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-rw-r--r--vcpkg/ports/dbow3/add-cstdint.diff19
-rw-r--r--vcpkg/ports/dbow3/fix_cmake.patch2147
-rw-r--r--vcpkg/ports/dbow3/portfile.cmake37
-rw-r--r--vcpkg/ports/dbow3/vcpkg.json25
4 files changed, 2228 insertions, 0 deletions
diff --git a/vcpkg/ports/dbow3/add-cstdint.diff b/vcpkg/ports/dbow3/add-cstdint.diff
new file mode 100644
index 0000000..69648b4
--- /dev/null
+++ b/vcpkg/ports/dbow3/add-cstdint.diff
@@ -0,0 +1,19 @@
+diff --git a/Lib/include/DBow3/BowVector.h b/Lib/include/DBow3/BowVector.h
+index cdbf517..90862b9 100644
+--- a/Lib/include/DBow3/BowVector.h
++++ b/Lib/include/DBow3/BowVector.h
+@@ -10,13 +10,11 @@
+ #ifndef __D_T_BOW_VECTOR__
+ #define __D_T_BOW_VECTOR__
+
++#include <cstdint>
+ #include <map>
+ #include <vector>
+ #include <ostream>
+ #include "exports.h"
+-#if _WIN32
+-#include <cstdint>
+-#endif
+ namespace DBoW3 {
+
+ /// Id of words
diff --git a/vcpkg/ports/dbow3/fix_cmake.patch b/vcpkg/ports/dbow3/fix_cmake.patch
new file mode 100644
index 0000000..81b6a7e
--- /dev/null
+++ b/vcpkg/ports/dbow3/fix_cmake.patch
@@ -0,0 +1,2147 @@
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,268 +1,25 @@
+-# ----------------------------------------------------------------------------
+-# Basic Configuration
+-# ----------------------------------------------------------------------------
+-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
++cmake_minimum_required(VERSION 3.10)
+
+-set(CMAKE_CXX_STANDARD 11)
++project(DBow3 VERSION 1.0.0)
+
+-PROJECT(DBoW3)
+-set(PROJECT_VERSION "0.0.1")
+-string(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}")
+-list(GET PROJECT_VERSION_PARTS 0 PROJECT_VERSION_MAJOR)
+-list(GET PROJECT_VERSION_PARTS 1 PROJECT_VERSION_MINOR)
+-list(GET PROJECT_VERSION_PARTS 2 PROJECT_VERSION_PATCH)
+-set(PROJECT_SOVERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
++option(BUILD_EXAMPLES "Set to ON to build examples" OFF)
++option(BUILD_TESTS "Set to ON to build tests" OFF)
++option(BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON)
+
+-message("LIB_INSTALL_DIR: ${LIB_INSTALL_DIR}")
++# OpenCV
++option(USE_OPENCV_CONTRIB "Set on to use opencv-contrib" ON)
+
+-#------------------------------------------------------
+-# Build type
+-#------------------------------------------------------
++# Optimization
++option(USE_SIMD "Set on to enabel avx optimization" ON)
+
+-IF(NOT CMAKE_BUILD_TYPE )
+- SET( CMAKE_BUILD_TYPE "Release" )
+-ENDIF()
+
+-#------------------------------------------------------
+-# Lib Names and Dirs
+-#------------------------------------------------------
++add_subdirectory(Lib)
+
+-if(WIN32)
+- # Postfix of DLLs:
+- SET(PROJECT_DLLVERSION "${PROJECT_VERSION_MAJOR}${PROJECT_VERSION_MINOR}${PROJECT_VERSION_PATCH}")
+- SET(RUNTIME_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin CACHE PATH "Directory for dlls and binaries")
+- SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin CACHE PATH "Directory for binaries")
+- SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin CACHE PATH "Directory for dlls")
+-else()
+- # Postfix of so's:
+- set(PROJECT_DLLVERSION)
+- set(LIB_INSTALL_DIR lib CACHE STRING "Install location of libraries (e.g. lib32 or lib64 for multilib installations)")
+- SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}/cmake/ /usr/${LIB_INSTALL_DIR}/cmake )
+-endif()
++if(BUILD_EXAMPLES)
++ add_subdirectory(examples)
++endif(BUILD_EXAMPLES)
+
++if(BUILD_TESTS)
++ add_subdirectory(tests)
++endif(BUILD_TESTS)
+
+-
+-#
+-OPTION(BUILD_UTILS "Set to OFF to not build utils" ON)
+-OPTION(USE_CONTRIB "Set to ON if contrib are installed" OFF)
+-OPTION(BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON)
+-
+-# ----------------------------------------------------------------------------
+-# Find Dependencies
+-# ----------------------------------------------------------------------------
+-find_package(OpenCV REQUIRED)
+-IF(USE_CONTRIB)
+-add_definitions(-DUSE_CONTRIB)
+-ENDIF()
+-if(NOT OpenCV_VERSION VERSION_LESS "3.0")
+- ADD_DEFINITIONS(-DOPENCV_VERSION_3)
+- SET(OPENCV_VERSION_3 ON)
+-ELSE()
+- SET(OPENCV_VERSION_3 OFF)
+-ENDIF()
+-
+-include_directories(${OpenCV_INCLUDE_DIRS})
+-
+-SET(REQUIRED_LIBRARIES ${REQUIRED_LIBRARIES} ${OpenCV_LIBS})
+-
+-# ----------------------------------------------------------------------------
+-# PROJECT CONFIGURATION
+-# force some variables that could be defined in the command line to be written to cache
+-# ----------------------------------------------------------------------------
+-OPTION(INSTALL_DOC "Set to ON to build/install Documentation" OFF)
+-IF (INSTALL_DOC)
+- FIND_PACKAGE(Doxygen REQUIRED)
+- MESSAGE( STATUS "INSTALL_DOC: ${INSTALL_DOC} ")
+- INCLUDE("${PROJECT_SOURCE_DIR}/generateDoc.cmake")
+- GENERATE_DOCUMENTATION(${PROJECT_SOURCE_DIR}/dox.in)
+-ENDIF()
+-
+-# ----------------------------------------------------------------------------
+-# Uninstall target, for "make uninstall"
+-# ----------------------------------------------------------------------------
+-CONFIGURE_FILE( "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY)
+-ADD_CUSTOM_TARGET(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
+-
+-# ----------------------------------------------------------------------------
+-# create configuration file from .in file (If you use windows take care with paths)
+-# ----------------------------------------------------------------------------
+-
+-CONFIGURE_FILE("${PROJECT_SOURCE_DIR}/config.cmake.in" "${PROJECT_BINARY_DIR}/Find${PROJECT_NAME}.cmake")
+-CONFIGURE_FILE("${PROJECT_SOURCE_DIR}/config.cmake.in" "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")
+-INSTALL(FILES "${PROJECT_BINARY_DIR}/Find${PROJECT_NAME}.cmake" DESTINATION ${LIB_INSTALL_DIR}/cmake/ )
+-INSTALL(FILES "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" DESTINATION ${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME} )
+-
+-
+-
+-
+-# ----------------------------------------------------------------------------
+-# Program Optimization and debug (Extracted from OpenCV)
+-# ----------------------------------------------------------------------------
+-set(WARNINGS_ARE_ERRORS OFF CACHE BOOL "Treat warnings as errors")
+-set(WHOLE_PROGRAM_OPTIMIZATION OFF CACHE BOOL "Flags for whole program optimization.")
+-
+-set(EXTRA_C_FLAGS "")
+-set(EXTRA_C_FLAGS_RELEASE "")
+-set(EXTRA_C_FLAGS_DEBUG "")
+-set(EXTRA_EXE_LINKER_FLAGS "")
+-set(EXTRA_EXE_LINKER_FLAGS_RELEASE "")
+-set(EXTRA_EXE_LINKER_FLAGS_DEBUG "")
+-
+-IF(CMAKE_COMPILER_IS_GNUCXX OR MINGW)
+- set(ENABLE_PROFILING OFF CACHE BOOL "Enable profiling in the GCC compiler (Add flags: -g -pg)")
+- set(USE_OMIT_FRAME_POINTER ON CACHE BOOL "Enable -fomit-frame-pointer for GCC")
+- if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm*) # We can use only -O2 because the -O3 causes gcc crash
+- set(USE_O2 ON CACHE BOOL "Enable -O2 for GCC")
+- set(USE_FAST_MATH OFF CACHE BOOL "Enable -ffast-math for GCC")
+- endif()
+- if(${CMAKE_SYSTEM_PROCESSOR} MATCHES powerpc*)
+- set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
+- set(USE_POWERPC ON CACHE BOOL "Enable PowerPC for GCC")
+- endif ()
+- if(${CMAKE_SYSTEM_PROCESSOR} MATCHES amd64* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64*)
+- set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
+- set(USE_FAST_MATH OFF CACHE BOOL "Enable -ffast-math for GCC")
+- set(USE_MMX ON CACHE BOOL "Enable MMX for GCC")
+- set(USE_SSE ON CACHE BOOL "Enable SSE for GCC")
+- set(USE_SSE2 ON CACHE BOOL "Enable SSE2 for GCC")
+- set(USE_SSE3 ON CACHE BOOL "Enable SSE3 for GCC")
+- endif()
+- if(${CMAKE_SYSTEM_PROCESSOR} MATCHES i686* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES x86)
+- set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
+- set(USE_FAST_MATH OFF CACHE BOOL "Enable -ffast-math for GCC")
+- set(USE_MMX ON CACHE BOOL "Enable MMX for GCC")
+- set(USE_SSE OFF CACHE BOOL "Enable SSE for GCC")
+- set(USE_SSE2 OFF CACHE BOOL "Enable SSE2 for GCC")
+- set(USE_SSE3 OFF CACHE BOOL "Enable SSE3 for GCC")
+- endif ()
+-
+- set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Wall")
+-
+- if(WARNINGS_ARE_ERRORS)
+- set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Werror")
+- endif()
+-
+- # The -Wno-long-long is required in 64bit systems when including sytem headers.
