/**
?*?File:?BowVector.cpp
?*?Date:?March?2011
?*?Author:?Dorian?Galvez-Lopez
?*?Description:?bag?of?words?vector
?*?License:?see?the?LICENSE.txt?file
?*
?*/

#include?
#include?
#include?
#include?
#include?

#include?“BowVector.h“

namespace?DBoW2?{

//?--------------------------------------------------------------------------

BowVector::BowVector（void）
{
}

//?--------------------------------------------------------------------------

BowVector::~BowVector（void）
{
}

//?--------------------------------------------------------------------------

void?BowVector::addWeight（WordId?id?WordValue?v）
{
??BowVector::iterator?vit?=?this->lower_bound（id）;
??
??if（vit?!=?this->end（）?&&?!（this->key_comp（）（id?vit->first）））
??{
????vit->second?+=?v;
??}
??else
??{
????this->insert（vit?BowVector::value_type（id?v））;
??}
}

//?--------------------------------------------------------------------------

void?BowVector::addIfNotExist（WordId?id?WordValue?v）
{
??BowVector::iterator?vit?=?this->lower_bound（id）;
??
??if（vit?==?this->end（）?||?（this->key_comp（）（id?vit->first）））
??{
????this->insert（vit?BowVector::value_type（id?v））;
??}
}

//?--------------------------------------------------------------------------

void?BowVector::normalize（LNorm?norm_type）
{
??double?norm?=?0.0;?
??BowVector::iterator?it;

??if（norm_type?==?DBoW2::L1）
??{
????for（it?=?begin（）;?it?!=?end（）;?++it）
??????norm?+=?fabs（it->second）;
??}
??else
??{
????for（it?=?begin（）;?it?!=?end（）;?++it）
??????norm?+=?it->second?*?it->second;
		norm?=?sqrt（norm）;??
??}

??if（norm?>?0.0）
??{
????for（it?=?begin（）;?it?!=?end（）;?++it）
??????it->second?/=?norm;
??}
}

//?--------------------------------------------------------------------------

std::ostream&?operator<{
??BowVector::const_iterator?vit;
??std::vector::const_iterator?iit;
??unsigned?int?i?=?0;?
??const?unsigned?int?N?=?v.size（）;
??for（vit?=?v.begin（）;?vit?!=?v.end（）;?++vit?++i）
??{
????out?<first?<second?<“;
????
????if（i???}
??return?out;
}

//?--------------------------------------------------------------------------

void?BowVector::saveM（const?std::string?&filename?size_t?W）?const
{
??std::fstream?f（filename.c_str（）?std::ios::out）;
??
??WordId?last?=?0;
??BowVector::const_iterator?bit;
??for（bit?=?this->begin（）;?bit?!=?this->end（）;?++bit）
??{
????for（;?last?first;?++last）
????{
??????f?<????}
????f?<second?<????
????last?=?bit->first?+?1;
??}
??for（;?last?????f?<??
??f.close（）;
}

//?--------------------------------------------------------------------------

}?//?namespace?DBoW2

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-10-11?04:43??ORB_SLAM2-master\
?????文件?????????552??2017-10-11?04:43??ORB_SLAM2-master\.gitignore
?????文件????????2932??2017-10-11?04:43??ORB_SLAM2-master\CMakeLists.txt
?????文件????????1789??2017-10-11?04:43??ORB_SLAM2-master\Dependencies.md
?????目錄???????????0??2017-10-11?04:43??ORB_SLAM2-master\Examples\
?????目錄???????????0??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\
?????文件????????1855??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC.yaml
?????目錄???????????0??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC_TimeStamps\
?????文件???????73640??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC_TimeStamps\MH01.txt
?????文件???????60800??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC_TimeStamps\MH02.txt
?????文件???????54000??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC_TimeStamps\MH03.txt
?????文件???????40660??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC_TimeStamps\MH04.txt
?????文件???????45460??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC_TimeStamps\MH05.txt
?????文件???????58240??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC_TimeStamps\V101.txt
?????文件???????34200??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC_TimeStamps\V102.txt
?????文件???????42980??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC_TimeStamps\V103.txt
?????文件???????45600??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC_TimeStamps\V201.txt
?????文件???????46960??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC_TimeStamps\V202.txt
?????文件???????38440??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\EuRoC_TimeStamps\V203.txt
?????文件????????1820??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\KITTI00-02.yaml
?????文件????????1821??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\KITTI03.yaml
?????文件????????1822??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\KITTI04-12.yaml
?????文件????????1875??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\TUM1.yaml
?????文件????????1876??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\TUM2.yaml
?????文件????????1813??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\TUM3.yaml
?????文件????????4547??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\mono_euroc.cc
?????文件????????4606??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\mono_kitti.cc
?????文件????????4457??2017-10-11?04:43??ORB_SLAM2-master\Examples\Monocular\mono_tum.cc
?????目錄???????????0??2017-10-11?04:43??ORB_SLAM2-master\Examples\RGB-D\
?????文件????????2075??2017-10-11?04:43??ORB_SLAM2-master\Examples\RGB-D\TUM1.yaml
?????文件????????2076??2017-10-11?04:43??ORB_SLAM2-master\Examples\RGB-D\TUM2.yaml
............此處省略224個文件信息