Adding Dbow3 and Edrak Tools

.gitmodules

@@ -13,3 +13,6 @@
 [submodule "3rdparty/imgui"]
 	path = 3rdparty/imgui
 	url = git@github.com:ocornut/imgui.git
+[submodule "3rdparty/DBow3"]
+	path = 3rdparty/DBow3
+	url = git@github.com:rmsalinas/DBow3.git

CMakeLists.txt

@@ -18,6 +18,8 @@ else()
     add_compile_options()
 endif()
 
+option(BUILD_TOOLS "Build Edrak Tools" ON)
+
 include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
 conan_basic_setup()
 
@@ -52,6 +54,15 @@ ${IMGGUI_PATH}/backends/imgui_impl_opengl3.cpp
 add_library(ImgGui ${IMGUI_SRCS})
 target_link_libraries(ImgGui ${CONAN_LIBS})
 
+#DBOW3
+find_package(DBoW3) 
+if(${DBoW3_FOUND})
+  message(STATUS "Found DBoW3")
+else()
+  add_subdirectory(3rdparty/DBow3)
+  find_package(DBoW3 REQUIRED) 
+endif()
+
 
 # Src files
 set(EDRAK_SRC_FILES Edrak/src/IO/MonoReader.cpp
@@ -72,6 +83,7 @@ target_include_directories(Edrak PUBLIC Edrak/include)
 target_link_libraries(Edrak ${CONAN_LIBS})
 target_link_libraries(Edrak ${Pangolin_LIBRARIES})
 target_link_libraries(Edrak ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY})
+target_link_libraries(Edrak DBoW3)
 
 
 
@@ -89,6 +101,10 @@ if(EDRAK_BUILD_EXAMPLES)
   add_subdirectory(Examples/ Examples)
 endif(EDRAK_BUILD_EXAMPLES)
 
+# Build Tools
+if(BUILD_TOOLS)
+  add_subdirectory(tools)
+endif()
 
 enable_testing()
 

tools/CMakeLists.txt

@@ -0,0 +1,3 @@
+
+add_executable(TrainDBow3 train_DBow.cpp)
+target_link_libraries(TrainDBow3 Edrak)

tools/train_DBow.cpp

@@ -0,0 +1,47 @@
+#include "DBoW3.h"
+#include "Edrak/IO/MonoReader.hpp"
+#include "Edrak/Images/Features.hpp"
+#include <iostream>
+
+void PrintUsage() {
+  std::cout << "How to use: ./TrainDBow3 ImagesFolderPath/*.png OutputDBPath"
+            << std::endl;
+}
+
+vector<cv::Mat> ExtractFeatures(const Edrak::IO::Reader &imgsReader) {
+  vector<cv::Mat> features;
+  Edrak::Images::Features::KeyPoints::KeyPoints kps;
+  cv::Mat image;
+  while (imgsReader.NextFrame(image)) {
+    cv::Mat descriptors;
+    Edrak::Images::Features::ORB(image, kps, descriptors);
+    features.push_back(descriptors);
+  }
+  std::cout << "Processed " << features.size() << " Images" << std::endl;
+  return features;
+}
+
+void CreateVocab(const vector<cv::Mat> &features, const std::string &filePath) {
+  // 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);
+  voc.create(features);
+  std::cout << "Vocabulary information: " << std::endl << voc << std::endl;
+  // save the vocabulary to disk
+  voc.save(filePath);
+  std::cout << "Vocabulary saved to " << filePath << std::endl;
+}
+
+int main(int argc, char const *argv[]) {
+  if (argc < 3) {
+    PrintUsage();
+    return -1;
+  }
+  Edrak::IO::Reader imgsReader(argv[1]);
+  auto orbFeatures = ExtractFeatures(imgsReader);
+  CreateVocab(orbFeatures, argv[2]);
+  return 0;
+}