+- if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES amd64*)
+- set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Wno-long-long")
+- endif()
+-
+- # Whole program optimization
+- if(WHOLE_PROGRAM_OPTIMIZATION)
+- set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -fwhole-program --combine")
+- endif()
+-
+- # Other optimizations
+- if(USE_OMIT_FRAME_POINTER)
+- set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -fomit-frame-pointer")
+- endif()
+- if(USE_O2)
+- set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -O2")
+- endif()
+- if(USE_O3)
+- set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -O3")
+- endif()
+- if(USE_FAST_MATH)
+- set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -ffast-math")
+- endif()
+- if(USE_POWERPC)
+- set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -mcpu=G3 -mtune=G5")
+- endif()
+- if(USE_MMX)
+- set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -mmmx")
+- endif()
+- if(USE_SSE)
+- set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse")
+- endif()
+- if(USE_SSE2)
+- set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse2")
+- endif()
+- if(USE_SSE3 AND NOT MINGW) # SSE3 should be disabled under MingW because it generates compiler errors
+- set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse3")
+- endif()
+-
+- if(ENABLE_PROFILING)
+- set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -pg -g")
+- else()
+- if(NOT APPLE)
+- set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -ffunction-sections")
+- endif()
+- endif()
+-
+-
+- set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -DNDEBUG ")
+- set(EXTRA_C_FLAGS_DEBUG "-g3 -O0 -DDEBUG -D_DEBUG -W -Wextra -Wno-return-type ")
+-
+- MESSAGE( STATUS "-------------------------------------------------------------------------------" )
+- message( STATUS "GNU COMPILER")
+- MESSAGE( STATUS "-------------------------------------------------------------------------------" )
+-
+-
+-
+-
+-ELSE() # MSVC
+-
+-
+-ENDIF()#END OF COMPILER SPECIFIC OPTIONS
+-SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS} ${EXTRA_C_FLAGS_RELEASE}")
+-SET(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS} ${EXTRA_C_FLAGS_DEBUG}")
+-SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -std=c++11")
+-SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -std=c++11")
+-set(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELEASE} ${CMAKE_C_FLAGS_DEBUG}")
+-set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
+-SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${EXTRA_EXE_LINKER_FLAGS}")
+-SET(CMAKE_EXE_LINKER_FLAGS_RELEASE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} ${EXTRA_EXE_LINKER_FLAGS_RELEASE}")
+-SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "${CMAKE_EXE_LINKER_FLAGS_DEBUG} ${EXTRA_EXE_LINKER_FLAGS_DEBUG}")
+-
+-
+-
+-#------------------------------------------------
+-# DIRS
+-#------------------------------------------------
+-ADD_SUBDIRECTORY(src)
+-IF (BUILD_UTILS)
+-ADD_SUBDIRECTORY(utils)
+-ENDIF()
+-
+-IF (BUILD_TESTS)
+-ADD_SUBDIRECTORY(tests)
+-ENDIF()
+-
+-
+-# ----------------------------------------------------------------------------
+-# display status message for important variables
+-# ----------------------------------------------------------------------------
+-message( STATUS )
+-MESSAGE( STATUS "-------------------------------------------------------------------------------" )
+-message( STATUS "General configuration for ${PROJECT_NAME} ${PROJECT_VERSION}")
+-MESSAGE( STATUS "-------------------------------------------------------------------------------" )
+-message(" Built as dynamic libs?:" ${BUILD_SHARED_LIBS})
+-message(" Compiler:" "${CMAKE_COMPILER}" "${CMAKE_CXX_COMPILER}")
+-
+-message( STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+-message( STATUS "C++ flags (Release): ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_RELEASE}")
+-message( STATUS "C++ flags (Debug): ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_DEBUG}")
+-message( STATUS "C++ flags (Relase+Debug): ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
+-
+-message( STATUS "CMAKE_CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
+-message( STATUS "CMAKE_BINARY_DIR: ${CMAKE_BINARY_DIR}")
+-
+-MESSAGE( STATUS )
+-MESSAGE( STATUS "CMAKE_SYSTEM_PROCESSOR = ${CMAKE_SYSTEM_PROCESSOR}" )
+-MESSAGE( STATUS "CMAKE_INSTALL_PREFIX = ${CMAKE_INSTALL_PREFIX}" )
+-MESSAGE( STATUS "CMAKE_BUILD_TYPE = ${CMAKE_BUILD_TYPE}" )
+-MESSAGE( STATUS "CMAKE_MODULE_PATH = ${CMAKE_MODULE_PATH}" )
+-MESSAGE( STATUS "BUILD_UTILS= ${BUILD_UTILS}" )
+-MESSAGE( STATUS "BUILD_TESTS= ${BUILD_TESTS}" )
+-MESSAGE( STATUS "OPENCV_DIR= ${OpenCV_DIR} VERSION=${OpenCV_VERSION}" )
+-
+-MESSAGE( STATUS "USE_CONTRIB= ${USE_CONTRIB}" )
+-
+-MESSAGE( STATUS )
+-MESSAGE( STATUS "OpenCV_LIB_DIR=${OpenCV_LIB_DIR}")
+-MESSAGE( STATUS "CMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}")
+-
+-MESSAGE( STATUS )
+-MESSAGE( STATUS )
+-MESSAGE( STATUS "Change a value with: cmake -D<Variable>=<Value>" )
+-MESSAGE( STATUS )
+--- /dev/null
++++ b/Lib/CMakeLists.txt
+@@ -0,0 +1,92 @@
++cmake_minimum_required(VERSION 3.10)
++
++find_package(OpenCV REQUIRED)
++
++find_package(OpenMP REQUIRED)
++
++include(${CMAKE_SOURCE_DIR}/cmake/instructionSet.cmake)
++
++if(BUILD_SHARED_LIBS)
++ add_library(DBow3 SHARED)
++
++ target_compile_definitions(DBow3
++ PUBLIC
++ DBOW_API
++ )
++
++else()
++ add_library(DBow3 STATIC)
++endif()
++
++add_library(DBow3::DBow3 ALIAS DBow3)
++
++target_sources(DBow3
++ PRIVATE
++ src/BowVector.cpp
++ src/Database.cpp
++ src/DescManip.cpp
++ src/FeatureVector.cpp
++ src/QueryResults.cpp
++ src/ScoringObject.cpp
++ src/Vocabulary.cpp
++ src/quicklz.c
++)
++
++target_include_directories(DBow3
++ PUBLIC
++ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
++ $<INSTALL_INTERFACE:include>
++)
++
++target_link_libraries(DBow3
++ PUBLIC
++ OpenMP::OpenMP_CXX
++)
++
++if(USE_OPENCV_CONTRIB)
++target_link_libraries(DBow3
++ PUBLIC
++ ${OpenCV_LIBS}
++)
++
++target_include_directories(DBow3
++ PUBLIC
++ ${OpenCV_INCLUDE_DIR}
++)
++endif()
++
++target_compile_definitions(DBow3
++ PUBLIC
++ NOMINMAX
++ _USE_MATH_DEFINES
++)
++
++target_compile_features(DBow3
++ PRIVATE
++ cxx_std_14
++)
++
++
++install(TARGETS DBow3 EXPORT DBow3Targets
++ LIBRARY DESTINATION lib
++ ARCHIVE DESTINATION lib
++ RUNTIME DESTINATION bin
++ INCLUDES DESTINATION include
++)
++
++install (DIRECTORY include/ DESTINATION include)
++
++install(EXPORT DBow3Targets
++ FILE DBow3Targets.cmake
++ NAMESPACE DBow3::
++ DESTINATION cmake/DBow3
++)
++
++include(CMakePackageConfigHelpers)
++
++write_basic_package_version_file(DBow3ConfigVersion.cmake
++ COMPATIBILITY SameMajorVersion
++)
++
++install(FILES DBow3Config.cmake ${CMAKE_CURRENT_BINARY_DIR}/DBow3ConfigVersion.cmake
++ DESTINATION cmake/DBow3)
+\ No newline at end of file
+--- /dev/null
++++ b/Lib/DBow3Config.cmake
+@@ -0,0 +1,4 @@
++include(CMakeFindDependencyMacro)
++find_dependency(OpenCV)
++find_dependency(OpenMP)
++include("${CMAKE_CURRENT_LIST_DIR}/FbowTargets.cmake")
+\ No newline at end of file
+diff --git a/src/BowVector.h b/Lib/include/DBow3/BowVector.h
+similarity index 99%
+rename from src/BowVector.h
+rename to Lib/include/DBow3/BowVector.h
+index d8c17e0..cdbf517 100644
+--- a/src/BowVector.h
++++ b/Lib/include/DBow3/BowVector.h
+@@ -12,6 +12,7 @@
+
+ #include <map>
+ #include <vector>
++#include <ostream>
+ #include "exports.h"
+ #if _WIN32
+ #include <cstdint>
+diff --git a/src/DBoW3.h b/Lib/include/DBow3/DBoW3.h
+similarity index 100%
+rename from src/DBoW3.h
+rename to Lib/include/DBow3/DBoW3.h
+diff --git a/src/Database.h b/Lib/include/DBow3/Database.h
+similarity index 100%
+rename from src/Database.h
+rename to Lib/include/DBow3/Database.h
+diff --git a/src/DescManip.h b/Lib/include/DBow3/DescManip.h
+similarity index 100%
+rename from src/DescManip.h
+rename to Lib/include/DBow3/DescManip.h
+diff --git a/src/FeatureVector.h b/Lib/include/DBow3/FeatureVector.h
+similarity index 100%
+rename from src/FeatureVector.h
+rename to Lib/include/DBow3/FeatureVector.h
+diff --git a/src/QueryResults.h b/Lib/include/DBow3/QueryResults.h
+similarity index 100%
+rename from src/QueryResults.h
+rename to Lib/include/DBow3/QueryResults.h
+diff --git a/src/ScoringObject.h b/Lib/include/DBow3/ScoringObject.h
+similarity index 100%
+rename from src/ScoringObject.h
+rename to Lib/include/DBow3/ScoringObject.h
+diff --git a/src/Vocabulary.h b/Lib/include/DBow3/Vocabulary.h
+similarity index 100%
+rename from src/Vocabulary.h
+rename to Lib/include/DBow3/Vocabulary.h
+diff --git a/src/exports.h b/Lib/include/DBow3/exports.h
+similarity index 78%
+rename from src/exports.h
+rename to Lib/include/DBow3/exports.h
+index c324953..a31b317 100644
+--- a/src/exports.h
++++ b/Lib/include/DBow3/exports.h
+@@ -35,17 +35,15 @@ or implied, of Rafael Muñoz Salinas.
+ #define _CRT_SECURE_NO_DEPRECATE /* to avoid multiple Visual Studio 2005 warnings */
+ #endif
+
+-#if (defined WIN32 || defined _WIN32 || defined WINCE) && defined DBOW_DSO_EXPORTS
+- #define DBOW_API __declspec(dllexport)
+- #pragma warning ( disable : 4251 ) //disable warning to templates with dll linkage.
+- #pragma warning ( disable : 4290 ) //disable warning due to exception specifications.
+- #pragma warning ( disable : 4996 ) //disable warning regarding unsafe vsprintf.
+- #pragma warning ( disable : 4244 ) //disable warning convesions with lost of data.
