forked from logzhan/ORB-SLAM3-UESTC
104 lines
2.8 KiB
C
104 lines
2.8 KiB
C
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/**
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* This file is part of ORB-SLAM3
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*
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* Copyright (C) 2017-2021 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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*
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* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
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* License as published by 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-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
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* the implied warranty of 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 along with ORB-SLAM3.
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* 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 "Map.h"
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#include <boost/serialization/base_object.hpp>
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#include <boost/serialization/vector.hpp>
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#include <boost/serialization/list.hpp>
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#include<mutex>
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namespace ORB_SLAM3
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{
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class KeyFrame;
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class Frame;
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class Map;
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class KeyFrameDatabase
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{
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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 version)
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{
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ar & mvBackupInvertedFileId;
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}
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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KeyFrameDatabase(){}
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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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void clearMap(Map* pMap);
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// Loop Detection(DEPRECATED)
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std::vector<KeyFrame *> DetectLoopCandidates(KeyFrame* pKF, float minScore);
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// Loop and Merge Detection
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void DetectCandidates(KeyFrame* pKF, float minScore,vector<KeyFrame*>& vpLoopCand, vector<KeyFrame*>& vpMergeCand);
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void DetectBestCandidates(KeyFrame *pKF, vector<KeyFrame*> &vpLoopCand, vector<KeyFrame*> &vpMergeCand, int nMinWords);
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void DetectNBestCandidates(KeyFrame *pKF, vector<KeyFrame*> &vpLoopCand, vector<KeyFrame*> &vpMergeCand, int nNumCandidates);
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// Relocalization
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std::vector<KeyFrame*> DetectRelocalizationCandidates(Frame* F, Map* pMap);
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void PreSave();
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void PostLoad(map<long unsigned int, KeyFrame*> mpKFid);
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void SetORBVocabulary(ORBVocabulary* pORBVoc);
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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<KeyFrame*> > mvInvertedFile;
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// For save relation without pointer, this is necessary for save/load function
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std::vector<list<long unsigned int> > mvBackupInvertedFileId;
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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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