vslam_system: place_recognizer.h Source File

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00034 
00035 #ifndef VSLAM_SYSTEM_PLACE_RECOGNIZER_H
00036 #define VSLAM_SYSTEM_PLACE_RECOGNIZER_H
00037 
00038 #include <frame_common/frame.h>
00039 #include <vocabulary_tree/generic_tree.h>
00040 #include <vocabulary_tree/database.h>
00041 
00042 namespace vslam {
00043 
00044 typedef std::vector<frame_common::Frame, Eigen::aligned_allocator<frame_common::Frame> > FrameVector;
00045 
00049 class PlaceRecognizer
00050 {
00051 public:
00061   PlaceRecognizer(const std::string& tree_file,
00062                   const std::string& weights_file);
00063 
00070   void insert(const frame_common::Frame& frame, uint32_t id);
00071 
00082   void findAndInsert(const frame_common::Frame& frame, uint32_t id,
00083                      const FrameVector& all_frames, size_t N,
00084                      std::vector<const frame_common::Frame*>& matches);
00085 
00086 private:
00087   vt::GenericTree tree_;
00088   vt::Database database_;
00089   std::vector<uint32_t> user_ids_;
00090 };
00091 
00092 } //namespace vslam
00093 
00094 #endif