175 lines
4.9 KiB
C++
175 lines
4.9 KiB
C++
/**
|
||
* This file is part of ORB-SLAM3
|
||
*
|
||
* Copyright (C) 2017-2021 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 <http://www.gnu.org/licenses/>.
|
||
*/
|
||
|
||
#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 <set>
|
||
#include <mutex>
|
||
#include <boost/serialization/vector.hpp>
|
||
#include <boost/serialization/export.hpp>
|
||
|
||
|
||
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
|
||
{
|
||
// 1. 对boost声明友元，boost就能调用Atlas的serialize了
|
||
friend class boost::serialization::access;
|
||
|
||
// 保存读取都用这个
|
||
template<class Archive>
|
||
void serialize(Archive &ar, const unsigned int version)
|
||
{
|
||
// 由于保存相机是基类，但是实际使用是派生类，所以声明一下
|
||
ar.template register_type<Pinhole>();
|
||
ar.template register_type<KannalaBrandt8>();
|
||
|
||
// Save/load a set structure, the set structure is broken in libboost 1.58 for ubuntu 16.04, a vector is serializated
|
||
//ar & mspMaps;
|
||
// 基础类型不用管，但是自定义的类里面要进一步写serialize函数，确定保存内容
|
||
ar & mvpBackupMaps;
|
||
ar & mvpCameras;
|
||
// 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:
|
||
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
|
||
|
||
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);
|
||
|
||
GeometricCamera* AddCamera(GeometricCamera* pCam);
|
||
std::vector<GeometricCamera*> GetAllCameras();
|
||
|
||
/* All methods without Map pointer work on current map */
|
||
void SetReferenceMapPoints(const std::vector<MapPoint*> &vpMPs);
|
||
void InformNewBigChange();
|
||
int GetLastBigChangeIdx();
|
||
|
||
long unsigned int MapPointsInMap();
|
||
long unsigned KeyFramesInMap();
|
||
|
||
// Method for get data in current map
|
||
std::vector<KeyFrame*> GetAllKeyFrames();
|
||
std::vector<MapPoint*> GetAllMapPoints();
|
||
std::vector<MapPoint*> GetReferenceMapPoints();
|
||
|
||
vector<Map*> GetAllMaps();
|
||
|
||
int CountMaps();
|
||
|
||
void clearMap();
|
||
|
||
void clearAtlas();
|
||
|
||
Map* GetCurrentMap();
|
||
|
||
void SetMapBad(Map* pMap);
|
||
void RemoveBadMaps();
|
||
|
||
bool isInertial();
|
||
void SetInertialSensor();
|
||
void SetImuInitialized();
|
||
bool isImuInitialized();
|
||
|
||
// Function for garantee the correction of serialization of this object
|
||
void PreSave();
|
||
void PostLoad();
|
||
|
||
map<long unsigned int, KeyFrame*> GetAtlasKeyframes();
|
||
|
||
void SetKeyFrameDababase(KeyFrameDatabase* pKFDB);
|
||
KeyFrameDatabase* GetKeyFrameDatabase();
|
||
|
||
void SetORBVocabulary(ORBVocabulary* pORBVoc);
|
||
ORBVocabulary* GetORBVocabulary();
|
||
|
||
long unsigned int GetNumLivedKF();
|
||
|
||
long unsigned int GetNumLivedMP();
|
||
|
||
protected:
|
||
|
||
std::set<Map*> mspMaps;
|
||
std::set<Map*> mspBadMaps;
|
||
// Its necessary change the container from set to vector because libboost 1.58 and Ubuntu 16.04 have an error with this cointainer
|
||
std::vector<Map*> mvpBackupMaps;
|
||
|
||
Map* mpCurrentMap;
|
||
|
||
std::vector<GeometricCamera*> mvpCameras;
|
||
|
||
unsigned long int mnLastInitKFidMap;
|
||
|
||
Viewer* mpViewer;
|
||
bool mHasViewer;
|
||
|
||
// Class references for the map reconstruction from the save file
|
||
KeyFrameDatabase* mpKeyFrameDB;
|
||
ORBVocabulary* mpORBVocabulary;
|
||
|
||
// Mutex
|
||
std::mutex mMutexAtlas;
|
||
|
||
|
||
}; // class Atlas
|
||
|
||
} // namespace orb_slam3
|
||
|
||
#endif // ATLAS_H
|