KeyFrameDatabase.h

#pragma once
#include "OrbSLAM/Headers/KeyFrame.h"
#include "OrbSLAM/Headers/Frame.h"
#include "OrbSLAM/Headers/ORBVocabulary.h"
#include "OrbSLAM/Headers/Map.h"
#include "Base/Headers/Dictionary.h"
#include "Base/Headers/Buffer.hpp"
#include<mutex>
namespace NDEVR
{
 
    class KeyFrame;
    class Frame;
    class Map;
    class KeyFrameDatabase
    {
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

        KeyFrameDatabase() {}
        KeyFrameDatabase(const ORBVocabulary& voc);

        void add(KeyFrame* pKF);

        void erase(KeyFrame* pKF);

        void clear();
        void clearMap(Map* pMap);

        Buffer<KeyFrame*> DetectLoopCandidates(KeyFrame* pKF, float minScore);

        void DetectCandidates(KeyFrame* pKF, float minScore, Buffer<KeyFrame*>& vpLoopCand, Buffer<KeyFrame*>& vpMergeCand);
        void DetectBestCandidates(KeyFrame* pKF, Buffer<KeyFrame*>& vpLoopCand, Buffer<KeyFrame*>& vpMergeCand, uint04 nMinWords);
        void DetectNBestCandidates(KeyFrame* pKF, Buffer<KeyFrame*>& vpLoopCand, Buffer<KeyFrame*>& vpMergeCand, uint04 nNumCandidates);

        Buffer<KeyFrame*> DetectRelocalizationCandidates(Frame* F, Map* pMap);
        void SetORBVocabulary(ORBVocabulary* pORBVoc);
 
    protected:
        Buffer<KeyFrame*> findCanditates(KeyFrame* pKFi, KeyFrame::ScoreEnum type, fltp04 min_score, uint04 min_words = 0, uint04 max_count = Constant<uint04>::Invalid);
        Buffer<KeyFrame*> filter(Frame* pKFi, const Buffer<KeyFrame*>& filter, KeyFrame::ScoreEnum type, fltp04 min_score, uint04 min_words = 0, uint04 max_count = Constant<uint04>::Invalid);
        const ORBVocabulary* mpVoc = nullptr;           
        Buffer<Buffer<KeyFrame*> > mvInvertedFile;      
        std::mutex mMutex;                              
 
    };
}