134 lines
3.1 KiB
C
134 lines
3.1 KiB
C
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/**
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* This file is part of ORB-SLAM2.
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*
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* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
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* For more information see <https://github.com/raulmur/ORB_SLAM2>
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*
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* ORB-SLAM2 is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* ORB-SLAM2 is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef LOCALMAPPING_H
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#define LOCALMAPPING_H
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#include "KeyFrame.h"
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#include "Map.h"
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#include "LoopClosing.h"
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#include "Tracking.h"
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#include "KeyFrameDatabase.h"
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#include <mutex>
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namespace ORB_SLAM2
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{
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class Tracking;
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class LoopClosing;
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class Map;
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class LocalMapping
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{
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public:
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LocalMapping(Map *pMap, const float bMonocular);
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void SetLoopCloser(LoopClosing *pLoopCloser);
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void SetTracker(Tracking *pTracker);
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// Main function
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void Run();
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void InsertKeyFrame(KeyFrame *pKF);
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// Thread Synch
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void RequestStop();
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void RequestReset();
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bool Stop();
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void Release();
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bool isStopped();
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bool stopRequested();
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bool AcceptKeyFrames();
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void SetAcceptKeyFrames(bool flag);
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bool SetNotStop(bool flag);
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void InterruptBA();
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void RequestFinish();
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bool isFinished();
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int KeyframesInQueue()
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{
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unique_lock<std::mutex> lock(mMutexNewKFs);
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return mlNewKeyFrames.size();
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}
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protected:
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bool CheckNewKeyFrames();
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void ProcessNewKeyFrame();
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void ProcessNewKeyFrameWithObj();
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void CreateNewMapPoints();
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void MapPointCulling();
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void MapObjectCulling();
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void SearchInNeighbors();
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void KeyFrameCulling();
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cv::Mat ComputeF12(KeyFrame *&pKF1, KeyFrame *&pKF2);
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cv::Mat SkewSymmetricMatrix(const cv::Mat &v);
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bool mbMonocular;
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void ResetIfRequested();
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bool mbResetRequested;
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std::mutex mMutexReset;
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bool CheckFinish();
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void SetFinish();
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bool mbFinishRequested;
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bool mbFinished;
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std::mutex mMutexFinish;
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Map *mpMap;
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LoopClosing *mpLoopCloser;
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Tracking *mpTracker;
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std::list<KeyFrame *> mlNewKeyFrames;
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KeyFrame *mpCurrentKeyFrame;
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std::list<MapPoint *> mlpRecentAddedMapPoints;
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std::list<MapObject *> mlpRecentAddedMapObjects;
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std::mutex mMutexNewKFs;
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bool mbAbortBA;
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bool mbStopped;
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bool mbStopRequested;
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bool mbNotStop;
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std::mutex mMutexStop;
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bool mbAcceptKeyFrames;
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std::mutex mMutexAccept;
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};
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} // namespace ORB_SLAM
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#endif // LOCALMAPPING_H
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