG] (2016-05-05 11:32:51.563) main.cpp:215::main() Time to search linearIndex = 0.061898 s
[DEBUG] (2016-05-05 11:32:51.567) main.cpp:230::main() Time to search kdTreeIndex1 = 0.003748 s (size=400, dist error(k1,k2)=(0.000249,0.000333))
[DEBUG] (2016-05-05 11:32:51.573) main.cpp:245::main() Time to search kdTreeIndex4 = 0.005760 s (size=400, dist error(k1,k2)=(0.000236,0.000270))
[DEBUG] (2016-05-05 11:32:51.578) main.cpp:260::main() Time to search kMeansIndex = 0.005466 s (size=400, dist error(k1,k2)=(0.000089,0.000082))
[DEBUG] (2016-05-05 11:32:51.584) main.cpp:275::main() Time to search compositeIndex = 0.005525 s (size=400, dist error(k1,k2)=(0.000071,0.000080))

Dictionary Format is one line header with descriptor dimension (e.g., 64), then "WordID d[0] d[1] ... d[63]":

WordID Descriptors...64
1 0.000189 -0.003662 0.003686 0.005446 -0.013637 -0.015411 0.015540 0.022084 0.058712 -0.006057 0.062436 0.006169 0.000274 -0.000117 0.000280 0.000262 0.002735 -0.008792 0.003191 0.015704 -0.052450 -0.072957 0.061925 0.097124 0.412357 -0.064487 0.441145 0.065206 0.001510 -0.001717 0.001510 0.001921 0.003088 0.046359 0.004489 0.069307 0.017021 0.345333 0.030938 0.553175 0.203921 0.147982 0.205702 0.216885 0.002734 -0.005917 0.002734 0.005917 0.000149 -0.013798 0.000776 0.013902 0.021332 -0.046979 0.021799 0.046979 -0.017301 -0.041189 0.018357 0.041234 -0.000566 -0.014872 0.001689 0.015059 
2 -0.000646 0.006341 0.000656 0.006394 -0.006894 0.054988 0.006894 0.055223 -0.003616 0.066334 0.004897 0.066794 0.000544 0.008586 0.001192 0.008586 0.003731 -0.033549 0.006944 0.052717 0.008945 -0.327264 0.069178 0.401798 0.179218 -0.201747 0.186884 0.225109 -0.001410 0.003245 0.001410 0.003353 -0.002580 0.003034 0.005642 0.011606 -0.182668 0.006761 0.187635 0.050461 0.475801 0.082491 0.477092 0.083148 -0.001959 0.000471 0.001959 0.001079 0.001589 0.003220 0.002318 0.003360 -0.018043 0.009317 0.046160 0.015602 0.057782 0.010420 0.058523 0.010505 -0.000321 -0.000110 0.000321 0.000217 
...

cheers

[lynnsky]

Thank your for your help.When I dump the memory ,RTABmap.exe stop working,did't generate file like DumpMemoryWordDesc.txt.I use settingsAppearanceDemo.iniwithL6Idataset.The dictionary size (about1.4W)is smaller than paper 5.2W.

[matlabbe]

Are you compiling the latest code from source? (as you have vocabularyComparison.exe). Make sure you updated the code to have this fix #79. If it is still crashing after recompiling, let me know.

If I run the 0.10.10 Windows binaries, I can export and the vocabulary is around 1.5K words. The difference with the paper is the parameters. You should use parameters specified on the Benchmark page for each dataset if you want to compare with the paper. Well, the files are saved directly in My Documents (there is a little bug with the file name, which is also fixed in the commit above).

[lynnsky]

I use version 0.11.2.Now I compile the latest code from source.I find in file Memory.cpp and Odometry.cpp
The follow statements have function overload problem,leading to generatertabmap_core.lib failed.
double log2value= log(preDecimation)/log(2);
Now I can generate DumpMemoryWordDesc.txt successfully.
Thanks for your help.