72 lines
1.5 KiB
C++
Executable File
72 lines
1.5 KiB
C++
Executable File
//
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// Created by lifu on 17-2-1.
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//
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#ifndef ORB_SLAM2_LIGHTKEYFRAME_H
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#define ORB_SLAM2_LIGHTKEYFRAME_H
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#include "Frame.h"
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#include "KeyFrame.h"
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#include "MapPoint.h"
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#include "ORBVocabulary.h"
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#include "KeyFrameDatabase.h"
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#include "Map.h"
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#include <boost/serialization/vector.hpp>
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#include <boost/serialization/map.hpp>
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#include <boost/serialization/set.hpp>
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#include <boost/archive/text_oarchive.hpp>
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#include <boost/archive/text_iarchive.hpp>
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#include <boost/archive/binary_oarchive.hpp>
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#include <boost/archive/binary_iarchive.hpp>
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#include <boost/archive/detail/basic_oserializer.hpp>
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/*
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*
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*/
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namespace ORB_SLAM2 {
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class Map;
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class Cache;
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class KeyFrame;
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class LightKeyFrame {
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private:
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive &ar, const unsigned int) {
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ar & mnFrameId;
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}
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public:
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//constructure
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LightKeyFrame();
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LightKeyFrame(long unsigned int pId, Cache *pCache);
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LightKeyFrame( KeyFrame * pKF );
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// replement the < operate function
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bool operator < ( const LightKeyFrame & lkf ) const{
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return this->mnFrameId < lkf.mnFrameId;
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}
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bool operator == ( const LightKeyFrame & lkf ) const{
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return this->mnFrameId == lkf.mnFrameId;
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}
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KeyFrame* getKeyFrame() const;
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// the original keyframe ID
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long unsigned int mnFrameId;
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//the referense of the cache
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Cache *mpCache;
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};
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}
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#endif //ORB_SLAM2_LIGHTKEYFRAME_H
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