+-
++#ifdef _WIN32
++# ifdef DBOW_API
++# define DBOW_API __declspec(dllexport)
++# else
++# define DBOW_API __declspec(dllimport)
++# endif
+ #else
+- #define DBOW_API
++# define DBOW_API
+ #endif
+
+-
+ #define DBOW_VERSION "3.0.0"
+ #endif
+diff --git a/src/quicklz.h b/Lib/include/DBow3/quicklz.h
+similarity index 100%
+rename from src/quicklz.h
+rename to Lib/include/DBow3/quicklz.h
+diff --git a/src/timers.h b/Lib/include/DBow3/timers.h
+similarity index 100%
+rename from src/timers.h
+rename to Lib/include/DBow3/timers.h
+diff --git a/src/BowVector.cpp b/Lib/src/BowVector.cpp
+similarity index 99%
+rename from src/BowVector.cpp
+rename to Lib/src/BowVector.cpp
+index d132213..f61d421 100644
+--- a/src/BowVector.cpp
++++ b/Lib/src/BowVector.cpp
+@@ -13,7 +13,7 @@
+ #include <algorithm>
+ #include <cmath>
+
+-#include "BowVector.h"
++#include "DBow3/BowVector.h"
+
+ namespace DBoW3 {
+
+diff --git a/src/Database.cpp b/Lib/src/Database.cpp
+similarity index 99%
+rename from src/Database.cpp
+rename to Lib/src/Database.cpp
+index d8a1b81..25610a0 100644
+--- a/src/Database.cpp
++++ b/Lib/src/Database.cpp
+@@ -1,4 +1,4 @@
+-#include "Database.h"
++#include "DBow3/Database.h"
+
+ namespace DBoW3{
+
+diff --git a/src/DescManip.cpp b/Lib/src/DescManip.cpp
+similarity index 96%
+rename from src/DescManip.cpp
+rename to Lib/src/DescManip.cpp
+index d6331af..430ce2b 100644
+--- a/src/DescManip.cpp
++++ b/Lib/src/DescManip.cpp
+@@ -1,273 +1,273 @@
+-/**
+- * File: DescManip.cpp
+- * Date: June 2012
+- * Author: Dorian Galvez-Lopez
+- * Description: functions for ORB descriptors
+- * License: see the LICENSE.txt file
+- *
+- */
+-
+-#include <vector>
+-#include <string>
+-#include <sstream>
+-#include <iostream>
+-#include <stdint.h>
+-#include <limits.h>
+-
+-#include "DescManip.h"
+-
+-using namespace std;
+-
+-namespace DBoW3 {
+-
+-// --------------------------------------------------------------------------
+-
+-void DescManip::meanValue(const std::vector<cv::Mat> &descriptors,
+- cv::Mat &mean)
+-{
+-
+- if(descriptors.empty()) return;
+-
+- if(descriptors.size() == 1)
+- {
+- mean = descriptors[0].clone();
+- return;
+- }
+- //binary descriptor
+- if (descriptors[0].type()==CV_8U ){
+- //determine number of bytes of the binary descriptor
+- int L= getDescSizeBytes( descriptors[0]);
+- vector<int> sum( L * 8, 0);
+-
+- for(size_t i = 0; i < descriptors.size(); ++i)
+- {
+- const cv::Mat &d = descriptors[i];
+- const unsigned char *p = d.ptr<unsigned char>();
+-
+- for(int j = 0; j < d.cols; ++j, ++p)
+- {
+- if(*p & (1 << 7)) ++sum[ j*8 ];
+- if(*p & (1 << 6)) ++sum[ j*8 + 1 ];
+- if(*p & (1 << 5)) ++sum[ j*8 + 2 ];
+- if(*p & (1 << 4)) ++sum[ j*8 + 3 ];
+- if(*p & (1 << 3)) ++sum[ j*8 + 4 ];
+- if(*p & (1 << 2)) ++sum[ j*8 + 5 ];
+- if(*p & (1 << 1)) ++sum[ j*8 + 6 ];
+- if(*p & (1)) ++sum[ j*8 + 7 ];
+- }
+- }
+-
+- mean = cv::Mat::zeros(1, L, CV_8U);
+- unsigned char *p = mean.ptr<unsigned char>();
+-
+- const int N2 = (int)descriptors.size() / 2 + descriptors.size() % 2;
+- for(size_t i = 0; i < sum.size(); ++i)
+- {
+- if(sum[i] >= N2)
+- {
+- // set bit
+- *p |= 1 << (7 - (i % 8));
+- }
+-
+- if(i % 8 == 7) ++p;
+- }
+- }
+- //non binary descriptor
+- else{
+- assert(descriptors[0].type()==CV_32F );//ensure it is float
+-
+- mean.create(1, descriptors[0].cols,descriptors[0].type());
+- mean.setTo(cv::Scalar::all(0));
+- float inv_s =1./double( descriptors.size());
+- for(size_t i=0;i<descriptors.size();i++)
+- mean += descriptors[i] * inv_s;
+-
+- }
+-
+-}
+-
+-// --------------------------------------------------------------------------
+-static inline uint32_t distance_8uc1(const cv::Mat &a, const cv::Mat &b);
+-
+-double DescManip::distance(const cv::Mat &a, const cv::Mat &b)
+-{
+-
+- //binary descriptor
+- if (a.type()==CV_8U){
+-
+- // Bit count function got from:
+- // http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetKernighan
+- // This implementation assumes that a.cols (CV_8U) % sizeof(uint64_t) == 0
+-
+- const uint64_t *pa, *pb;
+- pa = a.ptr<uint64_t>(); // a & b are actually CV_8U
+- pb = b.ptr<uint64_t>();
+-
+- uint64_t v, ret = 0;
+- for(size_t i = 0; i < a.cols / sizeof(uint64_t); ++i, ++pa, ++pb)
+- {
+- v = *pa ^ *pb;
+- v = v - ((v >> 1) & (uint64_t)~(uint64_t)0/3);
+- v = (v & (uint64_t)~(uint64_t)0/15*3) + ((v >> 2) &
+- (uint64_t)~(uint64_t)0/15*3);
+- v = (v + (v >> 4)) & (uint64_t)~(uint64_t)0/255*15;
+- ret += (uint64_t)(v * ((uint64_t)~(uint64_t)0/255)) >>
+- (sizeof(uint64_t) - 1) * CHAR_BIT;
+- }
+-
+- return ret;
+- }
+- else{
+- double sqd = 0.;
+- assert(a.type()==CV_32F);
+- assert(a.rows==1);
+- const float *a_ptr=a.ptr<float>(0);
+- const float *b_ptr=b.ptr<float>(0);
+- for(int i = 0; i < a.cols; i ++)
+- sqd += (a_ptr[i ] - b_ptr[i ])*(a_ptr[i ] - b_ptr[i ]);
+- return sqd;
+- }
+-}
+-
+-
+-
+-
+-// --------------------------------------------------------------------------
+-
+-std::string DescManip::toString(const cv::Mat &a)
+-{
+- stringstream ss;
+- //introduce a magic value to distinguish from DBOw2
+- ss<<"dbw3 ";
+- //save size and type
+-
+-
+- ss <<a.type()<<" "<<a.cols<<" ";
+-
+- if (a.type()==CV_8U){
+- const unsigned char *p = a.ptr<unsigned char>();
+- for(int i = 0; i < a.cols; ++i, ++p)
+- ss << (int)*p << " ";
+- }else{
+-
+- const float *p = a.ptr<float>();
+- for(int i = 0; i < a.cols; ++i, ++p)
+- ss << *p << " ";
+-
+- }
+-
+- return ss.str();
+-}
+-
+-// --------------------------------------------------------------------------
+-
+-void DescManip::fromString(cv::Mat &a, const std::string &s)
+-{
+-
+- //check if the dbow3 is present
+- string ss_aux;ss_aux.reserve(10);
+- for(size_t i=0;i<10 && i<s.size();i++)
+- ss_aux.push_back(s[i]);
+- if(ss_aux.find("dbw3")==std::string::npos){//is dbow2
+- //READ UNTIL END
+- stringstream ss(s);
+- int val;
+- vector<uchar> data;data.reserve(100);
+- while( ss>>val) data.push_back(val);
+- //copy to a
+- a.create(1,data.size(),CV_8UC1);
+- memcpy(a.ptr<char>(0),&data[0],data.size());
+- }
+- else {
+- char szSign[10];
+- int type,cols;
+- stringstream ss(s);
+- ss >> szSign >> type >> cols;
+- a.create(1, cols, type);
+- if(type==CV_8UC1){
+- unsigned char *p = a.ptr<unsigned char>();
+- int n;
+- for(int i = 0; i < a.cols; ++i, ++p)
+- if ( ss >> n) *p = (unsigned char)n;
+- }
+- else{
+- float *p = a.ptr<float>();
+- for(int i = 0; i < a.cols; ++i, ++p)
+- if ( !(ss >> *p))cerr<<"Error reading. Unexpected EOF. DescManip::fromString"<<endl;
+- }
+-
+- }
+-
+-}
+-
+-// --------------------------------------------------------------------------
+-
+-void DescManip::toMat32F(const std::vector<cv::Mat> &descriptors,
+- cv::Mat &mat)
+-{
+- if(descriptors.empty())
+- {
+- mat.release();
+- return;
+- }
+-
+- if(descriptors[0].type()==CV_8UC1){
+-
+- const size_t N = descriptors.size();
+- int L=getDescSizeBytes(descriptors[0]);
+- mat.create(N, L*8, CV_32F);
+- float *p = mat.ptr<float>();
+-
+- for(size_t i = 0; i < N; ++i)
+- {
+- const int C = descriptors[i].cols;
+- const unsigned char *desc = descriptors[i].ptr<unsigned char>();
+-
+- for(int j = 0; j < C; ++j, p += 8)
+- {
+- p[0] = (desc[j] & (1 << 7) ? 1 : 0);
+- p[1] = (desc[j] & (1 << 6) ? 1 : 0);
+- p[2] = (desc[j] & (1 << 5) ? 1 : 0);
+- p[3] = (desc[j] & (1 << 4) ? 1 : 0);
+- p[4] = (desc[j] & (1 << 3) ? 1 : 0);
+- p[5] = (desc[j] & (1 << 2) ? 1 : 0);
+- p[6] = (desc[j] & (1 << 1) ? 1 : 0);
+- p[7] = desc[j] & (1);
+- }
+- }
+- }
+- else{
+- assert(descriptors[0].type()==CV_32F);
+- const int N = descriptors.size();
+- int L=descriptors[0].cols;
+- mat.create(N, L, CV_32F);
+- for(int i = 0; i < N; ++i)
+- memcpy(mat.ptr<float>(i),descriptors[i].ptr<float>(0),sizeof(float)*L);
+- }
+-}
+-
+-void DescManip::toStream(const cv::Mat &m,std::ostream &str){
+- assert(m.rows==1 || m.isContinuous());
+- int type=m.type();
+- int cols=m.cols;
+- int rows=m.rows;
+- str.write((char*)&cols,sizeof(cols));
+- str.write((char*)&rows,sizeof(rows));
+- str.write((char*)&type,sizeof(type));
+- str.write((char*)m.ptr<char>(0),m.elemSize()*m.cols);
+-}
+-
+-void DescManip::fromStream(cv::Mat &m,std::istream &str){
+- int type,cols,rows;
+- str.read((char*)&cols,sizeof(cols));
+- str.read((char*)&rows,sizeof(rows));
+- str.read((char*)&type,sizeof(type));
+- m.create(rows,cols,type);
+- str.read((char*)m.ptr<char>(0),m.elemSize()*m.cols);
+-}
+-
+-
+-// --------------------------------------------------------------------------
+-
+-} // namespace DBoW3
+-
++/**
++ * File: DescManip.cpp
++ * Date: June 2012
++ * Author: Dorian Galvez-Lopez
++ * Description: functions for ORB descriptors
++ * License: see the LICENSE.txt file
++ *
++ */
++
++#include <vector>
++#include <string>
++#include <sstream>
++#include <iostream>
++#include <stdint.h>
++#include <limits.h>
++
++#include "DBow3/DescManip.h"
++
++using namespace std;
++
++namespace DBoW3 {
++
++// --------------------------------------------------------------------------
++
++void DescManip::meanValue(const std::vector<cv::Mat> &descriptors,
++ cv::Mat &mean)
++{
++
++ if(descriptors.empty()) return;
++
