localmap.h

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#ifndef LOCALMAP_H
#define LOCALMAP_H
 
#include "isaeslam/data/maps/amap.h"
 
namespace isae {
 
class LocalMap : public AMap {
  public:
    LocalMap() = default;
    LocalMap(size_t min_kf_number, size_t max_kf_number, size_t fixedFrameNumber);
 
    void addFrame(std::shared_ptr<Frame> &frame) override;
 
    void removeFrame(std::shared_ptr<Frame> &frame);
 
    size_t getWindowSize() { return _max_kf_number; }
    size_t getFixedFrameNumber() { return _fixed_frames_number; }
    std::vector<Eigen::Affine3d> &getOldFramesPoses() { return _removed_frame_poses; }
 
    bool computeRelativePose(std::shared_ptr<Frame> &frame1,
                             std::shared_ptr<Frame> &frame2,
                             Eigen::Affine3d &T_f1_f2,
                             Eigen::MatrixXd &cov);
 
    bool getMarginalizationFlag() { return _margin_flag; }
 
    void discardLastFrame();
 
    void reset();
 
  protected:
    void removeEmptyLandmarks();
 
    size_t _min_kf_number       = 1; 
    size_t _max_kf_number       = 7; 
    size_t _fixed_frames_number = 1; 
    bool _margin_flag;               
    std::vector<Eigen::Affine3d> _removed_frame_poses; 
 
    mutable std::mutex _localmap_mtx;
};
 
} // namespace isae
 
#endif // LOCALMAP_H