opencv/modules/contrib/src/chowliutree.cpp

/*M///////////////////////////////////////////////////////////////////////////////////////
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// This file originates from the openFABMAP project:
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// Original Algorithm by Mark Cummins and Paul Newman:
// [http://ijr.sagepub.com/content/27/6/647.short]
// [http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5613942]
// [http://ijr.sagepub.com/content/30/9/1100.abstract]
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// Copyright (C) 2012 Arren Glover [aj.glover@qut.edu.au] and
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#include "precomp.hpp"
#include "opencv2/contrib/openfabmap.hpp"

namespace cv {

namespace of2 {

ChowLiuTree::ChowLiuTree() {
}

ChowLiuTree::~ChowLiuTree() {
}

void ChowLiuTree::add(const Mat& imgDescriptor) {
    CV_Assert(!imgDescriptor.empty());
    if (!imgDescriptors.empty()) {
        CV_Assert(imgDescriptors[0].cols == imgDescriptor.cols);
        CV_Assert(imgDescriptors[0].type() == imgDescriptor.type());
    }

    imgDescriptors.push_back(imgDescriptor);

}

void ChowLiuTree::add(const vector<Mat>& _imgDescriptors) {
    for (size_t i = 0; i < _imgDescriptors.size(); i++) {
        add(_imgDescriptors[i]);
    }
}

const std::vector<cv::Mat>& ChowLiuTree::getImgDescriptors() const {
    return imgDescriptors;
}

Mat ChowLiuTree::make(double infoThreshold) {
    CV_Assert(!imgDescriptors.empty());

    unsigned int descCount = 0;
    for (size_t i = 0; i < imgDescriptors.size(); i++)
        descCount += imgDescriptors[i].rows;

    mergedImgDescriptors = cv::Mat(descCount, imgDescriptors[0].cols,
        imgDescriptors[0].type());
    for (size_t i = 0, start = 0; i < imgDescriptors.size(); i++)
    {
        Mat submut = mergedImgDescriptors.rowRange((int)start,
            (int)(start + imgDescriptors[i].rows));
        imgDescriptors[i].copyTo(submut);
        start += imgDescriptors[i].rows;
    }

    std::list<info> edges;
    createBaseEdges(edges, infoThreshold);

    // TODO: if it cv_asserts here they really won't know why.

    CV_Assert(reduceEdgesToMinSpan(edges));

    return buildTree(edges.front().word1, edges);
}

double ChowLiuTree::P(int a, bool za) {

    if(za) {
        return (0.98 * cv::countNonZero(mergedImgDescriptors.col(a)) /
            mergedImgDescriptors.rows) + 0.01;
    } else {
        return 1 - ((0.98 * cv::countNonZero(mergedImgDescriptors.col(a)) /
            mergedImgDescriptors.rows) + 0.01);
    }

}
double ChowLiuTree::JP(int a, bool za, int b, bool zb) {

    double count = 0;
    for(int i = 0; i < mergedImgDescriptors.rows; i++) {
        if((mergedImgDescriptors.at<float>(i,a) > 0) == za &&
            (mergedImgDescriptors.at<float>(i,b) > 0) == zb) {
                count++;
        }
    }
    return count / mergedImgDescriptors.rows;

}
double ChowLiuTree::CP(int a, bool za, int b, bool zb){

    int count = 0, total = 0;
    for(int i = 0; i < mergedImgDescriptors.rows; i++) {
        if((mergedImgDescriptors.at<float>(i,b) > 0) == zb) {
            total++;
            if((mergedImgDescriptors.at<float>(i,a) > 0) == za) {
                count++;
            }
        }
    }
    if(total) {
        return (double)(0.98 * count)/total + 0.01;
    } else {
        return (za) ? 0.01 : 0.99;
    }
}

cv::Mat ChowLiuTree::buildTree(int root_word, std::list<info> &edges) {

    int q = root_word;
    cv::Mat cltree(4, (int)edges.size()+1, CV_64F);

    cltree.at<double>(0, q) = q;
    cltree.at<double>(1, q) = P(q, true);
    cltree.at<double>(2, q) = P(q, true);
    cltree.at<double>(3, q) = P(q, true);
    //setting P(zq|zpq) to P(zq) gives the root node of the chow-liu
    //independence from a parent node.