++ if(descriptors.size() == 1)
++ {
++ mean = descriptors[0].clone();
++ return;
++ }
++ //binary descriptor
++ if (descriptors[0].type()==CV_8U ){
++ //determine number of bytes of the binary descriptor
++ int L= getDescSizeBytes( descriptors[0]);
++ vector<int> sum( L * 8, 0);
++
++ for(size_t i = 0; i < descriptors.size(); ++i)
++ {
++ const cv::Mat &d = descriptors[i];
++ const unsigned char *p = d.ptr<unsigned char>();
++
++ for(int j = 0; j < d.cols; ++j, ++p)
++ {
++ if(*p & (1 << 7)) ++sum[ j*8 ];
++ if(*p & (1 << 6)) ++sum[ j*8 + 1 ];
++ if(*p & (1 << 5)) ++sum[ j*8 + 2 ];
++ if(*p & (1 << 4)) ++sum[ j*8 + 3 ];
++ if(*p & (1 << 3)) ++sum[ j*8 + 4 ];
++ if(*p & (1 << 2)) ++sum[ j*8 + 5 ];
++ if(*p & (1 << 1)) ++sum[ j*8 + 6 ];
++ if(*p & (1)) ++sum[ j*8 + 7 ];
++ }
++ }
++
++ mean = cv::Mat::zeros(1, L, CV_8U);
++ unsigned char *p = mean.ptr<unsigned char>();
++
++ const int N2 = (int)descriptors.size() / 2 + descriptors.size() % 2;
++ for(size_t i = 0; i < sum.size(); ++i)
++ {
++ if(sum[i] >= N2)
++ {
++ // set bit
++ *p |= 1 << (7 - (i % 8));
++ }
++
++ if(i % 8 == 7) ++p;
++ }
++ }
++ //non binary descriptor
++ else{
++ assert(descriptors[0].type()==CV_32F );//ensure it is float
++
++ mean.create(1, descriptors[0].cols,descriptors[0].type());
++ mean.setTo(cv::Scalar::all(0));
++ float inv_s =1./double( descriptors.size());
++ for(size_t i=0;i<descriptors.size();i++)
++ mean += descriptors[i] * inv_s;
++
++ }
++
++}
++
++// --------------------------------------------------------------------------
++static inline uint32_t distance_8uc1(const cv::Mat &a, const cv::Mat &b);
++
++double DescManip::distance(const cv::Mat &a, const cv::Mat &b)
++{
++
++ //binary descriptor
++ if (a.type()==CV_8U){
++
++ // Bit count function got from:
++ // http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetKernighan
++ // This implementation assumes that a.cols (CV_8U) % sizeof(uint64_t) == 0
++
++ const uint64_t *pa, *pb;
++ pa = a.ptr<uint64_t>(); // a & b are actually CV_8U
++ pb = b.ptr<uint64_t>();
++
++ uint64_t v, ret = 0;
++ for(size_t i = 0; i < a.cols / sizeof(uint64_t); ++i, ++pa, ++pb)
++ {
++ v = *pa ^ *pb;
++ v = v - ((v >> 1) & (uint64_t)~(uint64_t)0/3);
++ v = (v & (uint64_t)~(uint64_t)0/15*3) + ((v >> 2) &
++ (uint64_t)~(uint64_t)0/15*3);
++ v = (v + (v >> 4)) & (uint64_t)~(uint64_t)0/255*15;
++ ret += (uint64_t)(v * ((uint64_t)~(uint64_t)0/255)) >>
++ (sizeof(uint64_t) - 1) * CHAR_BIT;
++ }
++
++ return ret;
++ }
++ else{
++ double sqd = 0.;
++ assert(a.type()==CV_32F);
++ assert(a.rows==1);
++ const float *a_ptr=a.ptr<float>(0);
++ const float *b_ptr=b.ptr<float>(0);
++ for(int i = 0; i < a.cols; i ++)
++ sqd += (a_ptr[i ] - b_ptr[i ])*(a_ptr[i ] - b_ptr[i ]);
++ return sqd;
++ }
++}
++
++
++
++
++// --------------------------------------------------------------------------
++
++std::string DescManip::toString(const cv::Mat &a)
++{
++ stringstream ss;
++ //introduce a magic value to distinguish from DBOw2
++ ss<<"dbw3 ";
++ //save size and type
++
++
++ ss <<a.type()<<" "<<a.cols<<" ";
++
++ if (a.type()==CV_8U){
++ const unsigned char *p = a.ptr<unsigned char>();
++ for(int i = 0; i < a.cols; ++i, ++p)
++ ss << (int)*p << " ";
++ }else{
++
++ const float *p = a.ptr<float>();
++ for(int i = 0; i < a.cols; ++i, ++p)
++ ss << *p << " ";
++
++ }
++
++ return ss.str();
++}
++
++// --------------------------------------------------------------------------
++
++void DescManip::fromString(cv::Mat &a, const std::string &s)
++{
++
++ //check if the dbow3 is present
++ string ss_aux;ss_aux.reserve(10);
++ for(size_t i=0;i<10 && i<s.size();i++)
++ ss_aux.push_back(s[i]);
++ if(ss_aux.find("dbw3")==std::string::npos){//is dbow2
++ //READ UNTIL END
++ stringstream ss(s);
++ int val;
++ vector<uchar> data;data.reserve(100);
++ while( ss>>val) data.push_back(val);
++ //copy to a
++ a.create(1,data.size(),CV_8UC1);
++ memcpy(a.ptr<char>(0),&data[0],data.size());
++ }
++ else {
++ char szSign[10];
++ int type,cols;
++ stringstream ss(s);
++ ss >> szSign >> type >> cols;
++ a.create(1, cols, type);
++ if(type==CV_8UC1){
++ unsigned char *p = a.ptr<unsigned char>();
++ int n;
++ for(int i = 0; i < a.cols; ++i, ++p)
++ if ( ss >> n) *p = (unsigned char)n;
++ }
++ else{
++ float *p = a.ptr<float>();
++ for(int i = 0; i < a.cols; ++i, ++p)
++ if ( !(ss >> *p))cerr<<"Error reading. Unexpected EOF. DescManip::fromString"<<endl;
++ }
++
++ }
++
++}
++
++// --------------------------------------------------------------------------
++
++void DescManip::toMat32F(const std::vector<cv::Mat> &descriptors,
++ cv::Mat &mat)
++{
++ if(descriptors.empty())
++ {
++ mat.release();
++ return;
++ }
++
++ if(descriptors[0].type()==CV_8UC1){
++
++ const size_t N = descriptors.size();
++ int L=getDescSizeBytes(descriptors[0]);
++ mat.create(N, L*8, CV_32F);
++ float *p = mat.ptr<float>();
++
++ for(size_t i = 0; i < N; ++i)
++ {
++ const int C = descriptors[i].cols;
++ const unsigned char *desc = descriptors[i].ptr<unsigned char>();
++
++ for(int j = 0; j < C; ++j, p += 8)
++ {
++ p[0] = (desc[j] & (1 << 7) ? 1 : 0);
++ p[1] = (desc[j] & (1 << 6) ? 1 : 0);
++ p[2] = (desc[j] & (1 << 5) ? 1 : 0);
++ p[3] = (desc[j] & (1 << 4) ? 1 : 0);
++ p[4] = (desc[j] & (1 << 3) ? 1 : 0);
++ p[5] = (desc[j] & (1 << 2) ? 1 : 0);
++ p[6] = (desc[j] & (1 << 1) ? 1 : 0);
++ p[7] = desc[j] & (1);
++ }
++ }
++ }
++ else{
++ assert(descriptors[0].type()==CV_32F);
++ const int N = descriptors.size();
++ int L=descriptors[0].cols;
++ mat.create(N, L, CV_32F);
++ for(int i = 0; i < N; ++i)
++ memcpy(mat.ptr<float>(i),descriptors[i].ptr<float>(0),sizeof(float)*L);
++ }
++}
++
++void DescManip::toStream(const cv::Mat &m,std::ostream &str){
++ assert(m.rows==1 || m.isContinuous());
++ int type=m.type();
++ int cols=m.cols;
++ int rows=m.rows;
++ str.write((char*)&cols,sizeof(cols));
++ str.write((char*)&rows,sizeof(rows));
++ str.write((char*)&type,sizeof(type));
++ str.write((char*)m.ptr<char>(0),m.elemSize()*m.cols);
++}
++
++void DescManip::fromStream(cv::Mat &m,std::istream &str){
++ int type,cols,rows;
++ str.read((char*)&cols,sizeof(cols));
++ str.read((char*)&rows,sizeof(rows));
++ str.read((char*)&type,sizeof(type));
++ m.create(rows,cols,type);
++ str.read((char*)m.ptr<char>(0),m.elemSize()*m.cols);
++}
++
++
++// --------------------------------------------------------------------------
++
++} // namespace DBoW3
++
+diff --git a/src/FeatureVector.cpp b/Lib/src/FeatureVector.cpp
+similarity index 98%
+rename from src/FeatureVector.cpp
+rename to Lib/src/FeatureVector.cpp
+index 880eab1..a9cd792 100644
+--- a/src/FeatureVector.cpp
++++ b/Lib/src/FeatureVector.cpp
+@@ -7,7 +7,7 @@
+ *
+ */
+
+-#include "FeatureVector.h"
++#include "DBow3/FeatureVector.h"
+ #include <map>
+ #include <vector>
+ #include <iostream>
+diff --git a/src/QueryResults.cpp b/Lib/src/QueryResults.cpp
+similarity index 97%
+rename from src/QueryResults.cpp
+rename to Lib/src/QueryResults.cpp
+index 7062400..b852979 100644
+--- a/src/QueryResults.cpp
++++ b/Lib/src/QueryResults.cpp
+@@ -9,7 +9,7 @@
+
+ #include <iostream>
+ #include <fstream>
+-#include "QueryResults.h"
++#include "DBow3/QueryResults.h"
+
+ using namespace std;
+
+diff --git a/src/ScoringObject.cpp b/Lib/src/ScoringObject.cpp
+similarity index 99%
+rename from src/ScoringObject.cpp
+rename to Lib/src/ScoringObject.cpp
+index 7cf0812..adde8e9 100644
+--- a/src/ScoringObject.cpp
++++ b/Lib/src/ScoringObject.cpp
+@@ -8,8 +8,8 @@
+ */
+
+ #include <cfloat>
+-#include "Vocabulary.h"
+-#include "BowVector.h"
++#include "DBow3/Vocabulary.h"
++#include "DBow3/BowVector.h"
+
+ using namespace DBoW3;
+
+diff --git a/src/Vocabulary.cpp b/Lib/src/Vocabulary.cpp
+similarity index 99%
+rename from src/Vocabulary.cpp
+rename to Lib/src/Vocabulary.cpp
+index 9f0eff3..6ccbbea 100644
+--- a/src/Vocabulary.cpp
++++ b/Lib/src/Vocabulary.cpp
+@@ -1,8 +1,8 @@
+-#include "Vocabulary.h"
+-#include "DescManip.h"
+-#include "quicklz.h"
++#include "DBow3/Vocabulary.h"
++#include "DBow3/DescManip.h"
++#include "DBow3/quicklz.h"
+ #include <sstream>
+-#include "timers.h"
++#include "DBow3/timers.h"
+ namespace DBoW3{
+ // --------------------------------------------------------------------------
+
+diff --git a/src/quicklz.c b/Lib/src/quicklz.c
+similarity index 99%
+rename from src/quicklz.c
+rename to Lib/src/quicklz.c
+index 3742129..bd3cb11 100644
+--- a/src/quicklz.c
++++ b/Lib/src/quicklz.c
+@@ -9,7 +9,7 @@
+
+ // 1.5.0 final
+
+-#include "quicklz.h"
++#include "DBow3/quicklz.h"
+
+ #if QLZ_VERSION_MAJOR != 1 || QLZ_VERSION_MINOR != 5 || QLZ_VERSION_REVISION != 0
+ #error quicklz.c and quicklz.h have different versions
+diff --git a/cmake/instructionSet.cmake b/cmake/instructionSet.cmake
+new file mode 100644
+index 0000000..d0febeb
+--- /dev/null
++++ b/cmake/instructionSet.cmake
+@@ -0,0 +1,13 @@
++add_library(
++ SSE4.1
++ INTERFACE
++)
++
++add_library(SIMD::SSE4.1 ALIAS SSE4.1)
++
++target_compile_options(
++ SSE4.1
++ INTERFACE
++ $<$<PLATFORM_ID:Linux>:-msse4.1;-march=native>
++ $<$<PLATFORM_ID:Windows>:/arch:AVX2>
++)
