C++中set用法详解

C++中set用法详解

参考链接

C++中set用法详解

set原因

当数据元素增多时，set的插入和搜索速度变化如何？

如果你知道log2的关系你应该就彻底了解这个答案。在set中查找是使用二分查找，也就是说，如果有16个元素，最多需要比较4次就能找到结果，有32个元素，最多比较5次。那么有10000个呢？最多比较的次数为log10000，最多为14次，如果是20000个元素呢？最多不过15次。看见了吧，当数据量增大一倍的时候，搜索次数只不过多了1次，多了1/14的搜索时间而已。你明白这个道理后，就可以安心往里面放入元素了。

工程范例（较乱，笔记）

 set<MapPoint*> sFound;
 
  //遍历所有内点
  for(int j=0; j<np; j++)
  {
      if(vbInliers[j])
      {
          mCurrentFrame.mvpMapPoints[j]=vvpMapPointMatches[i][j];
          sFound.insert(vvpMapPointMatches[i][j]);
      }
      else
          mCurrentFrame.mvpMapPoints[j]=NULL;
  }


int nadditional =matcher2.SearchByProjection(
    mCurrentFrame,          //当前帧
    vpCandidateKFs[i],      //关键帧
    sFound,                 //已经找到的地图点集合
    10,                     //窗口阈值
    100);                   //ORB描述子距离

int ORBmatcher::SearchByProjection(Frame &CurrentFrame, KeyFrame *pKF, const set<MapPoint*> &sAlreadyFound, const float th , const int ORBdist)
{
    int nmatches = 0;
    const cv::Mat Rcw = CurrentFrame.mTcw.rowRange(0,3).colRange(0,3);
    const cv::Mat tcw = CurrentFrame.mTcw.rowRange(0,3).col(3);
    const cv::Mat Ow = -Rcw.t()*tcw;

    // Rotation Histogram (to check rotation consistency)
    vector<int> rotHist[HISTO_LENGTH];
    for(int i=0;i<HISTO_LENGTH;i++)
        rotHist[i].reserve(500);
    const float factor = HISTO_LENGTH/360.0f;

    const vector<MapPoint*> vpMPs = pKF->GetMapPointMatches();

    // 遍历关键帧中的每个地图点
    for(size_t i=0, iend=vpMPs.size(); i<iend; i++)
    {
        MapPoint* pMP = vpMPs[i];

        if(pMP)
        {
            if(!pMP->isBad() && !sAlreadyFound.count(pMP))
            {
                //Project
                cv::Mat x3Dw = pMP->GetWorldPos();
                cv::Mat x3Dc = Rcw*x3Dw+tcw;

                const float xc = x3Dc.at<float>(0);
                const float yc = x3Dc.at<float>(1);
                const float invzc = 1.0/x3Dc.at<float>(2);

                const float u = CurrentFrame.fx*xc*invzc+CurrentFrame.cx;
                const float v = CurrentFrame.fy*yc*invzc+CurrentFrame.cy;

                if(u<CurrentFrame.mnMinX || u>CurrentFrame.mnMaxX)
                    continue;
                if(v<CurrentFrame.mnMinY || v>CurrentFrame.mnMaxY)
                    continue;

                // Compute predicted scale level
                cv::Mat PO = x3Dw-Ow;
                float dist3D = cv::norm(PO);
                const float maxDistance = pMP->GetMaxDistanceInvariance();
                const float minDistance = pMP->GetMinDistanceInvariance();
                // Depth must be inside the scale pyramid of the image
                if(dist3D<minDistance || dist3D>maxDistance)
                    continue;
                int nPredictedLevel = pMP->PredictScale(dist3D,&CurrentFrame);
                const float radius = th*CurrentFrame.mvScaleFactors[nPredictedLevel];


                const vector<size_t> vIndices2 = CurrentFrame.GetFeaturesInArea(u, v, radius, nPredictedLevel-1, nPredictedLevel+1);

                if(vIndices2.empty())
                    continue;

                const cv::Mat dMP = pMP->GetDescriptor();

                int bestDist = 256;
                int bestIdx2 = -1;

                for(vector<size_t>::const_iterator vit=vIndices2.begin(); vit!=vIndices2.end(); vit++)
                {
                    const size_t i2 = *vit;
                    if(CurrentFrame.mvpMapPoints[i2])
                        continue;

                    const cv::Mat &d = CurrentFrame.mDescriptors.row(i2);

                    const int dist = DescriptorDistance(dMP,d);

                    if(dist<bestDist)
                    {
                        bestDist=dist;
                        bestIdx2=i2;
                    }
                }

                if(bestDist<=ORBdist)
                {
                    CurrentFrame.mvpMapPoints[bestIdx2]=pMP;
                    nmatches++;
                    if(mbCheckOrientation)
                    {
                        float rot = pKF->mvKeysUn[i].angle-CurrentFrame.mvKeysUn[bestIdx2].angle;
                        if(rot<0.0)
                            rot+=360.0f;
                        int bin = round(rot*factor);
                        if(bin==HISTO_LENGTH)
                            bin=0;
                        assert(bin>=0 && bin<HISTO_LENGTH);
                        rotHist[bin].push_back(bestIdx2);
                    }
                }

            }
        }
    }

    if(mbCheckOrientation)
    {
        int ind1=-1;
        int ind2=-1;
        int ind3=-1;

        ComputeThreeMaxima(rotHist,HISTO_LENGTH,ind1,ind2,ind3);

        for(int i=0; i<HISTO_LENGTH; i++)
        {
            if(i!=ind1 && i!=ind2 && i!=ind3)
            {
                for(size_t j=0, jend=rotHist[i].size(); j<jend; j++)
                {
                    CurrentFrame.mvpMapPoints[rotHist[i][j]]=NULL;
                    nmatches--;
                }
            }
        }
    }
    return nmatches;
}