WAIOrbVocabulary.h

Go to the documentation of this file.

/**
 * \file      WAIOrbVocabulary.h
 * \authors   Michael Goettlicher
 * \date      April 2018
//  Codestyle: https://github.com/cpvrlab/SLProject/wiki/Coding-Style-Guidelines
 * \authors   Marcus Hudritsch
 * \copyright http://opensource.org/licenses/GPL-3.0
*/
 
#ifndef WAI_ORBVOCABULARY_H
#define WAI_ORBVOCABULARY_H
#define USE_FBOW 1
 
#include <string>
#include <WAIHelper.h>
 
#if USE_FBOW
#    include <fbow.h>
#    include <vocabulary_creator.h>
#else
#    include <orb_slam/ORBVocabulary.h>
#endif
 
struct WAIBowVector
{
    bool isFill = false;
    WAIBowVector(){};
    WAIBowVector(std::vector<int> wid, std::vector<float> values);
#if USE_FBOW
    fbow::fBow  data;
    fbow::fBow& getWordScoreMapping() { return data; }
#else
    DBoW2::BowVector          data;
    DBoW2::BowVector&         getWordScoreMapping() { return data; }
#endif
};
 
struct WAIFeatVector
{
    WAIFeatVector(){};
    bool isFill = false;
#if USE_FBOW
    fbow::fBow2  data;
    fbow::fBow2& getFeatMapping() { return data; }
#else
    DBoW2::FeatureVector      data;
    DBoW2::FeatureVector&     getFeatMapping() { return data; }
#endif
};
 
class WAI_API WAIOrbVocabulary
{
public:
    WAIOrbVocabulary(int layer = 2);
    ~WAIOrbVocabulary();
    void loadFromFile(std::string strVocFile);
    void create(std::vector<cv::Mat>& features, int k, int l);
 
#if USE_FBOW
    fbow::Vocabulary* _vocabulary = nullptr;
#else
    ORB_SLAM2::ORBVocabulary* _vocabulary = nullptr;
#endif
    void   transform(const cv::Mat& descriptors, WAIBowVector& bow, WAIFeatVector& feat);
    double score(WAIBowVector& bow1, WAIBowVector& bow2);
    size_t size();
    void   save(std::string path);
    void   setLayer(int layer) { _layer = layer; }
 
private:
    int _layer;
};
 
#endif // !WAI_ORBVOCABULARY_H