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include/KeyFrameDatabase.h

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