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include/Atlas.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 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;
+
+class Atlas
+{
+
+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 AddCamera(GeometricCamera* pCam);
+
+    /* 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();
+
+    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;
+    Map* mpCurrentMap;
+
+    std::vector<GeometricCamera*> mvpCameras;
+    std::vector<KannalaBrandt8*> mvpBackupCamKan;
+    std::vector<Pinhole*> mvpBackupCamPin;
+
+    std::mutex mMutexAtlas;
+
+    unsigned long int mnLastInitKFidMap;
+
+    Viewer* mpViewer;
+    bool mHasViewer;
+
+    // Class references for the map reconstruction from the save file
+    KeyFrameDatabase* mpKeyFrameDB;
+    ORBVocabulary* mpORBVocabulary;
+
+
+}; // class Atlas
+
+} // namespace ORB_SLAM3
+
+#endif // ATLAS_H