KeyFrameDatabase

Database of keyframes for place recognition and relocalization. More...

Collaboration diagram for KeyFrameDatabase:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	KeyFrameDatabase ()
	Default constructor.
	KeyFrameDatabase (const ORBVocabulary &voc)
	Constructs the database with an ORB vocabulary.
void	add (KeyFrame *pKF)
	Adds a keyframe to the database.
void	clear ()
	Clears all entries from the database.
void	clearMap (Map *pMap)
	Clears entries belonging to a specific map.
void	DetectBestCandidates (KeyFrame *pKF, Buffer< KeyFrame * > &vpLoopCand, Buffer< KeyFrame * > &vpMergeCand, uint04 nMinWords)
	Detects the best loop and merge candidates by word count.
void	DetectCandidates (KeyFrame *pKF, float minScore, Buffer< KeyFrame * > &vpLoopCand, Buffer< KeyFrame * > &vpMergeCand)
	Detects loop and merge candidates simultaneously.
Buffer< KeyFrame * >	DetectLoopCandidates (KeyFrame *pKF, float minScore)
	Detects loop closure candidates (deprecated).
void	DetectNBestCandidates (KeyFrame *pKF, Buffer< KeyFrame * > &vpLoopCand, Buffer< KeyFrame * > &vpMergeCand, uint04 nNumCandidates)
	Detects the N best loop and merge candidates.
Buffer< KeyFrame * >	DetectRelocalizationCandidates (Frame *F, Map *pMap)
	Detects relocalization candidates for a given frame.
void	erase (KeyFrame *pKF)
	Removes a keyframe from the database.
void	SetORBVocabulary (ORBVocabulary *pORBVoc)
	Updates the ORB vocabulary.

Protected Member Functions
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)
	Filters candidates from a pre-selected set.
Buffer< KeyFrame * >	findCanditates (KeyFrame *pKFi, KeyFrame::ScoreEnum type, fltp04 min_score, uint04 min_words=0, uint04 max_count=Constant< uint04 >::Invalid)
	Finds candidate keyframes matching a query.

Protected Attributes
std::mutex	mMutex
	Mutex for thread-safe access.
const ORBVocabulary *	mpVoc = nullptr
	Associated ORB vocabulary.
Buffer< Buffer< KeyFrame * > >	mvInvertedFile
	Inverted file mapping word IDs to keyframes.

Detailed Description

Database of keyframes for place recognition and relocalization.

Maintains an inverted file index of visual words to keyframes, enabling efficient detection of loop closure, merge, and relocalization candidates.

Definition at line 20 of file KeyFrameDatabase.h.

Constructor & Destructor Documentation

KeyFrameDatabase()

KeyFrameDatabase::KeyFrameDatabase

(

const ORBVocabulary &

voc

)

Constructs the database with an ORB vocabulary.

Parameters

[in]

voc

The ORB vocabulary for visual word lookup.

Member Function Documentation

add()

void KeyFrameDatabase::add

(

KeyFrame *

pKF

)

Adds a keyframe to the database.

Parameters

[in]

pKF

Keyframe to add.

clearMap()

void KeyFrameDatabase::clearMap

(

Map *

pMap

)

Clears entries belonging to a specific map.

Parameters

[in]

pMap

Map whose keyframes should be removed.

DetectBestCandidates()

void KeyFrameDatabase::DetectBestCandidates	(	KeyFrame *	pKF,
		Buffer< KeyFrame * > &	vpLoopCand,
		Buffer< KeyFrame * > &	vpMergeCand,
		uint04	nMinWords )

Detects the best loop and merge candidates by word count.

Parameters

[in]	pKF	Query keyframe.
[out]	vpLoopCand	Buffer to fill with loop candidates.
[out]	vpMergeCand	Buffer to fill with merge candidates.
[in]	nMinWords	Minimum shared word count.

DetectCandidates()

void KeyFrameDatabase::DetectCandidates	(	KeyFrame *	pKF,
		float	minScore,
		Buffer< KeyFrame * > &	vpLoopCand,
		Buffer< KeyFrame * > &	vpMergeCand )

Detects loop and merge candidates simultaneously.

Parameters

[in]	pKF	Query keyframe.
[in]	minScore	Minimum similarity score threshold.
[out]	vpLoopCand	Buffer to fill with loop candidates.
[out]	vpMergeCand	Buffer to fill with merge candidates.

DetectLoopCandidates()

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

Detects loop closure candidates (deprecated).

Parameters

[in]	pKF	Query keyframe.
[in]	minScore	Minimum similarity score threshold.

Returns

Buffer of candidate keyframes.

DetectNBestCandidates()

void KeyFrameDatabase::DetectNBestCandidates	(	KeyFrame *	pKF,
		Buffer< KeyFrame * > &	vpLoopCand,
		Buffer< KeyFrame * > &	vpMergeCand,
		uint04	nNumCandidates )

Detects the N best loop and merge candidates.

Parameters

[in]	pKF	Query keyframe.
[out]	vpLoopCand	Buffer to fill with loop candidates.
[out]	vpMergeCand	Buffer to fill with merge candidates.
[in]	nNumCandidates	Maximum number of candidates to return.

DetectRelocalizationCandidates()

Buffer< KeyFrame * > KeyFrameDatabase::DetectRelocalizationCandidates	(	Frame *	F,
		Map *	pMap )

Detects relocalization candidates for a given frame.

Parameters

[in]	F	Query frame.
[in]	pMap	Map to search within.

Returns

Buffer of relocalization candidate keyframes.

erase()

void KeyFrameDatabase::erase

(

KeyFrame *

pKF

)

Removes a keyframe from the database.

Parameters

[in]

pKF

Keyframe to remove.

filter()

Buffer< KeyFrame * > KeyFrameDatabase::filter ( Frame * pKFi, const Buffer< KeyFrame * > & filter, KeyFrame::ScoreEnum type, fltp04 min_score, uint04 min_words = 0, uint04 max_count = Constant< uint04 >::Invalid )

protected

Filters candidates from a pre-selected set.

Parameters

[in]	pKFi	Query frame.
[in]	filter	Pre-selected candidate buffer.
[in]	type	Score type.
[in]	min_score	Minimum similarity score.
[in]	min_words	Minimum shared word count.
[in]	max_count	Maximum number of candidates.

Returns

Buffer of filtered candidate keyframes.

References filter().

Referenced by filter().

findCanditates()

Buffer< KeyFrame * > KeyFrameDatabase::findCanditates ( KeyFrame * pKFi, KeyFrame::ScoreEnum type, fltp04 min_score, uint04 min_words = 0, uint04 max_count = Constant< uint04 >::Invalid )

protected

Finds candidate keyframes matching a query.

Parameters

[in]	pKFi	Query keyframe.
[in]	type	Score type (merge, loop, relocation, place recognition).
[in]	min_score	Minimum similarity score.
[in]	min_words	Minimum shared word count.
[in]	max_count	Maximum number of candidates.

Returns

Buffer of candidate keyframes.

SetORBVocabulary()

void KeyFrameDatabase::SetORBVocabulary

(

ORBVocabulary *

pORBVoc

)

Updates the ORB vocabulary.

Parameters

[in]

pORBVoc

Pointer to the new ORB vocabulary.

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

• OrbSLAM/Headers/KeyFrameDatabase.h