Map.h

Go to the documentation of this file.

#ifndef MAP_H
#define MAP_H

#include "MapPoint.h"
#include "KeyFrame.h"
#include <set>

#include <mutex>

using namespace std;

namespace ORB_SLAM2
{

class MapPoint;
class KeyFrame;

class Map
{
public:
    Map();

        bool SaveWithTimestamps(const string &filename);
        bool SaveWithPose(const string &filename);

        void _WriteMapPoint(ofstream &f, MapPoint* mp,
                const std::string &end_marker = "\n");
        void _WriteMapPointObj(ofstream &f, MapPoint* mp, 
                const std::string &end_marker="\n");

    void AddKeyFrame(KeyFrame* pKF);
    void AddMapPoint(MapPoint* pMP);
    void EraseMapPoint(MapPoint* pMP);
    void EraseKeyFrame(KeyFrame* pKF);
    void SetReferenceMapPoints(const std::vector<MapPoint*> &vpMPs);
    void InformNewBigChange();
    int GetLastBigChangeIdx();

    std::vector<KeyFrame*> GetAllKeyFrames();
    std::vector<MapPoint*> GetAllMapPoints();
    std::vector<MapPoint*> GetReferenceMapPoints();

    long unsigned int MapPointsInMap();
    long unsigned  KeyFramesInMap();

    long unsigned int GetMaxKFid();

    void clear();

    vector<KeyFrame*> mvpKeyFrameOrigins;

    std::mutex mMutexMapUpdate;

    // This avoid that two points are created simultaneously in separate threads (id conflict)
    std::mutex mMutexPointCreation;

protected:
    std::set<MapPoint*> mspMapPoints;
    std::set<KeyFrame*> mspKeyFrames;

    std::vector<MapPoint*> mvpReferenceMapPoints;

    long unsigned int mnMaxKFid;

    // Index related to a big change in the map (loop closure, global BA)
    int mnBigChangeIdx;

    std::mutex mMutexMap;
    void GetMapPointsIdx();
};

} //namespace ORB_SLAM

#endif // MAP_H