vocab_tree.h

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/*
 * Copyright 2011-2012 Noah Snavely, Cornell University
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#ifndef SPARSE_MAPPING_VOCAB_TREE_H_
#define SPARSE_MAPPING_VOCAB_TREE_H_
 
#include <google/protobuf/io/zero_copy_stream_impl.h>
 
#include <vector>
#include <string>
#include <map>
 
namespace cv {
  class Mat;
}
 
namespace sparse_mapping {
  class SparseMap;
  class BinaryDB;
  class FloatDB;
 
  // A class for holding a vocab database of features.
  struct VocabDB {
    // There can be only one type of database now:
    // - DBoW2 binary descriptors (e.g., BRISK, BRIEF)
    // Only one of these is active at one time.
    BinaryDB  * binary_db;
 
    int m_num_nodes;
    VocabDB();
    ~VocabDB();
    void SaveProtobuf(google::protobuf::io::ZeroCopyOutputStream* output) const;
    void LoadProtobuf(google::protobuf::io::ZeroCopyInputStream* input, int db_type);
  };
 
  void DBSanityChecks(std::string const& db_type,
                      std::string const& descriptor);
 
  void BuildDB(std::string const& map_file,
               std::string const& descriptor,
               int depth, int branching_factor, int restarts);
 
  void ResetDB(VocabDB* db);
 
  // Query similar images from database
  void QueryDB(std::string const& descriptor, VocabDB* vocab_db, int num_similar, cv::Mat const& descriptors,
               std::vector<int>* indices, std::vector<double>* scores);
 
  void BuildDBforDBoW2(sparse_mapping::SparseMap* map,
                       std::string const& descriptor,
                       int depth, int branching_factor, int restarts);
}  // namespace sparse_mapping
 
#endif  // SPARSE_MAPPING_VOCAB_TREE_H_