+diff --git a/cmake_uninstall.cmake.in b/cmake_uninstall.cmake.in
+deleted file mode 100644
+index 81482da..0000000
+--- a/cmake_uninstall.cmake.in
++++ /dev/null
+@@ -1,28 +0,0 @@
+-# -----------------------------------------------
+-# File that provides "make uninstall" target
+-# We use the file 'install_manifest.txt'
+-# -----------------------------------------------
+-IF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+- MESSAGE(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
+-ENDIF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+-
+-FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
+-STRING(REGEX REPLACE "\n" ";" files "${files}")
+-FOREACH(file ${files})
+- MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
+-# IF(EXISTS "$ENV{DESTDIR}${file}")
+-# EXEC_PROGRAM(
+-# "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
+-# OUTPUT_VARIABLE rm_out
+-# RETURN_VALUE rm_retval
+-# )
+- EXECUTE_PROCESS(COMMAND rm $ENV{DESTDIR}${file})
+-# IF(NOT "${rm_retval}" STREQUAL 0)
+-# MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+-# ENDIF(NOT "${rm_retval}" STREQUAL 0)
+-# ELSE(EXISTS "$ENV{DESTDIR}${file}")
+-# MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
+-# ENDIF(EXISTS "$ENV{DESTDIR}${file}")
+-ENDFOREACH(file)
+-
+-
+diff --git a/config.cmake.in b/config.cmake.in
+deleted file mode 100644
+index 9d15feb..0000000
+--- a/config.cmake.in
++++ /dev/null
+@@ -1,36 +0,0 @@
+-# ===================================================================================
+-# @PROJECT_NAME@ CMake configuration file
+-#
+-# ** File generated automatically, do not modify **
+-#
+-# Usage from an external project:
+-# In your CMakeLists.txt, add these lines:
+-#
+-# FIND_PACKAGE(@PROJECT_NAME@ REQUIRED )
+-# TARGET_LINK_LIBRARIES(MY_TARGET_NAME ${@PROJECT_NAME@_LIBS})
+-#
+-# This file will define the following variables:
+-# - @PROJECT_NAME@_LIBS : The list of libraries to links against.
+-# - @PROJECT_NAME@_LIB_DIR : The directory where lib files are. Calling LINK_DIRECTORIES
+-# with this path is NOT needed.
+-# - @PROJECT_NAME@_VERSION : The version of this PROJECT_NAME build. Example: "1.2.0"
+-# - @PROJECT_NAME@_VERSION_MAJOR : Major version part of VERSION. Example: "1"
+-# - @PROJECT_NAME@_VERSION_MINOR : Minor version part of VERSION. Example: "2"
+-# - @PROJECT_NAME@_VERSION_PATCH : Patch version part of VERSION. Example: "0"
+-#
+-# ===================================================================================
+-INCLUDE_DIRECTORIES("@CMAKE_INSTALL_PREFIX@/include")
+-SET(@PROJECT_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include")
+-
+-LINK_DIRECTORIES("@CMAKE_INSTALL_PREFIX@/@LIB_INSTALL_DIR@")
+-SET(@PROJECT_NAME@_LIB_DIR "@CMAKE_INSTALL_PREFIX@/@LIB_INSTALL_DIR@")
+-
+-SET(@PROJECT_NAME@_LIBS @REQUIRED_LIBRARIES@ @PROJECT_NAME@@PROJECT_DLLVERSION@)
+-SET(@PROJECT_NAME@_LIBRARIES @REQUIRED_LIBRARIES@ @PROJECT_NAME@@PROJECT_DLLVERSION@)
+-
+-SET(@PROJECT_NAME@_FOUND YES)
+-SET(@PROJECT_NAME@_FOUND "YES")
+-SET(@PROJECT_NAME@_VERSION @PROJECT_VERSION@)
+-SET(@PROJECT_NAME@_VERSION_MAJOR @PROJECT_VERSION_MAJOR@)
+-SET(@PROJECT_NAME@_VERSION_MINOR @PROJECT_VERSION_MINOR@)
+-SET(@PROJECT_NAME@_VERSION_PATCH @PROJECT_VERSION_PATCH@)
+diff --git a/utils/CMakeLists.txt b/examples/CMakeLists.txt
+similarity index 100%
+rename from utils/CMakeLists.txt
+rename to examples/CMakeLists.txt
+diff --git a/utils/create_voc_step0.cpp b/examples/create_voc_step0.cpp
+similarity index 97%
+rename from utils/create_voc_step0.cpp
+rename to examples/create_voc_step0.cpp
+index 4fd78f6..c48a3c4 100644
+--- a/utils/create_voc_step0.cpp
++++ b/examples/create_voc_step0.cpp
+@@ -1,126 +1,126 @@
+-
+-//First step of creating a vocabulary is extracting features from a set of images. We save them to a file for next step
+-#include <iostream>
+-#include <vector>
+-
+-// DBoW3
+-#include "DBoW3.h"
+-
+-// OpenCV
+-#include <opencv2/core/core.hpp>
+-#include <opencv2/highgui/highgui.hpp>
+-#include <opencv2/features2d/features2d.hpp>
+-#ifdef USE_CONTRIB
+-#include <opencv2/xfeatures2d/nonfree.hpp>
+-#include <opencv2/xfeatures2d.hpp>
+-#endif
+-#include "DescManip.h"
+-
+-using namespace DBoW3;
+-using namespace std;
+-
+-
+-//command line parser
+-class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){} bool operator[] ( string param ) {int idx=-1; for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; return ( idx!=-1 ) ; } string operator()(string param,string defvalue="-1"){int idx=-1; for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue; else return ( argv[ idx+1] ); }};
+-
+-
+-// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+-
+-// extended surf gives 128-dimensional vectors
+-const bool EXTENDED_SURF = false;
+-// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+-
+-void wait()
+-{
+- cout << endl << "Press enter to continue" << endl;
+- getchar();
+-}
+-
+-
+-vector<string> readImagePaths(int argc,char **argv,int start){
+- vector<string> paths;
+- for(int i=start;i<argc;i++) paths.push_back(argv[i]);
+- return paths;
+-}
+-
+-vector< cv::Mat > loadFeatures( std::vector<string> path_to_images,string descriptor="") throw (std::exception){
+- //select detector
+- cv::Ptr<cv::Feature2D> fdetector;
+- if (descriptor=="orb") fdetector=cv::ORB::create();
+- else if (descriptor=="brisk") fdetector=cv::BRISK::create();
+-#ifdef OPENCV_VERSION_3
+- else if (descriptor=="akaze") fdetector=cv::AKAZE::create();
+-#endif
+-#ifdef USE_CONTRIB
+- else if(descriptor=="surf" ) fdetector=cv::xfeatures2d::SURF::create(400, 4, 2, EXTENDED_SURF);
+-#endif
+-
+- else throw std::runtime_error("Invalid descriptor");
+- assert(!descriptor.empty());
+- vector<cv::Mat> features;
+-
+-
+- cout << "Extracting features..." << endl;
+- for(size_t i = 0; i < path_to_images.size(); ++i)
+- {
+- vector<cv::KeyPoint> keypoints;
+- cv::Mat descriptors;
+- cout<<"reading image: "<<path_to_images[i]<<endl;
+- cv::Mat image = cv::imread(path_to_images[i], 0);
+- if(image.empty())throw std::runtime_error("Could not open image"+path_to_images[i]);
+- cout<<"extracting features"<<endl;
+- fdetector->detectAndCompute(image, cv::Mat(), keypoints, descriptors);
+- features.push_back(descriptors);
+- cout<<"done detecting features"<<endl;
+- }
+- return features;
+-}
+-
+-// ----------------------------------------------------------------------------
+-void saveToFile(string filename,const vector<cv::Mat> &features){
+-
+- //test it is not created
+- std::ifstream ifile(filename);
+- if (ifile.is_open()){cerr<<"ERROR::: Output File "<<filename<<" already exists!!!!!"<<endl;exit(0);}
+- std::ofstream ofile(filename);
+- if (!ofile.is_open()){cerr<<"could not open output file"<<endl;exit(0);}
+- uint32_t size=features.size();
+- ofile.write((char*)&size,sizeof(size));
+- for(auto &f:features){
+- if( !f.isContinuous()){
+- cerr<<"Matrices should be continuous"<<endl;exit(0);
+- }
+- uint32_t aux=f.cols; ofile.write( (char*)&aux,sizeof(aux));
+- aux=f.rows; ofile.write( (char*)&aux,sizeof(aux));
+- aux=f.type(); ofile.write( (char*)&aux,sizeof(aux));
+- ofile.write( (char*)f.ptr<uchar>(0),f.total()*f.elemSize());
+- }
+-}
+-
+-// ----------------------------------------------------------------------------
+-
+-int main(int argc,char **argv)
+-{
+-
+- try{
+- CmdLineParser cml(argc,argv);
+- if (cml["-h"] || argc==1){
+- cerr<<"Usage: descriptor_name output image0 image1 ... \n\t descriptors:brisk,surf,orb(default),akaze(only if using opencv 3)"<<endl;
+- return -1;
+- }
+-
+- string descriptor=argv[1];
+- string output=argv[2];
+-
+- auto images=readImagePaths(argc,argv,3);
+- vector< cv::Mat > features= loadFeatures(images,descriptor);
+-
+- //save features to file
+- saveToFile(argv[2],features);
+-
+- }catch(std::exception &ex){
+- cerr<<ex.what()<<endl;
+- }
+-
+- return 0;
+-}
++
++//First step of creating a vocabulary is extracting features from a set of images. We save them to a file for next step
++#include <iostream>
++#include <vector>
++
++// DBoW3
++#include "DBoW3.h"
++
++// OpenCV
++#include <opencv2/core/core.hpp>
++#include <opencv2/highgui/highgui.hpp>
++#include <opencv2/features2d/features2d.hpp>
++#ifdef USE_CONTRIB
++#include <opencv2/xfeatures2d/nonfree.hpp>
++#include <opencv2/xfeatures2d.hpp>
++#endif
++#include "DescManip.h"
++
++using namespace DBoW3;
++using namespace std;
++
++
++//command line parser
++class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){} bool operator[] ( string param ) {int idx=-1; for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; return ( idx!=-1 ) ; } string operator()(string param,string defvalue="-1"){int idx=-1; for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue; else return ( argv[ idx+1] ); }};
++
++
++// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
++
++// extended surf gives 128-dimensional vectors
++const bool EXTENDED_SURF = false;
++// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
++
++void wait()
++{
++ cout << endl << "Press enter to continue" << endl;
++ getchar();
++}
++
++
++vector<string> readImagePaths(int argc,char **argv,int start){
