System.h

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#ifndef SYSTEM_H
#define SYSTEM_H

#include<string>
#include<thread>
#include<opencv2/core/core.hpp>

#include "Tracking.h"
#include "FrameDrawer.h"
#include "MapDrawer.h"
#include "Map.h"
#include "LocalMapping.h"
#include "LoopClosing.h"
#include "KeyFrameDatabase.h"
#include "ORBVocabulary.h"
#include "Viewer.h"

// for point cloud viewing
#include "pointcloudmapping.h"
#include <pcl/common/transforms.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <condition_variable>
#include <pcl/io/pcd_io.h>
#include "DataCache/DataCache.h"

using namespace NS_DataCache;

class PointCloudMapping;

namespace ORB_SLAM2
{

class Viewer;
class FrameDrawer;
class Map;
class Tracking;
class LocalMapping;
class LoopClosing;

class System
{
public:
    // Input sensor
    enum eSensor{
        MONOCULAR=0,
        STEREO=1,
        RGBD=2
    };
    typedef pcl::PointXYZRGBA PointT;
    typedef pcl::PointCloud<PointT> PointCloud;
public:

    DataCache<cv::Mat>* GetTcwDataCache();
    int32_t GetTcwDataCacheIndex();
        shared_ptr<PointCloudMapping> GetPointCloudMapping();
        Map* getMap() {
                return mpMap;
        }
        Tracking* getTracker(){ return mpTracker; }
        LocalMapping* getLocalMapping(){ return mpLocalMapper; }
        LoopClosing* getLoopClosing(){ return mpLoopCloser; }


    // Initialize the SLAM system. It launches the Local Mapping, Loop Closing and Viewer threads.
    System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor, const bool bUseViewer = true);

    // Proccess the given stereo frame. Images must be synchronized and rectified.
    // Input images: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale.
    // Returns the camera pose (empty if tracking fails).
    cv::Mat TrackStereo(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timestamp);

    // Process the given rgbd frame. Depthmap must be registered to the RGB frame.
    // Input image: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale.
    // Input depthmap: Float (CV_32F).
    // Returns the camera pose (empty if tracking fails).
    cv::Mat TrackRGBD(const cv::Mat &im, const cv::Mat &depthmap, const double &timestamp);

    // Proccess the given monocular frame
    // Input images: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale.
    // Returns the camera pose (empty if tracking fails).
    cv::Mat TrackMonocular(const cv::Mat &im, const double &timestamp);

    // This stops local mapping thread (map building) and performs only camera tracking.
    void ActivateLocalizationMode();
    // This resumes local mapping thread and performs SLAM again.
    void DeactivateLocalizationMode();

    // Returns true if there have been a big map change (loop closure, global BA)
    // since last call to this function
    bool MapChanged();

    // Reset the system (clear map)
    void Reset();

    // All threads will be requested to finish.
    // It waits until all threads have finished.
    // This function must be called before saving the trajectory.
    void Shutdown();

    // Save camera trajectory in the TUM RGB-D dataset format.
    // Only for stereo and RGB-D. This method does not work for monocular.
    // Call first Shutdown()
    // See format details at: http://vision.in.tum.de/data/datasets/rgbd-dataset
    void SaveTrajectoryTUM(const string &filename);

    // Save keyframe poses in the TUM RGB-D dataset format.
    // This method works for all sensor input.
    // Call first Shutdown()
    // See format details at: http://vision.in.tum.de/data/datasets/rgbd-dataset
    void SaveKeyFrameTrajectoryTUM(const string &filename);

    // Save camera trajectory in the KITTI dataset format.
    // Only for stereo and RGB-D. This method does not work for monocular.
    // Call first Shutdown()
    // See format details at: http://www.cvlibs.net/datasets/kitti/eval_odometry.php
    void SaveTrajectoryKITTI(const string &filename);

        void Save2dMapPointsTUM(const string &filename, const int x, const int y);
        void SaveGridMapTUM(const string &filename);


    // TODO: Save/Load functions
    // SaveMap(const string &filename);
    // LoadMap(const string &filename);

    // Information from most recent processed frame
    // You can call this right after TrackMonocular (or stereo or RGBD)
    int GetTrackingState();
    std::vector<MapPoint*> GetTrackedMapPoints();
    std::vector<cv::KeyPoint> GetTrackedKeyPointsUn();

private:

    //缓冲区
    DataCache<cv::Mat>*mpTcwDataCache;
    int32_t miDataCacheIndex;

    // Input sensor
    eSensor mSensor;

    // ORB vocabulary used for place recognition and feature matching.
    ORBVocabulary* mpVocabulary;

    // KeyFrame database for place recognition (relocalization and loop detection).
    KeyFrameDatabase* mpKeyFrameDatabase;

    // Map structure that stores the pointers to all KeyFrames and MapPoints.
    Map* mpMap;

    // Tracker. It receives a frame and computes the associated camera pose.
    // It also decides when to insert a new keyframe, create some new MapPoints and
    // performs relocalization if tracking fails.
    Tracking* mpTracker;

    // Local Mapper. It manages the local map and performs local bundle adjustment.
    LocalMapping* mpLocalMapper;

    // Loop Closer. It searches loops with every new keyframe. If there is a loop it performs
    // a pose graph optimization and full bundle adjustment (in a new thread) afterwards.
    LoopClosing* mpLoopCloser;

    // The viewer draws the map and the current camera pose. It uses Pangolin.
    Viewer* mpViewer;

    FrameDrawer* mpFrameDrawer;
    MapDrawer* mpMapDrawer;

    // System threads: Local Mapping, Loop Closing, Viewer.
    // The Tracking thread "lives" in the main execution thread that creates the System object.
    std::thread* mptLocalMapping;
    std::thread* mptLoopClosing;
    std::thread* mptViewer;

    // Reset flag
    std::mutex mMutexReset;
    bool mbReset;

    // Change mode flags
    std::mutex mMutexMode;
    bool mbActivateLocalizationMode;
    bool mbDeactivateLocalizationMode;

    // Tracking state
    int mTrackingState;
    std::vector<MapPoint*> mTrackedMapPoints;
    std::vector<cv::KeyPoint> mTrackedKeyPointsUn;
    std::mutex mMutexState;

    // point cloud mapping
    shared_ptr<PointCloudMapping> mpPointCloudMapping;
};

}// namespace ORB_SLAM

#endif // SYSTEM_H