    //find all children and do the same
    vector<int> nextqs = extractChildren(edges, q);

    int pq = q;
    vector<int>::iterator nextq;
    for(nextq = nextqs.begin(); nextq != nextqs.end(); nextq++) {
        recAddToTree(cltree, *nextq, pq, edges);
    }

    return cltree;


}

void ChowLiuTree::recAddToTree(cv::Mat &cltree, int q, int pq,
                               std::list<info>& remaining_edges) {

    cltree.at<double>(0, q) = pq;
    cltree.at<double>(1, q) = P(q, true);
    cltree.at<double>(2, q) = CP(q, true, pq, true);
    cltree.at<double>(3, q) = CP(q, true, pq, false);

    //find all children and do the same
    vector<int> nextqs = extractChildren(remaining_edges, q);

    pq = q;
    vector<int>::iterator nextq;
    for(nextq = nextqs.begin(); nextq != nextqs.end(); nextq++) {
        recAddToTree(cltree, *nextq, pq, remaining_edges);
    }
}

vector<int> ChowLiuTree::extractChildren(std::list<info> &remaining_edges, int q) {

    std::vector<int> children;
    std::list<info>::iterator edge = remaining_edges.begin();

    while(edge != remaining_edges.end()) {
        if(edge->word1 == q) {
            children.push_back(edge->word2);
            edge = remaining_edges.erase(edge);
            continue;
        }
        if(edge->word2 == q) {
            children.push_back(edge->word1);
            edge = remaining_edges.erase(edge);
            continue;
        }
        edge++;
    }

    return children;
}

bool ChowLiuTree::sortInfoScores(const info& first, const info& second) {
    return first.score > second.score;
}

double ChowLiuTree::calcMutInfo(int word1, int word2) {
    double accumulation = 0;

    double P00 = JP(word1, false, word2, false);
    if(P00) accumulation += P00 * log(P00 / (P(word1, false)*P(word2, false)));

    double P01 = JP(word1, false, word2, true);
    if(P01) accumulation += P01 * log(P01 / (P(word1, false)*P(word2, true)));

    double P10 = JP(word1, true, word2, false);
    if(P10) accumulation += P10 * log(P10 / (P(word1, true)*P(word2, false)));

    double P11 = JP(word1, true, word2, true);
    if(P11) accumulation += P11 * log(P11 / (P(word1, true)*P(word2, true)));

    return accumulation;
}

void ChowLiuTree::createBaseEdges(std::list<info>& edges, double infoThreshold) {

    int nWords = imgDescriptors[0].cols;
    info mutInfo;

    for(int word1 = 0; word1 < nWords; word1++) {
        for(int word2 = word1 + 1; word2 < nWords; word2++) {
            mutInfo.word1 = (short)word1;
            mutInfo.word2 = (short)word2;
            mutInfo.score = (float)calcMutInfo(word1, word2);
            if(mutInfo.score >= infoThreshold)
            edges.push_back(mutInfo);
        }
    }
    edges.sort(sortInfoScores);
}

bool ChowLiuTree::reduceEdgesToMinSpan(std::list<info>& edges) {

    std::map<int, int> groups;
    std::map<int, int>::iterator groupIt;
    for(int i = 0; i < imgDescriptors[0].cols; i++) groups[i] = i;
    int group1, group2;

    std::list<info>::iterator edge = edges.begin();
    while(edge != edges.end()) {
        if(groups[edge->word1] != groups[edge->word2]) {
            group1 = groups[edge->word1];
            group2 = groups[edge->word2];
            for(groupIt = groups.begin(); groupIt != groups.end(); groupIt++)
            if(groupIt->second == group2) groupIt->second = group1;
            edge++;
        } else {
            edge = edges.erase(edge);
        }
    }

    if(edges.size() != (unsigned int)imgDescriptors[0].cols - 1) {
        return false;
    } else {
        return true;
    }

}

}

}