++ vector<string> paths;
++ for(int i=start;i<argc;i++) paths.push_back(argv[i]);
++ return paths;
++}
++
++vector< cv::Mat > loadFeatures( std::vector<string> path_to_images,string descriptor="") throw (std::exception){
++ //select detector
++ cv::Ptr<cv::Feature2D> fdetector;
++ if (descriptor=="orb") fdetector=cv::ORB::create();
++ else if (descriptor=="brisk") fdetector=cv::BRISK::create();
++#ifdef OPENCV_VERSION_3
++ else if (descriptor=="akaze") fdetector=cv::AKAZE::create();
++#endif
++#ifdef USE_CONTRIB
++ else if(descriptor=="surf" ) fdetector=cv::xfeatures2d::SURF::create(400, 4, 2, EXTENDED_SURF);
++#endif
++
++ else throw std::runtime_error("Invalid descriptor");
++ assert(!descriptor.empty());
++ vector<cv::Mat> features;
++
++
++ cout << "Extracting features..." << endl;
++ for(size_t i = 0; i < path_to_images.size(); ++i)
++ {
++ vector<cv::KeyPoint> keypoints;
++ cv::Mat descriptors;
++ cout<<"reading image: "<<path_to_images[i]<<endl;
++ cv::Mat image = cv::imread(path_to_images[i], 0);
++ if(image.empty())throw std::runtime_error("Could not open image"+path_to_images[i]);
++ cout<<"extracting features"<<endl;
++ fdetector->detectAndCompute(image, cv::Mat(), keypoints, descriptors);
++ features.push_back(descriptors);
++ cout<<"done detecting features"<<endl;
++ }
++ return features;
++}
++
++// ----------------------------------------------------------------------------
++void saveToFile(string filename,const vector<cv::Mat> &features){
++
++ //test it is not created
++ std::ifstream ifile(filename);
++ if (ifile.is_open()){cerr<<"ERROR::: Output File "<<filename<<" already exists!!!!!"<<endl;exit(0);}
++ std::ofstream ofile(filename);
++ if (!ofile.is_open()){cerr<<"could not open output file"<<endl;exit(0);}
++ uint32_t size=features.size();
++ ofile.write((char*)&size,sizeof(size));
++ for(auto &f:features){
++ if( !f.isContinuous()){
++ cerr<<"Matrices should be continuous"<<endl;exit(0);
++ }
++ uint32_t aux=f.cols; ofile.write( (char*)&aux,sizeof(aux));
++ aux=f.rows; ofile.write( (char*)&aux,sizeof(aux));
++ aux=f.type(); ofile.write( (char*)&aux,sizeof(aux));
++ ofile.write( (char*)f.ptr<uchar>(0),f.total()*f.elemSize());
++ }
++}
++
++// ----------------------------------------------------------------------------
++
++int main(int argc,char **argv)
++{
++
++ try{
++ CmdLineParser cml(argc,argv);
++ if (cml["-h"] || argc==1){
++ cerr<<"Usage: descriptor_name output image0 image1 ... \n\t descriptors:brisk,surf,orb(default),akaze(only if using opencv 3)"<<endl;
++ return -1;
++ }
++
++ string descriptor=argv[1];
++ string output=argv[2];
++
++ auto images=readImagePaths(argc,argv,3);
++ vector< cv::Mat > features= loadFeatures(images,descriptor);
++
++ //save features to file
++ saveToFile(argv[2],features);
++
++ }catch(std::exception &ex){
++ cerr<<ex.what()<<endl;
++ }
++
++ return 0;
++}
+diff --git a/utils/create_voc_step1.cpp b/examples/create_voc_step1.cpp
+similarity index 97%
+rename from utils/create_voc_step1.cpp
+rename to examples/create_voc_step1.cpp
+index 8d9de7d..1f82c66 100644
+--- a/utils/create_voc_step1.cpp
++++ b/examples/create_voc_step1.cpp
+@@ -1,71 +1,71 @@
+-//Second step,creates the vocabulary from the set of features. It can be slow
+-#include <iostream>
+-#include <vector>
+-
+-// DBoW3
+-#include "DBoW3.h"
+-
+-// OpenCV
+-#include <opencv2/core/core.hpp>
+-using namespace DBoW3;
+-using namespace std;
+-
+-//command line parser
+-class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){} bool operator[] ( string param ) {int idx=-1; for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; return ( idx!=-1 ) ; } string operator()(string param,string defvalue="-1"){int idx=-1; for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue; else return ( argv[ idx+1] ); }};
+-
+-// ----------------------------------------------------------------------------
+-
+-// ----------------------------------------------------------------------------
+-vector<cv::Mat> readFeaturesFromFile(string filename){
+-vector<cv::Mat> features;
+- //test it is not created
+- std::ifstream ifile(filename);
+- if (!ifile.is_open()){cerr<<"could not open input file"<<endl;exit(0);}
+- uint32_t size;
+- ifile.read((char*)&size,sizeof(size));
+- features.resize(size);
+- for(size_t i=0;i<size;i++){
+-
+- uint32_t cols,rows,type;
+- ifile.read( (char*)&cols,sizeof(cols));
+- ifile.read( (char*)&rows,sizeof(rows));
+- ifile.read( (char*)&type,sizeof(type));
+- features[i].create(rows,cols,type);
+- ifile.read( (char*)features[i].ptr<uchar>(0),features[i].total()*features[i].elemSize());
+- }
+- return features;
+-}
+-
+-// ----------------------------------------------------------------------------
+-
+-int main(int argc,char **argv)
+-{
+-
+- try{
+- CmdLineParser cml(argc,argv);
+- if (cml["-h"] || argc!=3){
+- cerr<<"Usage: features output_voc.yml[.gz]"<<endl;
+- return -1;
+- }
+-
+-
+- auto features=readFeaturesFromFile(argv[1]);
+-
+- const int k = 9;
+- const int L = 3;
+- const WeightingType weight = TF_IDF;
+- const ScoringType score = L1_NORM;
+- DBoW3::Vocabulary voc (k, L, weight, score);
+-
+- cout << "Creating a small " << k << "^" << L << " vocabulary..." << endl;
+- voc.create(features);
+- cerr<<"Saving "<<argv[2]<<endl;
+- voc.save(argv[2]);
+-
+-
+- }catch(std::exception &ex){
+- cerr<<ex.what()<<endl;
+- }
+-
+- return 0;
+-}
++//Second step,creates the vocabulary from the set of features. It can be slow
++#include <iostream>
++#include <vector>
++
++// DBoW3
++#include "DBoW3.h"
++
++// OpenCV
++#include <opencv2/core/core.hpp>
++using namespace DBoW3;
++using namespace std;
++
++//command line parser
++class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){} bool operator[] ( string param ) {int idx=-1; for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; return ( idx!=-1 ) ; } string operator()(string param,string defvalue="-1"){int idx=-1; for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue; else return ( argv[ idx+1] ); }};
++
++// ----------------------------------------------------------------------------
++
++// ----------------------------------------------------------------------------
++vector<cv::Mat> readFeaturesFromFile(string filename){
++vector<cv::Mat> features;
++ //test it is not created
++ std::ifstream ifile(filename);
++ if (!ifile.is_open()){cerr<<"could not open input file"<<endl;exit(0);}
++ uint32_t size;
++ ifile.read((char*)&size,sizeof(size));
++ features.resize(size);
++ for(size_t i=0;i<size;i++){
++
++ uint32_t cols,rows,type;
++ ifile.read( (char*)&cols,sizeof(cols));
++ ifile.read( (char*)&rows,sizeof(rows));
++ ifile.read( (char*)&type,sizeof(type));
++ features[i].create(rows,cols,type);
++ ifile.read( (char*)features[i].ptr<uchar>(0),features[i].total()*features[i].elemSize());
++ }
++ return features;
++}
++
++// ----------------------------------------------------------------------------
++
++int main(int argc,char **argv)
++{
++
++ try{
++ CmdLineParser cml(argc,argv);
++ if (cml["-h"] || argc!=3){
++ cerr<<"Usage: features output_voc.yml[.gz]"<<endl;
++ return -1;
++ }
++
++
++ auto features=readFeaturesFromFile(argv[1]);
++
++ const int k = 9;
++ const int L = 3;
++ const WeightingType weight = TF_IDF;
++ const ScoringType score = L1_NORM;
++ DBoW3::Vocabulary voc (k, L, weight, score);
++
++ cout << "Creating a small " << k << "^" << L << " vocabulary..." << endl;
++ voc.create(features);
++ cerr<<"Saving "<<argv[2]<<endl;
++ voc.save(argv[2]);
++
++
++ }catch(std::exception &ex){
++ cerr<<ex.what()<<endl;
++ }
++
++ return 0;
++}
+diff --git a/utils/demo_general.cpp b/examples/demo_general.cpp
+similarity index 96%
+rename from utils/demo_general.cpp
+rename to examples/demo_general.cpp
+index 63db40b..b4bc391 100644
+--- a/utils/demo_general.cpp
++++ b/examples/demo_general.cpp
+@@ -1,202 +1,202 @@
+-/**
+- * Date: 2016
+- * Author: Rafael Muñoz Salinas
+- * Description: demo application of DBoW3
+- * License: see the LICENSE.txt file
+- */
+-
+-#include <iostream>
+-#include <vector>
+-
+-// DBoW3
+-#include "DBoW3.h"
+-
+-// OpenCV
+-#include <opencv2/core/core.hpp>
+-#include <opencv2/highgui/highgui.hpp>
+-#include <opencv2/features2d/features2d.hpp>
+-#ifdef USE_CONTRIB
+-#include <opencv2/xfeatures2d/nonfree.hpp>
+-#include <opencv2/xfeatures2d.hpp>
+-#endif
+-#include "DescManip.h"
+-
+-using namespace DBoW3;
+-using namespace std;
+-
+-
+-//command line parser
+-class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){} bool operator[] ( string param ) {int idx=-1; for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; return ( idx!=-1 ) ; } string operator()(string param,string defvalue="-1"){int idx=-1; for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue; else return ( argv[ idx+1] ); }};
+-
+-
+-// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+-
+-// extended surf gives 128-dimensional vectors
+-const bool EXTENDED_SURF = false;
+-// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+-
+-void wait()
+-{
+- cout << endl << "Press enter to continue" << endl;
