| 845 | } |
| 846 | |
| 847 | void KeyFrameDatabase::SetORBVocabulary(ORBVocabulary* pORBVoc) |
| 848 | { |
| 849 | ORBVocabulary** ptr; |
| 850 | ptr = (ORBVocabulary**)( &mpVoc ); |
| 851 | *ptr = pORBVoc; |
| 852 | |
| 853 | mvInvertedFile.clear(); |
| 854 | mvInvertedFile.resize(mpVoc->size()); |
| 855 | } |
| 856 | |
| 857 | } //namespace ORB_SLAM |