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include/System.h

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+/**
+* This file is part of ORB-SLAM2.
+*
+* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
+* For more information see <https://github.com/raulmur/ORB_SLAM2>
+*
+* ORB-SLAM2 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-SLAM2 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-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+#ifndef SYSTEM_H
+#define SYSTEM_H
+
+#include<string>
+#include<thread>
+#include<opencv2/core/core.hpp>
+
+#include "Tracking.h"
+#include "FrameDrawer.h"
+#include "MapDrawer.h"
+#include "Map.h"
+#include "LocalMapping.h"
+#include "LoopClosing.h"
+#include "KeyFrameDatabase.h"
+#include "ORBVocabulary.h"
+#include "Viewer.h"
+
+void usleep(__int64 usec);
+
+namespace ORB_SLAM2
+{
+
+class Viewer;
+class FrameDrawer;
+class Map;
+class Tracking;
+class LocalMapping;
+class LoopClosing;
+
+class System
+{
+public:
+    // Input sensor
+    enum eSensor{
+        MONOCULAR=0,
+        STEREO=1,
+        RGBD=2
+    };
+
+public:
+
+    // Initialize the SLAM system. It launches the Local Mapping, Loop Closing and Viewer threads.
+    System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor, const bool bUseViewer = true);
+
+    // Proccess the given stereo frame. Images must be synchronized and rectified.
+    // Input images: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale.
+    // Returns the camera pose (empty if tracking fails).
+    cv::Mat TrackStereo(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timestamp);
+
+    // Process the given rgbd frame. Depthmap must be registered to the RGB frame.
+    // Input image: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale.
+    // Input depthmap: Float (CV_32F).
+    // Returns the camera pose (empty if tracking fails).
+    cv::Mat TrackRGBD(const cv::Mat &im, const cv::Mat &depthmap, const double &timestamp);
+
+    // Proccess the given monocular frame
+    // Input images: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale.
+    // Returns the camera pose (empty if tracking fails).
+    cv::Mat TrackMonocular(const cv::Mat &im, const double &timestamp);
+
+    // This stops local mapping thread (map building) and performs only camera tracking.
+    void ActivateLocalizationMode();
+    // This resumes local mapping thread and performs SLAM again.
+    void DeactivateLocalizationMode();
+
+    // Returns true if there have been a big map change (loop closure, global BA)
+    // since last call to this function
+    bool MapChanged();
+
+    // Reset the system (clear map)
+    void Reset();
+
+    // All threads will be requested to finish.
+    // It waits until all threads have finished.
+    // This function must be called before saving the trajectory.
+    void Shutdown();
+
+    // Save camera trajectory in the TUM RGB-D dataset format.
+    // Only for stereo and RGB-D. This method does not work for monocular.
+    // Call first Shutdown()
+    // See format details at: http://vision.in.tum.de/data/datasets/rgbd-dataset
+    void SaveTrajectoryTUM(const string &filename);
+
+    // Save keyframe poses in the TUM RGB-D dataset format.
+    // This method works for all sensor input.
+    // Call first Shutdown()
+    // See format details at: http://vision.in.tum.de/data/datasets/rgbd-dataset
+    void SaveKeyFrameTrajectoryTUM(const string &filename);
+
+    // Save camera trajectory in the KITTI dataset format.
+    // Only for stereo and RGB-D. This method does not work for monocular.
+    // Call first Shutdown()
+    // See format details at: http://www.cvlibs.net/datasets/kitti/eval_odometry.php
+    void SaveTrajectoryKITTI(const string &filename);
+
+    // TODO: Save/Load functions
+    // SaveMap(const string &filename);
+    // LoadMap(const string &filename);
+
+    // Information from most recent processed frame
+    // You can call this right after TrackMonocular (or stereo or RGBD)
+    int GetTrackingState();
+    std::vector<MapPoint*> GetTrackedMapPoints();
+    std::vector<cv::KeyPoint> GetTrackedKeyPointsUn();
+
+private:
+
+    // Input sensor
+    eSensor mSensor;
+
+    // ORB vocabulary used for place recognition and feature matching.
+    ORBVocabulary* mpVocabulary;
+
+    // KeyFrame database for place recognition (relocalization and loop detection).
+    KeyFrameDatabase* mpKeyFrameDatabase;
+
+    // Map structure that stores the pointers to all KeyFrames and MapPoints.
+    Map* mpMap;
+
+    // Tracker. It receives a frame and computes the associated camera pose.
+    // It also decides when to insert a new keyframe, create some new MapPoints and
+    // performs relocalization if tracking fails.
+    Tracking* mpTracker;
+
+    // Local Mapper. It manages the local map and performs local bundle adjustment.
+    LocalMapping* mpLocalMapper;
+
+    // Loop Closer. It searches loops with every new keyframe. If there is a loop it performs
+    // a pose graph optimization and full bundle adjustment (in a new thread) afterwards.
+    LoopClosing* mpLoopCloser;
+
+    // The viewer draws the map and the current camera pose. It uses Pangolin.
+    Viewer* mpViewer;
+
+    FrameDrawer* mpFrameDrawer;
+    MapDrawer* mpMapDrawer;
+
+    // System threads: Local Mapping, Loop Closing, Viewer.
+    // The Tracking thread "lives" in the main execution thread that creates the System object.
+    std::thread* mptLocalMapping;
+    std::thread* mptLoopClosing;
+    std::thread* mptViewer;
+
+    // Reset flag
+    std::mutex mMutexReset;
+    bool mbReset;
+
+    // Change mode flags
+    std::mutex mMutexMode;
+    bool mbActivateLocalizationMode;
+    bool mbDeactivateLocalizationMode;
+
+    // Tracking state
+    int mTrackingState;
+    std::vector<MapPoint*> mTrackedMapPoints;
+    std::vector<cv::KeyPoint> mTrackedKeyPointsUn;
+    std::mutex mMutexState;
+};
+
+}// namespace ORB_SLAM
+
+#endif // SYSTEM_H