137 lines
4.6 KiB
C++
137 lines
4.6 KiB
C++
// This file is part of SVO - Semi-direct Visual Odometry.
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//
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// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
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// (Robotics and Perception Group, University of Zurich, Switzerland).
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//
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// SVO is free software: you can redistribute it and/or modify it under the
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// terms of the GNU General Public License as published by the Free Software
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// Foundation, either version 3 of the License, or any later version.
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//
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// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the 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 this program. If not, see <http://www.gnu.org/licenses/>.
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#ifndef SVO_MAP_H_
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#define SVO_MAP_H_
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#include <queue>
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#include <boost/noncopyable.hpp>
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#include <boost/thread.hpp>
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#include <gpu_svo/global.h>
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namespace svo {
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class Point;
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class Feature;
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class Seed;
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/// Container for converged 3D points that are not already assigned to two keyframes.
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class MapPointCandidates
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{
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public:
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typedef pair<Point*, Feature*> PointCandidate;
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typedef list<PointCandidate> PointCandidateList;
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/// The depth-filter is running in a parallel thread and fills the canidate list.
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/// This mutex controls concurrent access to point_candidates.
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boost::mutex mut_;
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/// Candidate points are created from converged seeds.
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/// Until the next keyframe, these points can be used for reprojection and pose optimization.
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PointCandidateList candidates_;
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list< Point* > trash_points_;
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MapPointCandidates();
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~MapPointCandidates();
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/// Add a candidate point.
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void newCandidatePoint(Point* point, double depth_sigma2);
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/// Adds the feature to the frame and deletes candidate from list.
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void addCandidatePointToFrame(FramePtr frame);
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/// Remove a candidate point from the list of candidates.
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bool deleteCandidatePoint(Point* point);
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/// Remove all candidates that belong to a frame.
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void removeFrameCandidates(FramePtr frame);
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/// Reset the candidate list, remove and delete all points.
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void reset();
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void deleteCandidate(PointCandidate& c);
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void emptyTrash();
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};
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/// Map object which saves all keyframes which are in a map.
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class Map : boost::noncopyable
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{
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public:
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list< FramePtr > keyframes_; //!< List of keyframes in the map.
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list< Point* > trash_points_; //!< A deleted point is moved to the trash bin. Now and then this is cleaned. One reason is that the visualizer must remove the points also.
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MapPointCandidates point_candidates_;
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Map();
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~Map();
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/// Reset the map. Delete all keyframes and reset the frame and point counters.
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void reset();
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/// Delete a point in the map and remove all references in keyframes to it.
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void safeDeletePoint(Point* pt);
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/// Moves the point to the trash queue which is cleaned now and then.
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void deletePoint(Point* pt);
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/// Moves the frame to the trash queue which is cleaned now and then.
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bool safeDeleteFrame(FramePtr frame);
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/// Remove the references between a point and a frame.
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void removePtFrameRef(Frame* frame, Feature* ftr);
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/// Add a new keyframe to the map.
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void addKeyframe(FramePtr new_keyframe);
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/// Given a frame, return all keyframes which have an overlapping field of view.
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void getCloseKeyframes(const FramePtr& frame, list< pair<FramePtr,double> >& close_kfs) const;
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/// Return the keyframe which is spatially closest and has overlapping field of view.
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FramePtr getClosestKeyframe(const FramePtr& frame) const;
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/// Return the keyframe which is furthest apart from pos.
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FramePtr getFurthestKeyframe(const Vector2d& pos) const;
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bool getKeyframeById(const int id, FramePtr& frame) const;
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/// Transform the whole map with rotation R, translation t and scale s.
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void transform(const Matrix2d& R, const Vector2d& t, const double& s);
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/// Empty trash bin of deleted keyframes and map points. We don't delete the
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/// points immediately to ensure proper cleanup and to provide the visualizer
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/// a list of objects which must be removed.
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void emptyTrash();
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/// Return the keyframe which was last inserted in the map.
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inline FramePtr lastKeyframe() { return keyframes_.back(); }
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/// Return the number of keyframes in the map
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inline size_t size() const { return keyframes_.size(); }
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};
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/// A collection of debug functions to check the data consistency.
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namespace map_debug {
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void mapStatistics(Map* map);
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void mapValidation(Map* map, int id);
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void frameValidation(Frame* frame, int id);
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void pointValidation(Point* point, int id);
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} // namespace map_debug
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} // namespace svo
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#endif // SVO_MAP_H_
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