Class GlobalMap

pose_graph/include/pose_graph/GlobalMapping.h:63–99

    LandmarkMap;

class GlobalMap {
 private:
  // Map of all points.

  LandmarkMap map_points_;
  uint64_t last_loop_closure_optimization_time_;

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  GlobalMap();
  virtual ~GlobalMap() = default;

  void addLandmark(const Eigen::Vector3d& global_pos,
                   uint64_t landmark_id,
                   double quality,
                   uint64_t keyframe_id,
                   const Eigen::Vector3d& local_pos,
                   const Eigen::Vector3d& color);

  void updateLandmark(uint64_t landmark_id,
                      const Eigen::Vector3d& global_pos,
                      double quality,
                      const Eigen::Vector3d& color);

  LandmarkMap getMapPoints() const { return map_points_; }

  void loopClosureOptimizationFinishCallback(const Timestamp time);
  bool loop_closure_optimization_finished_;  // this flag is set to true when loop closure optimization is done

  // Save mapping of landmark -> list of observing keyframe IDs to a text file.
  // Format:
  //   # landmark_id, [keyframe_id1, keyframe_id2, ...]
  //   123, [10, 11, 25]
  //   124, [12]
  bool saveKeyframeObservationsToFile(const std::string& file_path) const;
};