Implement a BagOfWords tree and DB (#1026)

* Implement BagOfWords

Co-authored-by: Dehann Fourie <6412556+dehann@users.noreply.github.com>

Author: Affie

Project.toml

@@ -7,13 +7,15 @@ version = "0.16.3"
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
+Clustering = "aaaa29a8-35af-508c-8bc3-b662a17a0fe5"
 ColorVectorSpace = "c3611d14-8923-5661-9e6a-0046d554d3a4"
 Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
 Combinatorics = "861a8166-3701-5b0c-9a16-15d98fcdc6aa"
 CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
 DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
 Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
 DelimitedFiles = "8bb1440f-4735-579b-a4ab-409b98df4dab"
+Distances = "b4f34e82-e78d-54a5-968a-f98e89d6e8f7"
 Distributed = "8ba89e20-285c-5b6f-9357-94700520ee1b"
 DistributedFactorGraphs = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
 Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
@@ -23,6 +25,7 @@ FileIO = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
 FixedPointNumbers = "53c48c17-4a7d-5ca2-90c5-79b7896eea93"
 GeometricalPredicates = "fd0ad045-b25c-564e-8f9c-8ef5c5f21267"
 GeometryBasics = "5c1252a2-5f33-56bf-86c9-59e7332b4326"
+Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 ImageCore = "a09fc81d-aa75-5fe9-8630-4744c3626534"
 ImageDraw = "4381153b-2b60-58ae-a1ba-fd683676385f"
 IncrementalInference = "904591bb-b899-562f-9e6f-b8df64c7d480"
@@ -34,6 +37,7 @@ JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 KernelDensityEstimate = "2472808a-b354-52ea-a80e-1658a3c6056d"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Manifolds = "1cead3c2-87b3-11e9-0ccd-23c62b72b94e"
+MetaGraphsNext = "fa8bd995-216d-47f1-8a91-f3b68fbeb377"
 MultivariateStats = "6f286f6a-111f-5878-ab1e-185364afe411"
 NLsolve = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
 NearestNeighbors = "b8a86587-4115-5ab1-83bc-aa920d37bbce"
@@ -46,6 +50,7 @@ Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 RoME = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 Serialization = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
+SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 StatsBase = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91"

src/Caesar.jl

@@ -73,6 +73,7 @@ include("services/WorkflowBlobNames.jl")
 include("services/PointUtils.jl")
 include("services/DataUtils.jl")
 include("services/UserFunctions.jl")
+include("services/ToImage.jl")
 
 # SAS-SLAM
 include("beamforming/czt.jl")
@@ -81,8 +82,10 @@ include("beamforming/MatchedFilter.jl")
 include("beamforming/SASBearing2D.jl")
 include("beamforming/SASUtils.jl")
 
-include("services/ToImage.jl")
+# Bag of words
+include("bagofwords/BagOfWords.jl")
 
+# manual type-implementation of Point Cloud Library
 include("3rdParty/_PCL/_PCL.jl")
 
 # object affordance work