Class KeyframeDatabase

include/KeyframeDatabase.h:30–43

Insertion-ordered store of keyframe records with O(1) id lookup.

// Insertion-ordered store of keyframe records with O(1) id lookup.
class KeyframeDatabase {
public:
  void add(KeyframeRecord rec);
  const KeyframeRecord& get(size_t keyframe_id) const;
  bool has(size_t keyframe_id) const { return id_to_index_.count(keyframe_id) != 0; }
  size_t size() const { return keyframes_.size(); }

  // Records in insertion order (== keyframe creation order).
  const std::vector<KeyframeRecord>& records() const { return keyframes_; }

private:
  std::vector<KeyframeRecord> keyframes_;
  std::map<size_t, size_t> id_to_index_;
};

} // namespace superslam