+- getchar();
+-}
+-
+-
+-vector<string> readImagePaths(int argc,char **argv,int start){
+- vector<string> paths;
+- for(int i=start;i<argc;i++) paths.push_back(argv[i]);
+- return paths;
+-}
+-
+-vector< cv::Mat > loadFeatures( std::vector<string> path_to_images,string descriptor="") throw (std::exception){
+- //select detector
+- cv::Ptr<cv::Feature2D> fdetector;
+- if (descriptor=="orb") fdetector=cv::ORB::create();
+- else if (descriptor=="brisk") fdetector=cv::BRISK::create();
+-#ifdef OPENCV_VERSION_3
+- else if (descriptor=="akaze") fdetector=cv::AKAZE::create();
+-#endif
+-#ifdef USE_CONTRIB
+- else if(descriptor=="surf" ) fdetector=cv::xfeatures2d::SURF::create(400, 4, 2, EXTENDED_SURF);
+-#endif
+-
+- else throw std::runtime_error("Invalid descriptor");
+- assert(!descriptor.empty());
+- vector<cv::Mat> features;
+-
+-
+- cout << "Extracting features..." << endl;
+- for(size_t i = 0; i < path_to_images.size(); ++i)
+- {
+- vector<cv::KeyPoint> keypoints;
+- cv::Mat descriptors;
+- cout<<"reading image: "<<path_to_images[i]<<endl;
+- cv::Mat image = cv::imread(path_to_images[i], 0);
+- if(image.empty())throw std::runtime_error("Could not open image"+path_to_images[i]);
+- cout<<"extracting features"<<endl;
+- fdetector->detectAndCompute(image, cv::Mat(), keypoints, descriptors);
+- features.push_back(descriptors);
+- cout<<"done detecting features"<<endl;
+- }
+- return features;
+-}
+-
+-// ----------------------------------------------------------------------------
+-
+-void testVocCreation(const vector<cv::Mat> &features)
+-{
+- // branching factor and depth levels
+- const int k = 9;
+- const int L = 3;
+- const WeightingType weight = TF_IDF;
+- const ScoringType score = L1_NORM;
+-
+- DBoW3::Vocabulary voc(k, L, weight, score);
+-
+- cout << "Creating a small " << k << "^" << L << " vocabulary..." << endl;
+- voc.create(features);
+- cout << "... done!" << endl;
+-
+- cout << "Vocabulary information: " << endl
+- << voc << endl << endl;
+-
+- // lets do something with this vocabulary
+- cout << "Matching images against themselves (0 low, 1 high): " << endl;
+- BowVector v1, v2;
+- for(size_t i = 0; i < features.size(); i++)
+- {
+- voc.transform(features[i], v1);
+- for(size_t j = 0; j < features.size(); j++)
+- {
+- voc.transform(features[j], v2);
+-
+- double score = voc.score(v1, v2);
+- cout << "Image " << i << " vs Image " << j << ": " << score << endl;
+- }
+- }
+-
+- // save the vocabulary to disk
+- cout << endl << "Saving vocabulary..." << endl;
+- voc.save("small_voc.yml.gz");
+- cout << "Done" << endl;
+-}
+-
+-////// ----------------------------------------------------------------------------
+-
+-void testDatabase(const vector<cv::Mat > &features)
+-{
+- cout << "Creating a small database..." << endl;
+-
+- // load the vocabulary from disk
+- Vocabulary voc("small_voc.yml.gz");
+-
+- Database db(voc, false, 0); // false = do not use direct index
+- // (so ignore the last param)
+- // The direct index is useful if we want to retrieve the features that
+- // belong to some vocabulary node.
+- // db creates a copy of the vocabulary, we may get rid of "voc" now
+-
+- // add images to the database
+- for(size_t i = 0; i < features.size(); i++)
+- db.add(features[i]);
+-
+- cout << "... done!" << endl;
+-
+- cout << "Database information: " << endl << db << endl;
+-
+- // and query the database
+- cout << "Querying the database: " << endl;
+-
+- QueryResults ret;
+- for(size_t i = 0; i < features.size(); i++)
+- {
+- db.query(features[i], ret, 4);
+-
+- // ret[0] is always the same image in this case, because we added it to the
+- // database. ret[1] is the second best match.
+-
+- cout << "Searching for Image " << i << ". " << ret << endl;
+- }
+-
+- cout << endl;
+-
+- // we can save the database. The created file includes the vocabulary
+- // and the entries added
+- cout << "Saving database..." << endl;
+- db.save("small_db.yml.gz");
+- cout << "... done!" << endl;
+-
+- // once saved, we can load it again
+- cout << "Retrieving database once again..." << endl;
+- Database db2("small_db.yml.gz");
+- cout << "... done! This is: " << endl << db2 << endl;
+-}
+-
+-
+-// ----------------------------------------------------------------------------
+-
+-int main(int argc,char **argv)
+-{
+-
+- try{
+- CmdLineParser cml(argc,argv);
+- if (cml["-h"] || argc<=2){
+- cerr<<"Usage: descriptor_name image0 image1 ... \n\t descriptors:brisk,surf,orb ,akaze(only if using opencv 3)"<<endl;
+- return -1;
+- }
+-
+- string descriptor=argv[1];
+-
+- auto images=readImagePaths(argc,argv,2);
+- vector< cv::Mat > features= loadFeatures(images,descriptor);
+- testVocCreation(features);
+-
+-
+- testDatabase(features);
+-
+- }catch(std::exception &ex){
+- cerr<<ex.what()<<endl;
+- }
+-
+- return 0;
+-}
++/**
++ * Date: 2016
++ * Author: Rafael Muñoz Salinas
++ * Description: demo application of DBoW3
++ * License: see the LICENSE.txt file
++ */
++
++#include <iostream>
++#include <vector>
++
++// DBoW3
++#include "DBoW3.h"
++
++// OpenCV
++#include <opencv2/core/core.hpp>
++#include <opencv2/highgui/highgui.hpp>
++#include <opencv2/features2d/features2d.hpp>
++#ifdef USE_CONTRIB
++#include <opencv2/xfeatures2d/nonfree.hpp>
++#include <opencv2/xfeatures2d.hpp>
++#endif
++#include "DescManip.h"
++
++using namespace DBoW3;
++using namespace std;
++
++
++//command line parser
++class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){} bool operator[] ( string param ) {int idx=-1; for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; return ( idx!=-1 ) ; } string operator()(string param,string defvalue="-1"){int idx=-1; for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue; else return ( argv[ idx+1] ); }};
++
++
++// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
++
++// extended surf gives 128-dimensional vectors
++const bool EXTENDED_SURF = false;
++// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
++
++void wait()
++{
++ cout << endl << "Press enter to continue" << endl;
++ getchar();
++}
++
++
++vector<string> readImagePaths(int argc,char **argv,int start){
++ vector<string> paths;
++ for(int i=start;i<argc;i++) paths.push_back(argv[i]);
++ return paths;
++}
++
++vector< cv::Mat > loadFeatures( std::vector<string> path_to_images,string descriptor="") throw (std::exception){
++ //select detector
++ cv::Ptr<cv::Feature2D> fdetector;
++ if (descriptor=="orb") fdetector=cv::ORB::create();
++ else if (descriptor=="brisk") fdetector=cv::BRISK::create();
++#ifdef OPENCV_VERSION_3
++ else if (descriptor=="akaze") fdetector=cv::AKAZE::create();
++#endif
++#ifdef USE_CONTRIB
++ else if(descriptor=="surf" ) fdetector=cv::xfeatures2d::SURF::create(400, 4, 2, EXTENDED_SURF);
++#endif
++
++ else throw std::runtime_error("Invalid descriptor");
++ assert(!descriptor.empty());
++ vector<cv::Mat> features;
++
++
++ cout << "Extracting features..." << endl;
++ for(size_t i = 0; i < path_to_images.size(); ++i)
++ {
++ vector<cv::KeyPoint> keypoints;
++ cv::Mat descriptors;
++ cout<<"reading image: "<<path_to_images[i]<<endl;
++ cv::Mat image = cv::imread(path_to_images[i], 0);
++ if(image.empty())throw std::runtime_error("Could not open image"+path_to_images[i]);
++ cout<<"extracting features"<<endl;
++ fdetector->detectAndCompute(image, cv::Mat(), keypoints, descriptors);
++ features.push_back(descriptors);
++ cout<<"done detecting features"<<endl;
++ }
++ return features;
++}
++
++// ----------------------------------------------------------------------------
++
++void testVocCreation(const vector<cv::Mat> &features)
++{
++ // branching factor and depth levels
++ const int k = 9;
++ const int L = 3;
++ const WeightingType weight = TF_IDF;
++ const ScoringType score = L1_NORM;
++
++ DBoW3::Vocabulary voc(k, L, weight, score);
++
++ cout << "Creating a small " << k << "^" << L << " vocabulary..." << endl;
++ voc.create(features);
++ cout << "... done!" << endl;
++
++ cout << "Vocabulary information: " << endl
++ << voc << endl << endl;
++
++ // lets do something with this vocabulary
++ cout << "Matching images against themselves (0 low, 1 high): " << endl;
++ BowVector v1, v2;
++ for(size_t i = 0; i < features.size(); i++)
++ {
++ voc.transform(features[i], v1);
++ for(size_t j = 0; j < features.size(); j++)
++ {
++ voc.transform(features[j], v2);
++
++ double score = voc.score(v1, v2);
++ cout << "Image " << i << " vs Image " << j << ": " << score << endl;
++ }
++ }
++
++ // save the vocabulary to disk
++ cout << endl << "Saving vocabulary..." << endl;
++ voc.save("small_voc.yml.gz");
++ cout << "Done" << endl;
++}
++
++////// ----------------------------------------------------------------------------
++
++void testDatabase(const vector<cv::Mat > &features)
++{
++ cout << "Creating a small database..." << endl;
++
++ // load the vocabulary from disk
++ Vocabulary voc("small_voc.yml.gz");
++
++ Database db(voc, false, 0); // false = do not use direct index
++ // (so ignore the last param)
++ // The direct index is useful if we want to retrieve the features that
++ // belong to some vocabulary node.
