74 lines
1.7 KiB
C++
Executable File
74 lines
1.7 KiB
C++
Executable File
/**
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* This file is part of ORB-SLAM2.
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*
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* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
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* For more information see <https://github.com/raulmur/ORB_SLAM2>
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*
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* ORB-SLAM2 is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* ORB-SLAM2 is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef KEYFRAMEDATABASE_H
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#define KEYFRAMEDATABASE_H
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#include <vector>
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#include <list>
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#include <set>
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#include "KeyFrame.h"
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#include "Frame.h"
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#include "ORBVocabulary.h"
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#include "LightKeyFrame.h"
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#include<mutex>
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namespace ORB_SLAM2 {
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class KeyFrame;
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class Frame;
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class LightKeyFrame;
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class KeyFrameDatabase {
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public:
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KeyFrameDatabase(const ORBVocabulary &voc);
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void add(KeyFrame *pKF);
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void erase(KeyFrame *pKF);
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void clear();
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// Loop Detection
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std::vector<KeyFrame *> DetectLoopCandidates(KeyFrame *pKF, float minScore);
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// Relocalization
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std::vector<KeyFrame *> DetectRelocalizationCandidates(Frame *F);
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protected:
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// Associated vocabulary
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const ORBVocabulary *mpVoc;
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// Inverted file
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std::vector<list<LightKeyFrame> > mvInvertedFile;
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// Mutex
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std::mutex mMutex;
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};
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} //namespace ORB_SLAM
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#endif
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