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include/KeyFrameDatabase.h

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+/**
+* This file is part of ORB-SLAM3
+*
+* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+*
+* ORB-SLAM3 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-SLAM3 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-SLAM3.
+* 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 "Map.h"
+
+#include <boost/serialization/base_object.hpp>
+#include <boost/serialization/vector.hpp>
+#include <boost/serialization/list.hpp>
+
+#include<mutex>
+
+
+namespace ORB_SLAM3
+{
+
+class KeyFrame;
+class Frame;
+class Map;
+
+
+class KeyFrameDatabase
+{
+
+public:
+
+    KeyFrameDatabase(const ORBVocabulary &voc);
+
+   void add(KeyFrame* pKF);
+
+   void erase(KeyFrame* pKF);
+
+   void clear();
+   void clearMap(Map* pMap);
+
+   // Loop Detection(DEPRECATED)
+   std::vector<KeyFrame *> DetectLoopCandidates(KeyFrame* pKF, float minScore);
+
+   // Loop and Merge Detection
+   void DetectCandidates(KeyFrame* pKF, float minScore,vector<KeyFrame*>& vpLoopCand, vector<KeyFrame*>& vpMergeCand);
+   void DetectBestCandidates(KeyFrame *pKF, vector<KeyFrame*> &vpLoopCand, vector<KeyFrame*> &vpMergeCand, int nMinWords);
+   void DetectNBestCandidates(KeyFrame *pKF, vector<KeyFrame*> &vpLoopCand, vector<KeyFrame*> &vpMergeCand, int nNumCandidates);
+
+   // Relocalization
+   std::vector<KeyFrame*> DetectRelocalizationCandidates(Frame* F, Map* pMap);
+
+   void SetORBVocabulary(ORBVocabulary* pORBVoc);
+
+protected:
+
+  // Associated vocabulary
+  const ORBVocabulary* mpVoc;
+
+  // Inverted file
+  std::vector<list<KeyFrame*> > mvInvertedFile;
+
+  // Mutex
+  std::mutex mMutex;
+};
+
+} //namespace ORB_SLAM
+
+#endif