include/svo/map.h

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// This file is part of SVO - Semi-direct Visual Odometry.
//
// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
// (Robotics and Perception Group, University of Zurich, Switzerland).
//
// SVO 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 any later version.
//
// SVO 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 this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef SVO_MAP_H_
#define SVO_MAP_H_

#include <queue>
#include <boost/noncopyable.hpp>
#include <boost/thread.hpp>
#include <svo/global.h>

namespace svo {

class Point;
class Feature;
class Seed;

class MapPointCandidates
{
public:
  typedef pair<Point*, Feature*> PointCandidate;
  typedef list<PointCandidate> PointCandidateList;

  boost::mutex mut_;

  PointCandidateList candidates_;
  list< Point* > trash_points_;

  MapPointCandidates();
  ~MapPointCandidates();

  void newCandidatePoint(Point* point, double depth_sigma2);

  void addCandidatePointToFrame(FramePtr frame);

  bool deleteCandidatePoint(Point* point);

  void removeFrameCandidates(FramePtr frame);

  void reset();

  void deleteCandidate(PointCandidate& c);

  void emptyTrash();
};

class Map : boost::noncopyable
{
public:
  list< FramePtr > keyframes_;          
  list< Point* > trash_points_;         
  MapPointCandidates point_candidates_;

  Map();
  ~Map();

  void reset();

  void safeDeletePoint(Point* pt);

  void deletePoint(Point* pt);

  bool safeDeleteFrame(FramePtr frame);

  void removePtFrameRef(Frame* frame, Feature* ftr);

  void addKeyframe(FramePtr new_keyframe);

  void getCloseKeyframes(const FramePtr& frame, list< pair<FramePtr,double> >& close_kfs) const;

  FramePtr getClosestKeyframe(const FramePtr& frame) const;

  FramePtr getFurthestKeyframe(const Vector3d& pos) const;

  bool getKeyframeById(const int id, FramePtr& frame) const;

  void transform(const Matrix3d& R, const Vector3d& t, const double& s);

  void emptyTrash();

  inline FramePtr lastKeyframe() { return keyframes_.back(); }

  inline size_t size() const { return keyframes_.size(); }
};

namespace map_debug {

void mapStatistics(Map* map);
void mapValidation(Map* map, int id);
void frameValidation(Frame* frame, int id);
void pointValidation(Point* point, int id);

} // namespace map_debug
} // namespace svo

#endif // SVO_MAP_H_