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/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Ra煤l 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 MAP_H
#define MAP_H

#include "MapPoint.h"
#include "KeyFrame.h"
#include <set>

#include <mutex>



namespace ORB_SLAM2
{

class MapPoint;
class KeyFrame;

class Map
{
public:
    Map();

    void AddKeyFrame(KeyFrame* pKF);
    void AddMapPoint(MapPoint* pMP);
    void EraseMapPoint(MapPoint* pMP);
    void EraseKeyFrame(KeyFrame* pKF);
    void SetReferenceMapPoints(const std::vector<MapPoint*> &vpMPs);
    void InformNewBigChange();
    int GetLastBigChangeIdx();

    std::vector<KeyFrame*> GetAllKeyFrames();
    std::vector<MapPoint*> GetAllMapPoints();
    std::vector<MapPoint*> GetReferenceMapPoints();

    long unsigned int MapPointsInMap();
    long unsigned  KeyFramesInMap();             //整个地图中关键帧的数量

    long unsigned int GetMaxKFid();

    void clear();

    vector<KeyFrame*> mvpKeyFrameOrigins;

    std::mutex mMutexMapUpdate;

    // This avoid that two points are created simultaneously in separate threads (id conflict)
    std::mutex mMutexPointCreation;

protected:
    std::set<MapPoint*> mspMapPoints;
    std::set<KeyFrame*> mspKeyFrames;

    std::vector<MapPoint*> mvpReferenceMapPoints;

    long unsigned int mnMaxKFid;

    // Index related to a big change in the map (loop closure, global BA)
    int mnBigChangeIdx;

    std::mutex mMutexMap;
};

} //namespace ORB_SLAM

#endif // MAP_H

/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Ra煤l 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"

#include<mutex>

namespace ORB_SLAM2
{

Map::Map():mnMaxKFid(0),mnBigChangeIdx(0)
{
}



// 插入关键帧操作
// 初始帧作为关键帧插入地图中是在追踪线程初始化函数中StereoInitialization()和MonocularInitialization()
// 其余关键帧插入地图是在localmapping线程中ProcessNewKeyFrame()函数
void Map::AddKeyFrame(KeyFrame *pKF)
{
    unique_lock<mutex> lock(mMutexMap);
    mspKeyFrames.insert(pKF);
    if(pKF->mnId>mnMaxKFid)
        mnMaxKFid=pKF->mnId;
}


// 插入地图点操作
// 初始帧中的地图点插入是在tracking线程的 双目或rgbd:StereoInitialization()和单目:CreateInitialMapMonocular()
// 其他关键帧地图点的插入是在tracking线程的CreateNewKeyFrame()
void Map::AddMapPoint(MapPoint *pMP)
{
    unique_lock<mutex> lock(mMutexMap);
    mspMapPoints.insert(pMP);
}


//擦除地图点
void Map::EraseMapPoint(MapPoint *pMP)
{
    unique_lock<mutex> lock(mMutexMap);
    mspMapPoints.erase(pMP);

    // TODO: This only erase the pointer.
    // Delete the MapPoint
}


//擦除关键帧
void Map::EraseKeyFrame(KeyFrame *pKF)
{
    unique_lock<mutex> lock(mMutexMap);
    mspKeyFrames.erase(pKF);

    // TODO: This only erase the pointer.
    // Delete the MapPoint
}


//设置参考MapPoints，将用于DrawMapPoints函数画图
void Map::SetReferenceMapPoints(const vector<MapPoint *> &vpMPs)
{
    unique_lock<mutex> lock(mMutexMap);
    mvpReferenceMapPoints = vpMPs;
}

// 关于新变化的ID
void Map::InformNewBigChange()
{
    unique_lock<mutex> lock(mMutexMap);
    mnBigChangeIdx++;
}

//最后变动的ID
int Map::GetLastBigChangeIdx()
{
    unique_lock<mutex> lock(mMutexMap);
    return mnBigChangeIdx;
}


//得到所有关键帧
vector<KeyFrame*> Map::GetAllKeyFrames()
{
    unique_lock<mutex> lock(mMutexMap);
    return vector<KeyFrame*>(mspKeyFrames.begin(),mspKeyFrames.end());
}


//得到所有地图点
vector<MapPoint*> Map::GetAllMapPoints()
{
    unique_lock<mutex> lock(mMutexMap);
    return vector<MapPoint*>(mspMapPoints.begin(),mspMapPoints.end());
}


//返回现在地图中含有的地图点的个数
long unsigned int Map::MapPointsInMap()
{
    unique_lock<mutex> lock(mMutexMap);
    return mspMapPoints.size();
}

//返回地图中关键帧的个数
long unsigned int Map::KeyFramesInMap()
{
    unique_lock<mutex> lock(mMutexMap);
    return mspKeyFrames.size();
}


//得到参考地图点
vector<MapPoint*> Map::GetReferenceMapPoints()
{
    unique_lock<mutex> lock(mMutexMap);
    return mvpReferenceMapPoints;
}


//得到最大关键帧ID
long unsigned int Map::GetMaxKFid()
{
    unique_lock<mutex> lock(mMutexMap);
    return mnMaxKFid;
}


//清除所有地图
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