KeyFrameMap.h

#pragma once
#include "Atlas.h"
#include "MapPoint.h"
#include "KeyFrame.h"
#include "Design/Headers/Geometry.h"
#include "Design/Headers/Model.h"
#include <mutex>
 
namespace NDEVR
{
    class Settings;
    class KeyFrameMap : public Model
    {
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        KeyFrameMap(const Model& model);
        void draw(Atlas* mpAtlas, const Model& frame_model, const Matrix<fltp08>& global_offset);
        void createKeyFrameGroup();
        void createLineworkGroup();
        void init();
        static constexpr StringView TypeName() { return "orb_keypoint_map"; }
        Model keypointGroup() const;
        Model linework() const;
        Model frameRepo();
        Model createKeyFrame(const Model& frame_model);
    private:
        Model m_reference_model;                                
        Geometry m_frame_geo;                                   
        UUID m_last_frame_id = Constant<UUID>::Invalid;         
        Sophus::SE3f mCameraPose;                               
 
        std::mutex mMutexCamera;                                
 
    };
 
 
 
}