Map.cc

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#include "Map.h"

#include<mutex>

namespace ORB_SLAM2
{

Map::Map():mnMaxKFid(0),mnBigChangeIdx(0)
{
}

void Map::AddKeyFrame(KeyFrame *pKF)
{
    unique_lock<mutex> lock(mMutexMap);
    mspKeyFrames.insert(pKF);
    if(pKF->mnId>mnMaxKFid)
        mnMaxKFid=pKF->mnId;
}

void Map::AddMapPoint(MapPoint *pMP)
{
    unique_lock<mutex> lock(mMutexMap);
    mspMapPoints.insert(pMP);
}

void Map::EraseMapPoint(MapPoint *pMP)
{
    unique_lock<mutex> lock(mMutexMap);
    mspMapPoints.erase(pMP);

    // TODO: This only erase the pointer.
    // Delete the MapPoint
}

void Map::EraseKeyFrame(KeyFrame *pKF)
{
    unique_lock<mutex> lock(mMutexMap);
    mspKeyFrames.erase(pKF);

    // TODO: This only erase the pointer.
    // Delete the MapPoint
}

void Map::SetReferenceMapPoints(const vector<MapPoint *> &vpMPs)
{
    unique_lock<mutex> lock(mMutexMap);
    mvpReferenceMapPoints = vpMPs;
}

void Map::InformNewBigChange()
{
    unique_lock<mutex> lock(mMutexMap);
    mnBigChangeIdx++;
}

int Map::GetLastBigChangeIdx()
{
    unique_lock<mutex> lock(mMutexMap);
    return mnBigChangeIdx;
}

vector<KeyFrame*> Map::GetAllKeyFrames()
{
    unique_lock<mutex> lock(mMutexMap);
    return vector<KeyFrame*>(mspKeyFrames.begin(),mspKeyFrames.end());
}

vector<MapPoint*> Map::GetAllMapPoints()
{
    unique_lock<mutex> lock(mMutexMap);
    return vector<MapPoint*>(mspMapPoints.begin(),mspMapPoints.end());
}

long unsigned int Map::MapPointsInMap()
{
    unique_lock<mutex> lock(mMutexMap);
    return mspMapPoints.size();
}

long unsigned int Map::KeyFramesInMap()
{
    unique_lock<mutex> lock(mMutexMap);
    return mspKeyFrames.size();
}

vector<MapPoint*> Map::GetReferenceMapPoints()
{
    unique_lock<mutex> lock(mMutexMap);
    return mvpReferenceMapPoints;
}

long unsigned int Map::GetMaxKFid()
{
    unique_lock<mutex> lock(mMutexMap);
    return mnMaxKFid;
}

void Map::clear()
{
    for(set<MapPoint*>::iterator sit=mspMapPoints.begin(), send=mspMapPoints.end(); sit!=send; sit++)
        delete *sit;

    for(set<KeyFrame*>::iterator sit=mspKeyFrames.begin(), send=mspKeyFrames.end(); sit!=send; sit++)
        delete *sit;

    mspMapPoints.clear();
    mspKeyFrames.clear();
    mnMaxKFid = 0;
    mvpReferenceMapPoints.clear();
    mvpKeyFrameOrigins.clear();
}

// map serialization addition
template<class Archive>
void Map::serialize(Archive &ar, const unsigned int version)
{
    // don't save mutex
    unique_lock<mutex> lock_MapUpdate(mMutexMapUpdate);
    unique_lock<mutex> lock_Map(mMutexMap);
    ar & mspMapPoints;
    ar & mvpKeyFrameOrigins;
    ar & mspKeyFrames;
    ar & mvpReferenceMapPoints;
    ar & mnMaxKFid & mnBigChangeIdx;
}
template void Map::serialize(boost::archive::binary_iarchive&, const unsigned int);
template void Map::serialize(boost::archive::binary_oarchive&, const unsigned int);

} //namespace ORB_SLAM