100 lines
3.0 KiB
C++
100 lines
3.0 KiB
C++
/**
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* This file is part of ORB-SLAM2.
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*
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* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
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* For more information see <https://github.com/raulmur/ORB_SLAM2>
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*
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* ORB-SLAM2 is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* ORB-SLAM2 is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef MAP_H
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#define MAP_H
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#include "MapPoint.h"
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#include "KeyFrame.h"
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#include "MapObject.h"
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#include <set>
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#include <mutex>
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namespace ORB_SLAM2
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{
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class MapObject;
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class MapPoint;
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class KeyFrame;
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class Map
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{
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public:
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Map();
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void AddKeyFrame(KeyFrame *pKF);
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void AddMapPoint(MapPoint *pMP);
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void AddMapObject(MapObject *pMO); // 向地图中插入物体
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void EraseMapPoint(MapPoint *pMP);
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void EraseMapObject(MapObject *pMO); // 删除地图中的某个物体
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void EraseKeyFrame(KeyFrame *pKF);
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void SetReferenceMapPoints(const std::vector<MapPoint *> &vpMPs);
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void SetReferenceMapObjects(const std::vector<MapObject *> &vpMOs);
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void InformNewBigChange();
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int GetLastBigChangeIdx();
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std::vector<KeyFrame *> GetAllKeyFrames();
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std::vector<MapPoint *> GetAllMapPoints();
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std::vector<MapObject *> GetAllMapObjects();
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std::vector<MapPoint *> GetReferenceMapPoints();
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std::vector<MapObject *> GetReferenceMapObjects();
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long unsigned int MapPointsInMap();
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long unsigned int MapObjectsInMap();
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long unsigned KeyFramesInMap();
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long unsigned int GetMaxKFid();
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void clear();
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std::vector<KeyFrame *> mvpKeyFrameOrigins;
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std::mutex mMutexMapUpdate;
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// This avoid that two points are created simultaneously in separate threads (id conflict)
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std::mutex mMutexPointCreation;
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// This avoid that two objects are created simultaneously in separate threads (id conflict)
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std::mutex mMutexObjectCreation;
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protected:
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std::set<MapPoint *> mspMapPoints;
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std::set<KeyFrame *> mspKeyFrames;
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std::set<MapObject *> mspMapObjects; // 存放物体
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std::vector<MapPoint *> mvpReferenceMapPoints;
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std::vector<MapObject *> mvpReferenceMapObjects; // 设置参考物体，可用于画图
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long unsigned int mnMaxKFid;
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// Index related to a big change in the map (loop closure, global BA)
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int mnBigChangeIdx;
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std::mutex mMutexMap;
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};
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} // namespace ORB_SLAM
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#endif // MAP_H
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