fixed vector size mismatch between matched and status vectors

loop_fusion/src/ThirdParty/DBoW/FClass.h

@@ -0,0 +1,71 @@
+/**
+ * File: FClass.h
+ * Date: November 2011
+ * Author: Dorian Galvez-Lopez
+ * Description: generic FClass to instantiate templated classes
+ * License: see the LICENSE.txt file
+ *
+ */
+
+#ifndef __D_T_FCLASS__
+#define __D_T_FCLASS__
+
+#include <opencv2/opencv.hpp>
+#include <vector>
+#include <string>
+
+namespace DBoW2 {
+
+/// Generic class to encapsulate functions to manage descriptors.
+/**
+ * This class must be inherited. Derived classes can be used as the
+ * parameter F when creating Templated structures
+ * (TemplatedVocabulary, TemplatedDatabase, ...)
+ */
+class FClass
+{
+  class TDescriptor;
+  typedef const TDescriptor *pDescriptor;
+  
+  /**
+   * Calculates the mean value of a set of descriptors
+   * @param descriptors
+   * @param mean mean descriptor
+   */
+  virtual void meanValue(const std::vector<pDescriptor> &descriptors, 
+    TDescriptor &mean) = 0;
+  
+  /**
+   * Calculates the distance between two descriptors
+   * @param a
+   * @param b
+   * @return distance
+   */
+  static double distance(const TDescriptor &a, const TDescriptor &b);
+  
+  /**
+   * Returns a string version of the descriptor
+   * @param a descriptor
+   * @return string version
+   */
+  static std::string toString(const TDescriptor &a);
+  
+  /**
+   * Returns a descriptor from a string
+   * @param a descriptor
+   * @param s string version
+   */
+  static void fromString(TDescriptor &a, const std::string &s);
+
+  /**
+   * Returns a mat with the descriptors in float format
+   * @param descriptors
+   * @param mat (out) NxL 32F matrix
+   */
+  static void toMat32F(const std::vector<TDescriptor> &descriptors, 
+    cv::Mat &mat);
+};
+
+} // namespace DBoW2
+
+#endif