WAIKeyFrameDB.h

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/**
 * \file      WAIKeyframeDB.h
 * \date      October 2017
//  Codestyle: https://github.com/cpvrlab/SLProject/wiki/Coding-Style-Guidelines
 * \authors   Raul Mur-Artal, Michael Goettlicher, Marcus Hudritsch
 * \copyright http://opensource.org/licenses/GPL-3.0
*/
 
/**
 * 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/>.
 */
 
#ifndef WAIKEYFRAMEDB_H
#define WAIKEYFRAMEDB_H
 
#include <vector>
#include <list>
#include <WAIHelper.h>
#include <WAIKeyFrame.h>
#include <WAIOrbVocabulary.h>
#include <opencv2/core.hpp>
 
#include <mutex>
 
//-----------------------------------------------------------------------------
//! AR Keyframe database class
/*!
 */
class WAI_API WAIKeyFrameDB
{
public:
    WAIKeyFrameDB(WAIOrbVocabulary* voc);
 
    void add(WAIKeyFrame* pKF);
    void erase(WAIKeyFrame* pKF);
 
    void clear();
 
    std::vector<std::list<WAIKeyFrame*>>& getInvertedFile() { return mvInvertedFile; }
 
    // Loop Detection
    enum LoopDetectionErrorCodes
    {
        LOOP_DETECTION_ERROR_NONE,
        LOOP_DETECTION_ERROR_NO_CANDIDATES_WITH_COMMON_WORDS,
        LOOP_DETECTION_ERROR_NO_SIMILAR_CANDIDATES
    };
    std::vector<WAIKeyFrame*> DetectLoopCandidates(WAIKeyFrame* pKF, float minCommonWordFactor, float minScore, int* errorCode);
 
    // Relocalization
    std::vector<WAIKeyFrame*> DetectRelocalizationCandidates(WAIFrame* F, float minCommonWordFactor, bool applyMinAccScoreFilter = false);
    std::vector<WAIKeyFrame*> DetectRelocalizationCandidates(WAIFrame* F, cv::Mat extrinsicGuess);
 
protected:
    // Associated vocabulary
    WAIOrbVocabulary* mpVoc;
    // Inverted file
    std::vector<std::list<WAIKeyFrame*>> mvInvertedFile;
 
    // Mutex
    std::mutex mMutex;
};
 
#endif // !WAIKEYFRAMEDB_H