LocalMapping

Manages local map building, keyframe processing, and local bundle adjustment. More...

Collaboration diagram for LocalMapping:

Public Member Functions
	LocalMapping (OrbSLAM *pSys, Atlas *pAtlas, bool bMonocular, bool bInertial, LogPtr log)
	Constructs the local mapper.
bool	AcceptKeyFrames ()
	Checks whether the local mapper is accepting keyframes.
void	EmptyQueue ()
	Processes all queued keyframes without blocking.
Buffer< std::pair< Eigen::Vector3f, Vector< 2, uint04 > > >	FindSharedPoints (KeyFrame *a, KeyFrame *b)
	Finds shared 3D points between two keyframes.
fltp04	inertialPercent () const
	Returns the IMU initialization progress as a percentage.
void	InsertKeyFrame (KeyFrame *pKF)
	Inserts a new keyframe into the processing queue.
void	InterruptBA ()
	Interrupts any running bundle adjustment.
bool	isFinished ()
	Checks whether the local mapper has finished.
bool	isStopped ()
	Checks whether the local mapper is stopped.
void	Release ()
	Releases the local mapper from a stopped state.
void	RequestFinish ()
	Requests the local mapper to finish.
void	RequestReset ()
	Requests a full reset of the local mapper.
void	RequestResetActiveMap ()
	Requests a reset of the active map only.
void	RequestStop ()
	Requests the local mapper to stop.
void	Run ()
	Main local mapping loop.
void	SetAcceptKeyFrames (bool flag)
	Sets whether the local mapper accepts keyframes.
void	setCameraSettings (bool bMonocular, bool bInertial)
	Updates the camera mode settings.
void	SetLoopCloser (LoopClosing *pLoopCloser)
	Sets the loop closer reference.
bool	SetNotStop (bool flag)
	Sets whether the local mapper can be stopped.
void	SetTracker (Tracking *pTracker)
	Sets the tracker reference.
bool	Stop ()
	Attempts to stop the local mapper.
bool	stopRequested ()
	Checks whether a stop has been requested.

Detailed Description

Manages local map building, keyframe processing, and local bundle adjustment.

Runs in its own thread, receiving new keyframes from the tracker, creating new map points, culling redundant keyframes, and performing local BA.

Definition at line 23 of file LocalMapping.h.

Constructor & Destructor Documentation

LocalMapping()

LocalMapping::LocalMapping	(	OrbSLAM *	pSys,
		Atlas *	pAtlas,
		bool	bMonocular,
		bool	bInertial,
		LogPtr	log )

Constructs the local mapper.

Parameters

[in]	pSys	Pointer to the OrbSLAM system.
[in]	pAtlas	Pointer to the Atlas.
[in]	bMonocular	True if using monocular mode.
[in]	bInertial	True if using inertial mode.
[in]	log	Logger for diagnostic output.

Member Function Documentation

AcceptKeyFrames()

bool LocalMapping::AcceptKeyFrames

(

)

Checks whether the local mapper is accepting keyframes.

Returns

True if accepting keyframes.

FindSharedPoints()

Buffer< std::pair< Eigen::Vector3f, Vector< 2, uint04 > > > LocalMapping::FindSharedPoints	(	KeyFrame *	a,
		KeyFrame *	b )

Finds shared 3D points between two keyframes.

Parameters

[in]	a	First keyframe.
[in]	b	Second keyframe.

Returns

Buffer of (3D point, observation index pair) pairs.

inertialPercent()

fltp04 LocalMapping::inertialPercent

(

)

const

Returns the IMU initialization progress as a percentage.

Returns

Inertial initialization percent (0-1).

InsertKeyFrame()

void LocalMapping::InsertKeyFrame

(

KeyFrame *

pKF

)

Inserts a new keyframe into the processing queue.

Parameters

[in]

pKF

Keyframe to insert.

isFinished()

bool LocalMapping::isFinished

(

)

Checks whether the local mapper has finished.

Returns

True if finished.

isStopped()

bool LocalMapping::isStopped

(

)

Checks whether the local mapper is stopped.

Returns

True if stopped.

Run()

void LocalMapping::Run

(

)

Main local mapping loop.

Processes keyframes and performs local BA.

SetAcceptKeyFrames()

void LocalMapping::SetAcceptKeyFrames

(

bool

flag

)

Sets whether the local mapper accepts keyframes.

Parameters

[in]

flag

True to accept keyframes.

setCameraSettings()

void LocalMapping::setCameraSettings	(	bool	bMonocular,
		bool	bInertial )

Updates the camera mode settings.

Parameters

[in]	bMonocular	True for monocular.
[in]	bInertial	True for inertial.

SetLoopCloser()

void LocalMapping::SetLoopCloser

(

LoopClosing *

pLoopCloser

)

Sets the loop closer reference.

Parameters

[in]

pLoopCloser

Pointer to the loop closer.

SetNotStop()

bool LocalMapping::SetNotStop

(

bool

flag

)

Sets whether the local mapper can be stopped.

Parameters

[in]

flag

True to prevent stopping.

Returns

True if the flag was set.

SetTracker()

void LocalMapping::SetTracker

(

Tracking *

pTracker

)

Sets the tracker reference.

Parameters

[in]

pTracker

Pointer to the tracker.

Stop()

bool LocalMapping::Stop

(

)

Attempts to stop the local mapper.

Returns

True if successfully stopped.

stopRequested()

bool LocalMapping::stopRequested

(

)

Checks whether a stop has been requested.

Returns

True if a stop was requested.

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The documentation for this class was generated from the following file:

• OrbSLAM/Headers/LocalMapping.h