80 lines
1.6 KiB
C
80 lines
1.6 KiB
C
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/**
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* File: FORB.h
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* Date: June 2012
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* Author: Dorian Galvez-Lopez
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* Description: functions for ORB descriptors
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* License: see the LICENSE.txt file
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*
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*/
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#ifndef __D_T_F_ORB__
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#define __D_T_F_ORB__
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#include <opencv2/core/core.hpp>
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#include <vector>
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#include <string>
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#include "FClass.h"
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namespace DBoW2 {
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/// Functions to manipulate ORB descriptors
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class FORB: protected FClass
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{
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public:
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/// Descriptor type
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typedef cv::Mat TDescriptor; // CV_8U
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/// Pointer to a single descriptor
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typedef const TDescriptor *pDescriptor;
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/// Descriptor length (in bytes)
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static const int L;
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/**
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* Calculates the mean value of a set of descriptors
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* @param descriptors
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* @param mean mean descriptor
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*/
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static void meanValue(const std::vector<pDescriptor> &descriptors,
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TDescriptor &mean);
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/**
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* Calculates the distance between two descriptors
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* @param a
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* @param b
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* @return distance
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*/
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static int distance(const TDescriptor &a, const TDescriptor &b);
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/**
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* Returns a string version of the descriptor
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* @param a descriptor
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* @return string version
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*/
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static std::string toString(const TDescriptor &a);
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/**
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* Returns a descriptor from a string
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* @param a descriptor
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* @param s string version
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*/
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static void fromString(TDescriptor &a, const std::string &s);
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/**
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* Returns a mat with the descriptors in float format
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* @param descriptors
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* @param mat (out) NxL 32F matrix
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*/
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static void toMat32F(const std::vector<TDescriptor> &descriptors,
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cv::Mat &mat);
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static void toMat8U(const std::vector<TDescriptor> &descriptors,
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cv::Mat &mat);
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};
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} // namespace DBoW2
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#endif
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