Atlas.h

#pragma once
#include "OrbSLAM/Headers/Map.h"
#include "OrbSLAM/Headers/MapPoint.h"
#include "OrbSLAM/Headers/KeyFrame.h"
#include "GraphOptimization/Headers/GeometricCamera.h"
#include "Base/Headers/Dictionary.h"
#include "Base/Headers/Set.h"
#include <NDEVR/DynamicPointer.h>
#include <mutex>
 
 
namespace NDEVR
{
    class Viewer;
    class Map;
    class MapPoint;
    class KeyFrame;
    class KeyFrameDatabase;
    class Frame;
    class KannalaBrandt8;
    class Pinhole;

    class Atlas
    {
 
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

        Atlas(LogPtr log);
        Atlas(int initKFid, LogPtr log);
        ~Atlas();

        Map* createNewMap();
        void ChangeMap(Map* pMap);

        uint04 GetLastInitKFid();

        void AddKeyFrame(KeyFrame* pKF);
        void AddMapPoint(MapPoint* pMP);
        //void EraseMapPoint(MapPoint* pMP);
        //void EraseKeyFrame(KeyFrame* pKF);

        GeometricCamera* AddCamera(GeometricCamera* pCam);
        Buffer<GeometricCamera*> GetAllCameras();

        void SetReferenceMapPoints(const Buffer<MapPoint*>& vpMPs);
        void InformNewBigChange();
        int GetLastBigChangeIdx();

        uint04 MapPointsInMap();
        uint04 KeyFramesInMap();

        Buffer<KeyFrame*> GetAllKeyFrames();
        Buffer<MapPoint*> GetAllMapPoints();
        Buffer<MapPoint*> GetReferenceMapPoints();

        Buffer<Map*> GetAllMaps();

        uint04 CountMaps();

        void clearMap();

        void clearAtlas();

        Map* currentMapPtr();
        void SetMapBad(Map* pMap);
        void RemoveBadMaps();

        bool isInertial();
        void SetInertialSensor(bool is_inertial);
        void SetImuInitialized();
        bool isImuInitialized();

        void SetKeyFrameDababase(KeyFrameDatabase* pKFDB);
        KeyFrameDatabase* GetKeyFrameDatabase();

        void SetORBVocabulary(ORBVocabulary* pORBVoc);
        ORBVocabulary* GetORBVocabulary();
    protected:
 
        Buffer<Map*> mspMaps;                   
        Buffer<Map*> mspBadMaps;                
        Buffer<GeometricCamera*> mvpCameras;    
        Map* mpCurrentMap = nullptr;            
        uint04 mnLastInitKFidMap = 0U;          
 
 
        KeyFrameDatabase* mpKeyFrameDB = nullptr;   
        ORBVocabulary* mpORBVocabulary = nullptr;   
 
        std::mutex mMutexAtlas; 
        LogPtr m_log = nullptr; 
 
    }; // class Atlas
 
}