WAIMap.h

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/**
 * \file      SLCVMap.h
 * \authors   Michael Goettlicher
 * \date      October 2017
//  Codestyle: https://github.com/cpvrlab/SLProject/wiki/Coding-Style-Guidelines
 * \authors   Marcus Hudritsch
 * \copyright http://opensource.org/licenses/GPL-3.0
*/
 
/**
 * This file is part of ORB-SLAM2.
 *
 * Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
 * For more information see <https://github.com/raulmur/ORB_SLAM2>
 *
 * ORB-SLAM2 is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * ORB-SLAM2 is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
 */
 
#ifndef WAIMAP_H
#define WAIMAP_H
 
#include <vector>
#include <string>
#include <mutex>
#include <set>
 
#include <opencv2/core.hpp>
 
#include <WAIMapPoint.h>
#include <WAIKeyFrameDB.h>
#include <WAIKeyFrame.h>
#include <WAIHelper.h>
 
using namespace std;
 
//-----------------------------------------------------------------------------
//!
/*!
 */
class WAI_API WAIMap
{
public:
    enum TransformType
    {
        ROT_X = 0,
        ROT_Y,
        ROT_Z,
        TRANS_X,
        TRANS_Y,
        TRANS_Z,
        SCALE
    };
 
    WAIMap(WAIKeyFrameDB* kfDB);
    ~WAIMap();
 
    void AddKeyFrame(WAIKeyFrame* pKF);
    void AddMapPoint(WAIMapPoint* pMP);
    void EraseMapPoint(WAIMapPoint* pMP);
    void EraseKeyFrame(WAIKeyFrame* pKF);
    void SetReferenceMapPoints(const std::vector<WAIMapPoint*>& vpMPs);
    void InformNewBigChange();
    int  GetLastBigChangeIdx();
 
    std::vector<WAIKeyFrame*> GetAllKeyFrames();
    std::vector<WAIMapPoint*> GetAllMapPoints();
    WAIKeyFrameDB*            GetKeyFrameDB() { return mKfDB; }
 
    long unsigned int MapPointsInMap();
    long unsigned int KeyFramesInMap();
 
    long unsigned int GetMaxKFid();
 
    float GetSize();
    void  clear();
 
    vector<WAIKeyFrame*> mvpKeyFrameOrigins;
 
    std::mutex mMutexMapUpdate;
 
    // This avoid that two points are created simultaneously in separate threads (id conflict)
    std::mutex mMutexPointCreation;
 
    //transformation functions
    void    transform(cv::Mat transform);
    void    rotate(float degVal, int type);
    void    translate(float value, int type);
    void    scale(float value);
    void    applyTransformation(double value, TransformType type);
    cv::Mat buildTransMat(float& val, int type);
    cv::Mat buildRotMat(float& valDeg, int type);
 
    size_t getSizeOf();
 
    bool isKeyFrameInMap(WAIKeyFrame* pKF);
 
    void incNumLoopClosings();
    void setNumLoopClosings(int n);
    int  getNumLoopClosings();
 
protected:
    std::set<WAIMapPoint*>    mspMapPoints;
    std::set<WAIKeyFrame*>    mspKeyFrames;
    std::vector<WAIKeyFrame*> _deletedKeyFrames;
    WAIKeyFrameDB*            mKfDB{nullptr};
 
    std::vector<WAIMapPoint*> mvpReferenceMapPoints;
 
    long unsigned int mnMaxKFid;
 
    // Index related to a big change in the map (loop closure, global BA)
    int mnBigChangeIdx;
 
    std::mutex mMutexMap;
 
    std::mutex _mutexLoopClosings;
    int        _numberOfLoopClosings = 0;
    int        _numOfKeyframes;
};
 
#endif // !WAIMAP_H