/**
 * This file is part of ORB-SLAM2.
 *
 * Copyright (C) 2014-2016 Raúl 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 "MapObject.h"

#include <set>

#include <mutex>

namespace ORB_SLAM2
{
    class MapObject;
    class MapPoint;
    class KeyFrame;

    class Map
    {
    public:
        Map();

        void AddKeyFrame(KeyFrame *pKF);
        void AddMapPoint(MapPoint *pMP);
        void AddMapObject(MapObject *pMO); // 向地图中插入物体

        void EraseMapPoint(MapPoint *pMP);
        void EraseMapObject(MapObject *pMO); // 删除地图中的某个物体

        void EraseKeyFrame(KeyFrame *pKF);
        void SetReferenceMapPoints(const std::vector<MapPoint *> &vpMPs);
        void SetReferenceMapObjects(const std::vector<MapObject *> &vpMOs);

        void InformNewBigChange();
        int GetLastBigChangeIdx();

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

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

        long unsigned int GetMaxKFid();

        void clear();

        std::vector<KeyFrame *> mvpKeyFrameOrigins;

        std::mutex mMutexMapUpdate;

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

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

    protected:
        std::set<MapPoint *> mspMapPoints;
        std::set<KeyFrame *> mspKeyFrames;
        std::set<MapObject *> mspMapObjects; // 存放物体

        std::vector<MapPoint *> mvpReferenceMapPoints;
        std::vector<MapObject *> mvpReferenceMapObjects; // 设置参考物体，可用于画图

        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