175 lines
4.9 KiB
C++
175 lines
4.9 KiB
C++
/**
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* This file is part of ORB-SLAM3
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*
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* Copyright (C) 2017-2021 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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*
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* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
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* License as published by 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-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
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* the implied warranty of 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 along with ORB-SLAM3.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef ATLAS_H
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#define ATLAS_H
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#include "Map.h"
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#include "MapPoint.h"
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#include "KeyFrame.h"
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#include "GeometricCamera.h"
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#include "Pinhole.h"
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#include "KannalaBrandt8.h"
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#include <set>
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#include <mutex>
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#include <boost/serialization/vector.hpp>
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#include <boost/serialization/export.hpp>
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namespace ORB_SLAM3
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{
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class Viewer;
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class Map;
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class MapPoint;
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class KeyFrame;
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class KeyFrameDatabase;
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class Frame;
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class KannalaBrandt8;
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class Pinhole;
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//BOOST_CLASS_EXPORT_GUID(Pinhole, "Pinhole")
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//BOOST_CLASS_EXPORT_GUID(KannalaBrandt8, "KannalaBrandt8")
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class Atlas
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{
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// 1. 对boost声明友元，boost就能调用Atlas的serialize了
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friend class boost::serialization::access;
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// 保存读取都用这个
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template<class Archive>
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void serialize(Archive &ar, const unsigned int version)
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{
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// 由于保存相机是基类，但是实际使用是派生类，所以声明一下
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ar.template register_type<Pinhole>();
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ar.template register_type<KannalaBrandt8>();
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// Save/load a set structure, the set structure is broken in libboost 1.58 for ubuntu 16.04, a vector is serializated
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//ar & mspMaps;
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// 基础类型不用管，但是自定义的类里面要进一步写serialize函数，确定保存内容
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ar & mvpBackupMaps;
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ar & mvpCameras;
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// Need to save/load the static Id from Frame, KeyFrame, MapPoint and Map
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ar & Map::nNextId;
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ar & Frame::nNextId;
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ar & KeyFrame::nNextId;
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ar & MapPoint::nNextId;
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ar & GeometricCamera::nNextId;
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ar & mnLastInitKFidMap;
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}
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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Atlas();
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Atlas(int initKFid); // When its initialization the first map is created
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~Atlas();
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void CreateNewMap();
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void ChangeMap(Map* pMap);
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unsigned long int GetLastInitKFid();
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void SetViewer(Viewer* pViewer);
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// Method for change components in the current map
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void AddKeyFrame(KeyFrame* pKF);
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void AddMapPoint(MapPoint* pMP);
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//void EraseMapPoint(MapPoint* pMP);
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//void EraseKeyFrame(KeyFrame* pKF);
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GeometricCamera* AddCamera(GeometricCamera* pCam);
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std::vector<GeometricCamera*> GetAllCameras();
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/* All methods without Map pointer work on current map */
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void SetReferenceMapPoints(const std::vector<MapPoint*> &vpMPs);
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void InformNewBigChange();
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int GetLastBigChangeIdx();
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long unsigned int MapPointsInMap();
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long unsigned KeyFramesInMap();
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// Method for get data in current map
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std::vector<KeyFrame*> GetAllKeyFrames();
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std::vector<MapPoint*> GetAllMapPoints();
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std::vector<MapPoint*> GetReferenceMapPoints();
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vector<Map*> GetAllMaps();
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int CountMaps();
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void clearMap();
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void clearAtlas();
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Map* GetCurrentMap();
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void SetMapBad(Map* pMap);
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void RemoveBadMaps();
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bool isInertial();
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void SetInertialSensor();
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void SetImuInitialized();
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bool isImuInitialized();
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// Function for garantee the correction of serialization of this object
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void PreSave();
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void PostLoad();
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map<long unsigned int, KeyFrame*> GetAtlasKeyframes();
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void SetKeyFrameDababase(KeyFrameDatabase* pKFDB);
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KeyFrameDatabase* GetKeyFrameDatabase();
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void SetORBVocabulary(ORBVocabulary* pORBVoc);
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ORBVocabulary* GetORBVocabulary();
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long unsigned int GetNumLivedKF();
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long unsigned int GetNumLivedMP();
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protected:
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std::set<Map*> mspMaps;
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std::set<Map*> mspBadMaps;
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// Its necessary change the container from set to vector because libboost 1.58 and Ubuntu 16.04 have an error with this cointainer
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std::vector<Map*> mvpBackupMaps;
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Map* mpCurrentMap;
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std::vector<GeometricCamera*> mvpCameras;
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unsigned long int mnLastInitKFidMap;
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Viewer* mpViewer;
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bool mHasViewer;
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// Class references for the map reconstruction from the save file
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KeyFrameDatabase* mpKeyFrameDB;
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ORBVocabulary* mpORBVocabulary;
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// Mutex
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std::mutex mMutexAtlas;
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}; // class Atlas
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} // namespace ORB_SLAM3
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#endif // ATLAS_H
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