ORBSLAM2理论与实战（16） 代码解读Map类

      Map类管理整个地图，因此其具有的属性是所有的地图点和关建针，即普通的帧是不管的，另外还有一些帧编号之类的东西，该类具有添加、删除关键帧的方法和添加、删除地图点的方法，另外就是一个返回属性的函数。

Map类

Map.h

#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);

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

    long unsigned int MapPointsInMap();
    long unsigned  KeyFramesInMap();

    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; ///< MapPoints
    std::set<KeyFrame*> mspKeyFrames; ///< Keyframs

    std::vector<MapPoint*> mvpReferenceMapPoints;

    long unsigned int mnMaxKFid;

    std::mutex mMutexMap;
};

} //namespace ORB_SLAM

#endif // MAP_H

Map.cpp

#include "Map.h"

#include<mutex>

namespace ORB_SLAM2
{

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

/**
 * @brief Insert KeyFrame in the map
 * @param pKF KeyFrame
 */
void Map::AddKeyFrame(KeyFrame *pKF)
{
    unique_lock<mutex> lock(mMutexMap);
    mspKeyFrames.insert(pKF);
    if(pKF->mnId>mnMaxKFid)
        mnMaxKFid=pKF->mnId;
}

/**
 * @brief Insert MapPoint in the map
 * @param pMP MapPoint
 */
void Map::AddMapPoint(MapPoint *pMP)
{
    unique_lock<mutex> lock(mMutexMap);
    mspMapPoints.insert(pMP);
}

/**
 * @brief Erase MapPoint from the map
 * @param pMP MapPoint
 */
void Map::EraseMapPoint(MapPoint *pMP)
{
    unique_lock<mutex> lock(mMutexMap);
    mspMapPoints.erase(pMP);

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

/**
 * @brief Erase KeyFrame from the map
 * @param pKF KeyFrame
 */
void Map::EraseKeyFrame(KeyFrame *pKF)
{
    unique_lock<mutex> lock(mMutexMap);
    mspKeyFrames.erase(pKF);

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

/**
 * @brief 设置参考MapPoints，将用于DrawMapPoints函数画图
 * @param vpMPs Local MapPoints
 */
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

 

参考：

https://blog.youkuaiyun.com/u012936940/article/details/81187236