Map.h

#pragma once
#include "OrbSLAM/Headers/MapPoint.h"
#include "OrbSLAM/Headers/KeyFrame.h"
#include "Base/Headers/Dictionary.h"
#include <mutex>
 
 
namespace NDEVR
{
 
    class MapPoint;
    class KeyFrame;
    class Atlas;
    class KeyFrameDatabase;
    class InfoPipe;
    class Map
    {
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        Map(LogPtr log);
        Map(int initKFid, LogPtr log);
        ~Map();
        void updateID();
        void AddKeyFrame(KeyFrame* pKF);
        void AddMapPoint(MapPoint* pMP);
        void EraseMapPoint(MapPoint* pMP);
        void EraseKeyFrame(KeyFrame* pKF);
        void SetReferenceMapPoints(const Buffer<MapPoint*>& vpMPs);
        void InformNewBigChange();
        int GetLastBigChangeIdx();
 
        Buffer<KeyFrame*> GetAllKeyFrames() const;
        Buffer<MapPoint*> GetAllMapPoints() const;
        Buffer<MapPoint*> GetReferenceMapPoints() const;
 
        uint04 MapPointsInMap() const;
        uint04 KeyFramesInMap() const;
 
        uint04 GetId() const
        {
            return mnId;
        }
 
        uint04 GetInitKFid() const;
        uint04 GetMaxKFid() const;
 
        KeyFrame* GetOriginKF() const;
 
        void SetCurrentMap();
        void SetStoredMap();
        bool IsInUse();
 
        void SetBad();
        bool IsBad();
        void clear();
        int GetMapChangeIndex();
        void IncreaseChangeIndex();
        int GetLastMapChange();
        void SetLastMapChange(int currentChangeId);
        void SetImuInitialized();
        bool isImuInitialized() const;
 
        void ApplyScaledRotation(const Sophus::SE3f& T, const float s, const bool bScaledVel = false);
 
        void SetInertialSensor(bool is_inertial);
        bool IsInertial();
        void SetIniertialBA1();
        void SetIniertialBA2();
        bool GetIniertialBA1();
        bool GetIniertialBA2();
        void ChangeId(uint04 nId);
 
        uint04 GetLowerKFID();
 
        LogPtr log() { return m_log; }
        Buffer<KeyFrame*> mvpKeyFrameOrigins;
        KeyFrame* mpFirstRegionKF = nullptr;
        // Mutex
        mutable std::mutex m_map_mutex;
        std::mutex mMutexMapUpdate;
 
        bool mbFail = false;
 
 
        static uint04 nNextId;
 
        // DEBUG: show KFs which are used in LBA
#ifdef _DEBUG
        Set<uint04> msOptKFs;
        Set<uint04> msFixedKFs;
#endif
    protected:
        LogPtr m_log;
        uint04 mnId = 0U;
        Set<MapPoint*> m_map_points;
        Set<KeyFrame*> mspKeyFrames;
        KeyFrame* mpKFinitial = nullptr;
        KeyFrame* mpKFlowerID = nullptr;
        Buffer<MapPoint*> mvpReferenceMapPoints;
        int mnMapChange = 0;
        int mnMapChangeNotified = 0;
 
        uint04 mnInitKFid = 0U;
        uint04 mnMaxKFid = 0U;
        //long unsigned int mnLastLoopKFid;
 
        // Index related to a big change in the map (loop closure, global BA)
        int mnBigChangeIdx = 0;
 
        bool mbImuInitialized = false;
        bool mIsInUse = false;
        bool mHasTumbnail = false;
        bool mbBad = false;
 
        bool mbIsInertial = false;
        bool mbIMU_BA1 = false;
        bool mbIMU_BA2 = false;
 
 
    };
 
}