Class FClass

pose_graph/ThirdParty/DBoW/FClass.h:25–64

Generic class to encapsulate functions to manage descriptors. * This class must be inherited. Derived classes can be used as the * parameter F when creating Templated structures * (TemplatedVocabulary, TemplatedDatabase, ...) */

 * (TemplatedVocabulary, TemplatedDatabase, ...)
 */
class FClass {
  class TDescriptor;
  typedef const TDescriptor* pDescriptor;

  /**
   * Calculates the mean value of a set of descriptors
   * @param descriptors
   * @param mean mean descriptor
   */
  virtual void meanValue(const std::vector<pDescriptor>& descriptors, TDescriptor& mean) = 0;

  /**
   * Calculates the distance between two descriptors
   * @param a
   * @param b
   * @return distance
   */
  static double distance(const TDescriptor& a, const TDescriptor& b);

  /**
   * Returns a string version of the descriptor
   * @param a descriptor
   * @return string version
   */
  static std::string toString(const TDescriptor& a);

  /**
   * Returns a descriptor from a string
   * @param a descriptor
   * @param s string version
   */
  static void fromString(TDescriptor& a, const std::string& s);

  /**
   * Returns a mat with the descriptors in float format
   * @param descriptors
   * @param mat (out) NxL 32F matrix
   */
  static void toMat32F(const std::vector<TDescriptor>& descriptors, cv::Mat& mat);
};

}  // namespace DBoW2