v1

include/LocalMapping.h

@@ -0,0 +1,128 @@
+/**
+* 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 LOCALMAPPING_H
+#define LOCALMAPPING_H
+
+#include "KeyFrame.h"
+#include "Map.h"
+#include "LoopClosing.h"
+#include "Tracking.h"
+#include "KeyFrameDatabase.h"
+
+#include <mutex>
+
+
+namespace ORB_SLAM2
+{
+
+class Tracking;
+class LoopClosing;
+class Map;
+
+class LocalMapping
+{
+public:
+    LocalMapping(Map* pMap, const float bMonocular);
+
+    void SetLoopCloser(LoopClosing* pLoopCloser);
+
+    void SetTracker(Tracking* pTracker);
+
+    // Main function
+    void Run();
+
+    void InsertKeyFrame(KeyFrame* pKF);
+
+    // Thread Synch
+    void RequestStop();
+    void RequestReset();
+    bool Stop();
+    void Release();
+    bool isStopped();
+    bool stopRequested();
+    bool AcceptKeyFrames();
+    void SetAcceptKeyFrames(bool flag);
+    bool SetNotStop(bool flag);
+
+    void InterruptBA();
+
+    void RequestFinish();
+    bool isFinished();
+
+    int KeyframesInQueue(){
+        unique_lock<std::mutex> lock(mMutexNewKFs);
+        return mlNewKeyFrames.size();
+    }
+
+protected:
+
+    bool CheckNewKeyFrames();
+    void ProcessNewKeyFrame();
+    void CreateNewMapPoints();
+
+    void MapPointCulling();
+    void SearchInNeighbors();
+
+    void KeyFrameCulling();
+
+    cv::Mat ComputeF12(KeyFrame* &pKF1, KeyFrame* &pKF2);
+
+    cv::Mat SkewSymmetricMatrix(const cv::Mat &v);
+
+    bool mbMonocular;
+
+    void ResetIfRequested();
+    bool mbResetRequested;
+    std::mutex mMutexReset;
+
+    bool CheckFinish();
+    void SetFinish();
+    bool mbFinishRequested;
+    bool mbFinished;
+    std::mutex mMutexFinish;
+
+    Map* mpMap;
+
+    LoopClosing* mpLoopCloser;
+    Tracking* mpTracker;
+
+    std::list<KeyFrame*> mlNewKeyFrames;
+
+    KeyFrame* mpCurrentKeyFrame;
+
+    std::list<MapPoint*> mlpRecentAddedMapPoints;
+
+    std::mutex mMutexNewKFs;
+
+    bool mbAbortBA;
+
+    bool mbStopped;
+    bool mbStopRequested;
+    bool mbNotStop;
+    std::mutex mMutexStop;
+
+    bool mbAcceptKeyFrames;
+    std::mutex mMutexAccept;
+};
+
+} //namespace ORB_SLAM
+
+#endif // LOCALMAPPING_H