KeyFrameDatabase.h

/**
* This file is part of ORB-SLAM.
*
* Copyright (C) 2014 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <http://webdiis.unizar.es/~raulmur/orbslam/>
*
* ORB-SLAM 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-SLAM 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-SLAM. 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 "ResourceManager.h"

#include<boost/thread.hpp>


namespace ORB_SLAM
{

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);

   // Relocalisation
   std::vector<KeyFrame*> DetectRelocalisationCandidates(Frame* F);

protected:

  // Associated vocabulary
  const ORBVocabulary* mpVoc;

  // Inverted file
  std::vector<list<KeyFrame*> > mvInvertedFile;

  // Mutex
  boost::mutex mMutex;

  friend class boost::serialization::access;
  template<class Archive>
  void serialize(Archive & ar, const unsigned int version)
  {
      // ar & mpVoc; load at startup
      ar & mvInvertedFile;
      mpVoc = &(ResourceManager::getInstance().getORBVocabulary());
  }
};

} //namespace ORB_SLAM

#endif