++ // db creates a copy of the vocabulary, we may get rid of "voc" now
++
++ // add images to the database
++ for(size_t i = 0; i < features.size(); i++)
++ db.add(features[i]);
++
++ cout << "... done!" << endl;
++
++ cout << "Database information: " << endl << db << endl;
++
++ // and query the database
++ cout << "Querying the database: " << endl;
++
++ QueryResults ret;
++ for(size_t i = 0; i < features.size(); i++)
++ {
++ db.query(features[i], ret, 4);
++
++ // ret[0] is always the same image in this case, because we added it to the
++ // database. ret[1] is the second best match.
++
++ cout << "Searching for Image " << i << ". " << ret << endl;
++ }
++
++ cout << endl;
++
++ // we can save the database. The created file includes the vocabulary
++ // and the entries added
++ cout << "Saving database..." << endl;
++ db.save("small_db.yml.gz");
++ cout << "... done!" << endl;
++
++ // once saved, we can load it again
++ cout << "Retrieving database once again..." << endl;
++ Database db2("small_db.yml.gz");
++ cout << "... done! This is: " << endl << db2 << endl;
++}
++
++
++// ----------------------------------------------------------------------------
++
++int main(int argc,char **argv)
++{
++
++ try{
++ CmdLineParser cml(argc,argv);
++ if (cml["-h"] || argc<=2){
++ cerr<<"Usage: descriptor_name image0 image1 ... \n\t descriptors:brisk,surf,orb ,akaze(only if using opencv 3)"<<endl;
++ return -1;
++ }
++
++ string descriptor=argv[1];
++
++ auto images=readImagePaths(argc,argv,2);
++ vector< cv::Mat > features= loadFeatures(images,descriptor);
++ testVocCreation(features);
++
++
++ testDatabase(features);
++
++ }catch(std::exception &ex){
++ cerr<<ex.what()<<endl;
++ }
++
++ return 0;
++}
+diff --git a/utils/images/image0.png b/examples/images/image0.png
+similarity index 100%
+rename from utils/images/image0.png
+rename to examples/images/image0.png
+diff --git a/utils/images/image1.png b/examples/images/image1.png
+similarity index 100%
+rename from utils/images/image1.png
+rename to examples/images/image1.png
+diff --git a/utils/images/image2.png b/examples/images/image2.png
+similarity index 100%
+rename from utils/images/image2.png
+rename to examples/images/image2.png
+diff --git a/utils/images/image3.png b/examples/images/image3.png
+similarity index 100%
+rename from utils/images/image3.png
+rename to examples/images/image3.png
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+deleted file mode 100644
+index a9c52b4..0000000
+--- a/src/CMakeLists.txt
++++ /dev/null
+@@ -1,35 +0,0 @@
+-INCLUDE_DIRECTORIES(. ./utils/)
+-
+-FILE(GLOB hdrs_base "*.h" )
+-FILE(GLOB srcs_base "*.c*")
+-
+-FILE(GLOB hdrs ${hdrs_base} )
+-FILE(GLOB srcs ${srcs_base} )
+-
+-
+-ADD_LIBRARY(${PROJECT_NAME} ${srcs} ${hdrs})
+-INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR} )
+-
+-SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES # create *nix style library versions + symbolic links
+- DEFINE_SYMBOL DBOW_DSO_EXPORTS
+- VERSION ${PROJECT_VERSION}
+- SOVERSION ${PROJECT_SOVERSION}
+- CLEAN_DIRECT_OUTPUT 1 # allow creating static and shared libs without conflicts
+- OUTPUT_NAME "${PROJECT_NAME}${PROJECT_DLLVERSION}" # avoid conflicts between library and binary target names
+-)
+-
+-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${REQUIRED_LIBRARIES} )
+-
+-INSTALL(TARGETS ${PROJECT_NAME}
+- RUNTIME DESTINATION bin COMPONENT main # Install the dll file in bin directory
+- LIBRARY DESTINATION ${LIB_INSTALL_DIR} PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE COMPONENT main
+- ARCHIVE DESTINATION ${LIB_INSTALL_DIR} COMPONENT main) # Install the dll.a file in lib directory
+-
+-
+-
+-INSTALL(FILES ${hdrs_base}
+- DESTINATION include/${PROJECT_NAME}
+- COMPONENT main)
+-
+-
+-
+diff --git a/orbvoc.dbow3 b/voc/orbvoc.dbow3
+similarity index 100%
+rename from orbvoc.dbow3
+rename to voc/orbvoc.dbow3
+
+From 9f9a9125423edd0b2cc7c84897d4387c5dcea44b Mon Sep 17 00:00:00 2001
+From: Ramadan <ramadan.ahmedr93@gmail.com>
+Date: Thu, 15 Aug 2019 14:00:28 +0200
+Subject: [PATCH 2/2] Fix DBow3Config.cmake
+
+---
+ Lib/DBow3Config.cmake | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/Lib/DBow3Config.cmake b/Lib/DBow3Config.cmake
+index 9720a14..da63d5e 100644
+--- a/Lib/DBow3Config.cmake
++++ b/Lib/DBow3Config.cmake
+@@ -1,4 +1,4 @@
+ include(CMakeFindDependencyMacro)
+ find_dependency(OpenCV)
+ find_dependency(OpenMP)
+-include("${CMAKE_CURRENT_LIST_DIR}/FbowTargets.cmake")
+\ No newline at end of file
++include("${CMAKE_CURRENT_LIST_DIR}/DBow3Targets.cmake")
+\ No newline at end of file
diff --git a/vcpkg/ports/dbow3/portfile.cmake b/vcpkg/ports/dbow3/portfile.cmake
new file mode 100644
index 0000000..bee7dc4
--- /dev/null
+++ b/vcpkg/ports/dbow3/portfile.cmake
@@ -0,0 +1,37 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+# https://github.com/rmsalinas/DBow3/pull/50 , already accepted but not merged as of 2023-06-13
+vcpkg_download_distfile(REMOVE_DYNAMIC_EXCEPTION_SPECS
+ URLS https://patch-diff.githubusercontent.com/raw/rmsalinas/DBow3/pull/50.patch?full_index=1
+ SHA512 e39b9615aa8cfd4cf26b4ec977df823533b187d18ade5447c96fdcea53c9a58b1648e0a9fe78e3833360ba91c27ad56b6d65f944bd6c46f76969a652ba64cb5a
+ FILENAME 9f9d19930c3ec597bd1ebc2a9c2a84b9fd49674e.patch
+)
+
+vcpkg_from_github(
+ OUT_SOURCE_PATH SOURCE_PATH
+ REPO rmsalinas/DBow3
+ REF c5ae539abddcef43ef64fa130555e2d521098369
+ SHA512 a1b35d2a524a23c367180574f7ddbcad73161c7fda6c3e7973273ab86092d9c6d89df28925a8e53691cd894f2d6588832604a0dbdba478557695806907bf36eb
+ PATCHES
+ "${REMOVE_DYNAMIC_EXCEPTION_SPECS}"
+ fix_cmake.patch
+ add-cstdint.diff # https://github.com/rmsalinas/DBow3/pull/55
+)
+
+vcpkg_cmake_configure(
+ SOURCE_PATH "${SOURCE_PATH}"
+ OPTIONS
+ -DUSE_OPENCV_CONTRIB=ON
+ -DBUILD_EXAMPLES=OFF
+ -DBUILD_TESTS=OFF
+)
+
+vcpkg_cmake_install()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH cmake/DBow3)
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+
+vcpkg_copy_pdbs()
+
+file(INSTALL "${SOURCE_PATH}/LICENSE.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
diff --git a/vcpkg/ports/dbow3/vcpkg.json b/vcpkg/ports/dbow3/vcpkg.json
new file mode 100644
index 0000000..70d9bf4
--- /dev/null
+++ b/vcpkg/ports/dbow3/vcpkg.json
@@ -0,0 +1,25 @@
+{
+ "name": "dbow3",
+ "version": "1.0.0",
+ "port-version": 4,
+ "description": "DBoW3 is an improved version of the DBow2 library, an open source C++ library for indexing and converting images into a bag-of-word representation.",
+ "homepage": "https://github.com/rmsalinas/DBow3",
+ "license": "BSD-3-Clause",
+ "supports": "linux",
+ "dependencies": [
+ {
+ "name": "opencv",
+ "features": [
+ "contrib"
+ ]
+ },
+ {
+ "name": "vcpkg-cmake",
+ "host": true
+ },
+ {
+ "name": "vcpkg-cmake-config",
+ "host": true
+ }
+ ]
+}
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