place_recognizer.h

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#ifndef VSLAM_SYSTEM_PLACE_RECOGNIZER_H
#define VSLAM_SYSTEM_PLACE_RECOGNIZER_H

#include <frame_common/frame.h>
#include <vocabulary_tree/generic_tree.h>
#include <vocabulary_tree/database.h>

namespace vslam {

typedef std::vector<frame_common::Frame, Eigen::aligned_allocator<frame_common::Frame> > FrameVector;

class PlaceRecognizer
{
public:
  PlaceRecognizer(const std::string& tree_file,
                  const std::string& weights_file);

  void insert(const frame_common::Frame& frame, uint32_t id);

  void findAndInsert(const frame_common::Frame& frame, uint32_t id,
                     const FrameVector& all_frames, size_t N,
                     std::vector<const frame_common::Frame*>& matches);

private:
  vt::GenericTree tree_;
  vt::Database database_;
  std::vector<uint32_t> user_ids_;
};

} //namespace vslam

#endif