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Map.cc
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Map.cc
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/**
* 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/>.
*/
#include "Map.h"
#define TEST_DATA 0xdeadbeef
#include<mutex>
namespace ORB_SLAM2
{
Map::Map():mnMaxKFid(0)
{
}
template<class Archive>
void Map::save(Archive & ar, const unsigned int version) const
{
unsigned int test_data = TEST_DATA;
int nItems = mspMapPoints.size();
ar & nItems;
cout << "{INFO}mspMapPoints size = " << nItems << endl;
std::for_each(mspMapPoints.begin(), mspMapPoints.end(), [&ar](MapPoint* pMapPoint) {
ar & *pMapPoint;
});
nItems = mspKeyFrames.size();
cout << "{INFO}mspKeyFrames size = " << nItems << endl;
ar & nItems;
std::for_each(mspKeyFrames.begin(), mspKeyFrames.end(), [&ar](KeyFrame* pKeyFrame) {
ar & *pKeyFrame;
});
nItems = mvpKeyFrameOrigins.size();
cout << "{INFO}mvpKeyFrameOrigins size = " << nItems << endl;
ar & nItems;
std::for_each(mvpKeyFrameOrigins.begin(), mvpKeyFrameOrigins.end(), [&ar](KeyFrame* pKeyFrameOrigin) {
ar & *pKeyFrameOrigin;
});
// Pertaining to map drawing
//nItems = mvpReferenceMapPoints.size();
//cout << "$${INFO}mvpReferenceMapPoints size = %d " << nItems << endl;
//ar & nItems;
//std::for_each(mvpReferenceMapPoints.begin(), mvpReferenceMapPoints.end(), [&ar](MapPoint* pMapPointReference) {
// ar & *pMapPointReference;
//});
ar & const_cast<long unsigned int &> (mnMaxKFid);
ar & test_data;
}
template<class Archive>
void Map::load(Archive & ar, const unsigned int version)
{
unsigned int test_data;
int nItems;
ar & nItems;
cout << "{INFO}mspMapPoints size = " << nItems << endl;
for (int i = 0; i < nItems; ++i) {
MapPoint* pMapPoint = new MapPoint();
ar & *pMapPoint;
mspMapPoints.insert(pMapPoint);
}
ar & nItems;
cout << "{INFO}mspKeyFrames size = " << nItems << endl;
for (int i = 0; i < nItems; ++i) {
KeyFrame* pKeyFrame = new KeyFrame;
ar & *pKeyFrame;
mspKeyFrames.insert(pKeyFrame);
}
ar & nItems;
cout << "{INFO}mvpKeyFrameOrigins size = " << nItems << endl;
for (int i = 0; i < nItems; ++i) {
KeyFrame* pKeyFrame = new KeyFrame;
ar & *pKeyFrame;
/* TODO : VerifyHere*/
mvpKeyFrameOrigins.push_back(*mspKeyFrames.begin());
}
ar & const_cast<long unsigned int &> (mnMaxKFid);
ar & test_data;
if (test_data == TEST_DATA)
cout <<">>Map Loading Validated as True" << endl;
else
cout <<"ERROR Map Loading Validated as False: Got -" << test_data << " :( Check Load Save sequence" << endl;
}
// Explicit template instantiation
template void Map::save<boost::archive::binary_oarchive>(
boost::archive::binary_oarchive &,
const unsigned int) const;
template void Map::save<boost::archive::binary_iarchive>(
boost::archive::binary_iarchive &,
const unsigned int) const;
template void Map::load<boost::archive::binary_oarchive>(
boost::archive::binary_oarchive &,
const unsigned int);
template void Map::load<boost::archive::binary_iarchive>(
boost::archive::binary_iarchive &,
const unsigned int);
void Map::AddKeyFrame(KeyFrame *pKF)
{
unique_lock<mutex> lock(mMutexMap);
mspKeyFrames.insert(pKF);
if(pKF->mnId>mnMaxKFid)
mnMaxKFid=pKF->mnId;
}
void Map::AddMapPoint(MapPoint *pMP)
{
unique_lock<mutex> lock(mMutexMap);
mspMapPoints.insert(pMP);
}
void Map::EraseMapPoint(MapPoint *pMP)
{
unique_lock<mutex> lock(mMutexMap);
mspMapPoints.erase(pMP);
// TODO: This only erase the pointer.
// Delete the MapPoint
}
void Map::EraseKeyFrame(KeyFrame *pKF)
{
unique_lock<mutex> lock(mMutexMap);
mspKeyFrames.erase(pKF);
// TODO: This only erase the pointer.
// Delete the MapPoint
}
void Map::SetReferenceMapPoints(const vector<MapPoint *> &vpMPs)
{
unique_lock<mutex> lock(mMutexMap);
mvpReferenceMapPoints = vpMPs;
}
vector<KeyFrame*> Map::GetAllKeyFrames()
{
unique_lock<mutex> lock(mMutexMap);
return vector<KeyFrame*>(mspKeyFrames.begin(),mspKeyFrames.end());
}
vector<MapPoint*> Map::GetAllMapPoints()
{
unique_lock<mutex> lock(mMutexMap);
return vector<MapPoint*>(mspMapPoints.begin(),mspMapPoints.end());
}
long unsigned int Map::MapPointsInMap()
{
unique_lock<mutex> lock(mMutexMap);
return mspMapPoints.size();
}
long unsigned int Map::KeyFramesInMap()
{
unique_lock<mutex> lock(mMutexMap);
return mspKeyFrames.size();
}
vector<MapPoint*> Map::GetReferenceMapPoints()
{
unique_lock<mutex> lock(mMutexMap);
return mvpReferenceMapPoints;
}
long unsigned int Map::GetMaxKFid()
{
unique_lock<mutex> lock(mMutexMap);
return mnMaxKFid;
}
void Map::clear()
{
for(set<MapPoint*>::iterator sit=mspMapPoints.begin(), send=mspMapPoints.end(); sit!=send; sit++)
delete *sit;
for(set<KeyFrame*>::iterator sit=mspKeyFrames.begin(), send=mspKeyFrames.end(); sit!=send; sit++)
delete *sit;
mspMapPoints.clear();
mspKeyFrames.clear();
mnMaxKFid = 0;
mvpReferenceMapPoints.clear();
mvpKeyFrameOrigins.clear();
}
} //namespace ORB_SLAM