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include/Map.h

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+/**
+* 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 <http://www.gnu.org/licenses/>.
+*/
+
+
+#ifndef MAP_H
+#define MAP_H
+
+#include "MapPoint.h"
+#include "KeyFrame.h"
+
+#include <set>
+#include <pangolin/pangolin.h>
+#include <mutex>
+
+#include <boost/serialization/base_object.hpp>
+
+
+namespace ORB_SLAM3
+{
+
+class MapPoint;
+class KeyFrame;
+class Atlas;
+class KeyFrameDatabase;
+class GeometricCamera;
+
+class Map
+{
+
+public:
+    Map();
+    Map(int initKFid);
+    ~Map();
+
+    void AddKeyFrame(KeyFrame* pKF);
+    void AddMapPoint(MapPoint* pMP);
+    void EraseMapPoint(MapPoint* pMP);
+    void EraseKeyFrame(KeyFrame* pKF);
+    void SetReferenceMapPoints(const std::vector<MapPoint*> &vpMPs);
+    void InformNewBigChange();
+    int GetLastBigChangeIdx();
+
+    std::vector<KeyFrame*> GetAllKeyFrames();
+    std::vector<MapPoint*> GetAllMapPoints();
+    std::vector<MapPoint*> GetReferenceMapPoints();
+
+    long unsigned int MapPointsInMap();
+    long unsigned  KeyFramesInMap();
+
+    long unsigned int GetId();
+
+    long unsigned int GetInitKFid();
+    void SetInitKFid(long unsigned int initKFif);
+    long unsigned int GetMaxKFid();
+
+    KeyFrame* GetOriginKF();
+
+    void SetCurrentMap();
+    void SetStoredMap();
+
+    bool HasThumbnail();
+    bool IsInUse();
+
+    void SetBad();
+    bool IsBad();
+
+    void clear();
+
+    int GetMapChangeIndex();
+    void IncreaseChangeIndex();
+    int GetLastMapChange();
+    void SetLastMapChange(int currentChangeId);
+
+    void SetImuInitialized();
+    bool isImuInitialized();
+
+    void RotateMap(const cv::Mat &R);
+    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));
+
+    void SetInertialSensor();
+    bool IsInertial();
+    void SetIniertialBA1();
+    void SetIniertialBA2();
+    bool GetIniertialBA1();
+    bool GetIniertialBA2();
+
+    void PrintEssentialGraph();
+    bool CheckEssentialGraph();
+    void ChangeId(long unsigned int nId);
+
+    unsigned int GetLowerKFID();
+
+    vector<KeyFrame*> mvpKeyFrameOrigins;
+    vector<unsigned long int> mvBackupKeyFrameOriginsId;
+    KeyFrame* mpFirstRegionKF;
+    std::mutex mMutexMapUpdate;
+
+    // This avoid that two points are created simultaneously in separate threads (id conflict)
+    std::mutex mMutexPointCreation;
+
+    bool mbFail;
+
+    // Size of the thumbnail (always in power of 2)
+    static const int THUMB_WIDTH = 512;
+    static const int THUMB_HEIGHT = 512;
+
+    static long unsigned int nNextId;
+
+protected:
+
+    long unsigned int mnId;
+
+    std::set<MapPoint*> mspMapPoints;
+    std::set<KeyFrame*> mspKeyFrames;
+
+    KeyFrame* mpKFinitial;
+    KeyFrame* mpKFlowerID;
+
+    std::vector<MapPoint*> mvpReferenceMapPoints;
+
+    bool mbImuInitialized;
+
+    int mnMapChange;
+    int mnMapChangeNotified;
+
+    long unsigned int mnInitKFid;
+    long unsigned int mnMaxKFid;
+    long unsigned int mnLastLoopKFid;
+
+    // Index related to a big change in the map (loop closure, global BA)
+    int mnBigChangeIdx;
+
+
+    // View of the map in aerial sight (for the AtlasViewer)
+    GLubyte* mThumbnail;
+
+    bool mIsInUse;
+    bool mHasTumbnail;
+    bool mbBad = false;
+
+    bool mbIsInertial;
+    bool mbIMU_BA1;
+    bool mbIMU_BA2;
+
+    std::mutex mMutexMap;
+};
+
+} //namespace ORB_SLAM3
+
+#endif // MAP_H