backend.h

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#pragma once
#include "camera.h"
#include "common_include.h"
#include "g2o_types.h"
#include "map.h"
#include "viewer.h"
#include "config.h"
 
NAMESPACE_BEGIN
 
class Backend {
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    typedef std::shared_ptr<Backend> Ptr;
 
    static Ptr getInstance() {
        static Ptr backend(new Backend);
        return backend;
    }
 
    void getPointsAndFrames(std::vector<Frame::Ptr> &frames, std::vector<MapPoint::Ptr> &points);
 
    void addVertexAndEdge(std::unordered_map<std::size_t, PoseVertex *> &poseVertexes,
                          std::unordered_map<std::size_t, PointVertex *> &pointVertexes,
                          std::unordered_map<Feature::Ptr, PosePointEdge *> &edges,
                          std::vector<Frame::Ptr> &frames, std::vector<MapPoint::Ptr> &points,
                          g2o::SparseOptimizer &graph);
 
    void run();
 
    void setMap(const Map::Ptr &map) { m_map = map; }
 
    void setCamera(const Camera::Ptr &camera) { m_camera = camera; }
 
    void setViewer(const Viewer::Ptr &viewer) { m_viewer = viewer; }
 
    void optimize(std::unique_lock<std::mutex> &lck);
 
    void setOptValue(std::unordered_map<std::size_t, PoseVertex *> poseVertexes,
                     std::unordered_map<std::size_t, PointVertex *> pointVertexes);
 
    double detectOutlier(g2o::SparseOptimizer &graph,
                         std::unordered_map<Feature::Ptr, PosePointEdge *> &edges);
 
    Backend(const Backend &other) = delete;
 
    Backend &operator=(const Backend &other) = delete;
 
private:
    Backend() = default;
    Map::Ptr m_map;        
    Camera::Ptr m_camera;  
    Viewer::Ptr m_viewer;  
    bool m_isStop = false; 
};
 
NAMESPACE_END