WAIKeyFrameDB Class Reference

AR Keyframe database class. More...

#include <WAIKeyFrameDB.h>

Public Types
enum	LoopDetectionErrorCodes { LOOP_DETECTION_ERROR_NONE , LOOP_DETECTION_ERROR_NO_CANDIDATES_WITH_COMMON_WORDS , LOOP_DETECTION_ERROR_NO_SIMILAR_CANDIDATES }

Public Member Functions
	WAIKeyFrameDB (WAIOrbVocabulary *voc)
void	add (WAIKeyFrame *pKF)
void	erase (WAIKeyFrame *pKF)
void	clear ()
std::vector< std::list< WAIKeyFrame * > > &	getInvertedFile ()
std::vector< WAIKeyFrame * >	DetectLoopCandidates (WAIKeyFrame *pKF, float minCommonWordFactor, float minScore, int *errorCode)
std::vector< WAIKeyFrame * >	DetectRelocalizationCandidates (WAIFrame *F, float minCommonWordFactor, bool applyMinAccScoreFilter=false)
std::vector< WAIKeyFrame * >	DetectRelocalizationCandidates (WAIFrame *F, cv::Mat extrinsicGuess)

Protected Attributes
WAIOrbVocabulary *	mpVoc
std::vector< std::list< WAIKeyFrame * > >	mvInvertedFile
std::mutex	mMutex

Detailed Description

AR Keyframe database class.

This file is part of ORB-SLAM2.

Copyright (C) 2014-2016 Ra�l 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/.

Member Enumeration Documentation

LoopDetectionErrorCodes

enum WAIKeyFrameDB::LoopDetectionErrorCodes

Enumerator
LOOP_DETECTION_ERROR_NONE
LOOP_DETECTION_ERROR_NO_CANDIDATES_WITH_COMMON_WORDS
LOOP_DETECTION_ERROR_NO_SIMILAR_CANDIDATES

Constructor & Destructor Documentation

WAIKeyFrameDB()

WAIKeyFrameDB::WAIKeyFrameDB

(

WAIOrbVocabulary *

voc

)

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/.

Member Function Documentation

add()

void WAIKeyFrameDB::add

(

WAIKeyFrame *

pKF

)

clear()

void WAIKeyFrameDB::clear

(

)

DetectLoopCandidates()

std::vector< WAIKeyFrame * > WAIKeyFrameDB::DetectLoopCandidates	(	WAIKeyFrame *	pKF,
		float	minCommonWordFactor,
		float	minScore,
		int *	errorCode
	)

DetectRelocalizationCandidates() [1/2]

std::vector< WAIKeyFrame * > WAIKeyFrameDB::DetectRelocalizationCandidates	(	WAIFrame *	F,
		cv::Mat	extrinsicGuess
	)

DetectRelocalizationCandidates() [2/2]

std::vector< WAIKeyFrame * > WAIKeyFrameDB::DetectRelocalizationCandidates	(	WAIFrame *	F,
		float	minCommonWordFactor,
		bool	applyMinAccScoreFilter = false
	)

erase()

void WAIKeyFrameDB::erase

(

WAIKeyFrame *

pKF

)

getInvertedFile()

std::vector< std::list< WAIKeyFrame * > > & WAIKeyFrameDB::getInvertedFile ( )

inline

Member Data Documentation

mMutex

std::mutex WAIKeyFrameDB::mMutex

protected

mpVoc

WAIOrbVocabulary* WAIKeyFrameDB::mpVoc

protected

mvInvertedFile

std::vector<std::list<WAIKeyFrame*> > WAIKeyFrameDB::mvInvertedFile

protected

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The documentation for this class was generated from the following files:

• WAIKeyFrameDB.h
• WAIKeyFrameDB.cpp