tracking/mapbuilding/Utilities.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_TRACKING_MAPBUILDING_UTILITIES_H
#define META_OCEAN_TRACKING_MAPBUILDING_UTILITIES_H
 
#include "ocean/tracking/mapbuilding/MapBuilding.h"
#include "ocean/tracking/mapbuilding/DescriptorHandling.h"
#include "ocean/tracking/mapbuilding/Unified.h"
 
#include "ocean/io/Bitstream.h"
 
namespace Ocean
{
 
namespace Tracking
{
 
namespace MapBuilding
{
 
/**
 * This class implements utility functions.
 * @ingroup trackingmapbuilding
 */
class OCEAN_TRACKING_MAPBUILDING_EXPORT Utilities : public DescriptorHandling
{
    public:
 
        /**
         * Writes a descriptor map to an output stream.
         * @param unifiedDescriptorMap The descriptor map to write
         * @param outputStream The output stream to which the map will be written
         * @return True, if succeeded
         */
        static bool writeDescriptorMap(const UnifiedDescriptorMap& unifiedDescriptorMap, IO::OutputBitstream& outputStream);
 
        /**
         * Reads a descriptor map from an output stream.
         * @param inputStream The stream from which the map will be read
         * @param unifiedDescriptorMap The resulting descriptor map
         * @return True, if succeeded
         */
        static bool readDescriptorMap(IO::InputBitstream& inputStream, std::shared_ptr<UnifiedDescriptorMap>& unifiedDescriptorMap);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TRACKING_MAPBUILDING_UTILITIES_H