166 lines
4.0 KiB
C++
166 lines
4.0 KiB
C++
/**
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* This file is part of ORB-SLAM3
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*
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* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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*
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* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
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* License as published by the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
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* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef MAP_H
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#define MAP_H
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#include "MapPoint.h"
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#include "KeyFrame.h"
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#include <set>
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#include <pangolin/pangolin.h>
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#include <mutex>
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#include <boost/serialization/base_object.hpp>
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namespace ORB_SLAM3
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{
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class MapPoint;
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class KeyFrame;
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class Atlas;
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class KeyFrameDatabase;
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class GeometricCamera;
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class Map
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{
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public:
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Map();
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Map(int initKFid);
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~Map();
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void AddKeyFrame(KeyFrame* pKF);
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void AddMapPoint(MapPoint* pMP);
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void EraseMapPoint(MapPoint* pMP);
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void EraseKeyFrame(KeyFrame* pKF);
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void SetReferenceMapPoints(const std::vector<MapPoint*> &vpMPs);
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void InformNewBigChange();
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int GetLastBigChangeIdx();
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std::vector<KeyFrame*> GetAllKeyFrames();
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std::vector<MapPoint*> GetAllMapPoints();
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std::vector<MapPoint*> GetReferenceMapPoints();
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long unsigned int MapPointsInMap();
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long unsigned KeyFramesInMap();
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long unsigned int GetId();
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long unsigned int GetInitKFid();
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void SetInitKFid(long unsigned int initKFif);
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long unsigned int GetMaxKFid();
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KeyFrame* GetOriginKF();
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void SetCurrentMap();
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void SetStoredMap();
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bool HasThumbnail();
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bool IsInUse();
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void SetBad();
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bool IsBad();
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void clear();
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int GetMapChangeIndex();
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void IncreaseChangeIndex();
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int GetLastMapChange();
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void SetLastMapChange(int currentChangeId);
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void SetImuInitialized();
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bool isImuInitialized();
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void RotateMap(const cv::Mat &R);
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void ApplyScaledRotation(const cv::Mat &R, const float s, const bool bScaledVel=false, const cv::Mat t=cv::Mat::zeros(cv::Size(1,3),CV_32F));
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void SetInertialSensor();
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bool IsInertial();
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void SetIniertialBA1();
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void SetIniertialBA2();
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bool GetIniertialBA1();
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bool GetIniertialBA2();
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void PrintEssentialGraph();
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bool CheckEssentialGraph();
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void ChangeId(long unsigned int nId);
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unsigned int GetLowerKFID();
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vector<KeyFrame*> mvpKeyFrameOrigins;
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vector<unsigned long int> mvBackupKeyFrameOriginsId;
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KeyFrame* mpFirstRegionKF;
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std::mutex mMutexMapUpdate;
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// This avoid that two points are created simultaneously in separate threads (id conflict)
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std::mutex mMutexPointCreation;
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bool mbFail;
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// Size of the thumbnail (always in power of 2)
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static const int THUMB_WIDTH = 512;
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static const int THUMB_HEIGHT = 512;
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static long unsigned int nNextId;
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protected:
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long unsigned int mnId;
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std::set<MapPoint*> mspMapPoints;
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std::set<KeyFrame*> mspKeyFrames;
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KeyFrame* mpKFinitial;
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KeyFrame* mpKFlowerID;
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std::vector<MapPoint*> mvpReferenceMapPoints;
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bool mbImuInitialized;
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int mnMapChange;
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int mnMapChangeNotified;
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long unsigned int mnInitKFid;
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long unsigned int mnMaxKFid;
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long unsigned int mnLastLoopKFid;
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// Index related to a big change in the map (loop closure, global BA)
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int mnBigChangeIdx;
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// View of the map in aerial sight (for the AtlasViewer)
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GLubyte* mThumbnail;
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bool mIsInUse;
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bool mHasTumbnail;
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bool mbBad = false;
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bool mbIsInertial;
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bool mbIMU_BA1;
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bool mbIMU_BA2;
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std::mutex mMutexMap;
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};
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} //namespace ORB_SLAM3
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#endif // MAP_H
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