/**
* This file is part of ORB-SLAM3
*
* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
*
* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
* License as published by the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
* If not, see .
*/
#ifndef ATLAS_H
#define ATLAS_H
#include "Map.h"
#include "MapPoint.h"
#include "KeyFrame.h"
#include "GeometricCamera.h"
#include "Pinhole.h"
#include "KannalaBrandt8.h"
#include
#include
#include
#include
namespace ORB_SLAM3
{
class Viewer;
class Map;
class MapPoint;
class KeyFrame;
class KeyFrameDatabase;
class Frame;
class KannalaBrandt8;
class Pinhole;
//BOOST_CLASS_EXPORT_GUID(Pinhole, "Pinhole")
//BOOST_CLASS_EXPORT_GUID(KannalaBrandt8, "KannalaBrandt8")
class Atlas
{
friend class boost::serialization::access;
template
void serialize(Archive &ar, const unsigned int version)
{
//ar.template register_type();
//ar.template register_type();
// Save/load the set of maps, the set is broken in libboost 1.58 for ubuntu 16.04
//ar & mspMaps;
ar & mvpBackupMaps;
ar & mvpCameras;
//ar & mvpBackupCamPin;
//ar & mvpBackupCamKan;
// Need to save/load the static Id from Frame, KeyFrame, MapPoint and Map
ar & Map::nNextId;
ar & Frame::nNextId;
ar & KeyFrame::nNextId;
ar & MapPoint::nNextId;
ar & GeometricCamera::nNextId;
ar & mnLastInitKFidMap;
}
public:
Atlas();
Atlas(int initKFid); // When its initialization the first map is created
~Atlas();
void CreateNewMap();
void ChangeMap(Map* pMap);
unsigned long int GetLastInitKFid();
void SetViewer(Viewer* pViewer);
// Method for change components in the current map
void AddKeyFrame(KeyFrame* pKF);
void AddMapPoint(MapPoint* pMP);
//void EraseMapPoint(MapPoint* pMP);
//void EraseKeyFrame(KeyFrame* pKF);
void AddCamera(GeometricCamera* pCam);
/* All methods without Map pointer work on current map */
void SetReferenceMapPoints(const std::vector &vpMPs);
void InformNewBigChange();
int GetLastBigChangeIdx();
long unsigned int MapPointsInMap();
long unsigned KeyFramesInMap();
// Method for get data in current map
std::vector GetAllKeyFrames();
std::vector GetAllMapPoints();
std::vector GetReferenceMapPoints();
vector