/**
 * File: FeatureVector.cpp
 * Date: November 2011
 * Author: Dorian Galvez-Lopez
 * Description: feature vector
 * License: see the LICENSE.txt file
 *
 */

#include "FeatureVector.h"
#include <map>
#include <vector>
#include <iostream>

namespace DBoW3 {

// ---------------------------------------------------------------------------

FeatureVector::FeatureVector(void)
{
}

// ---------------------------------------------------------------------------

FeatureVector::~FeatureVector(void)
{
}

// ---------------------------------------------------------------------------

void FeatureVector::addFeature(NodeId id, unsigned int i_feature)
{
 FeatureVector::iterator vit = this->lower_bound(id);
 
 if(vit != this->end() && vit->first == id)
 {
 vit->second.push_back(i_feature);
 }
 else
 {
 vit = this->insert(vit, FeatureVector::value_type(id, 
 std::vector<unsigned int>() ));
 vit->second.push_back(i_feature);
 }
}

// ---------------------------------------------------------------------------

std::ostream& operator<<(std::ostream &out, 
 const FeatureVector &v)
{
 if(!v.empty())
 {
 FeatureVector::const_iterator vit = v.begin();
 
 const std::vector<unsigned int>* f = &vit->second;

 out << "<" << vit->first << ": [";
 if(!f->empty()) out << (*f)[0];
 for(unsigned int i = 1; i < f->size(); ++i)
 {
 out << ", " << (*f)[i];
 }
 out << "]>";
 
 for(++vit; vit != v.end(); ++vit)
 {
 f = &vit->second;
 
 out << ", <" << vit->first << ": [";
 if(!f->empty()) out << (*f)[0];
 for(unsigned int i = 1; i < f->size(); ++i)
 {
 out << ", " << (*f)[i];
 }
 out << "]>";
 }
 }
 
 return out; 
}

// ---------------------------------------------------------------------------

} // namespace DBoW3