OpenCV  3.3.0-dev
Open Source Computer Vision
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
ORB_SLAM2::LocalMapping Class Reference

#include "LocalMapping.h"

Public Member Functions

 LocalMapping (Map *pMap, const float bMonocular)
 
bool AcceptKeyFrames ()
 
void InsertKeyFrame (KeyFrame *pKF)
 
void InterruptBA ()
 
bool isFinished ()
 
bool isStopped ()
 
int KeyframesInQueue ()
 
void Release ()
 
void RequestFinish ()
 
void RequestReset ()
 
void RequestStop ()
 
void Run ()
 
void SetAcceptKeyFrames (bool flag)
 
void SetLoopCloser (LoopClosing *pLoopCloser)
 
bool SetNotStop (bool flag)
 
void SetTracker (Tracking *pTracker)
 
bool Stop ()
 
bool stopRequested ()
 

Protected Member Functions

bool CheckFinish ()
 
bool CheckNewKeyFrames ()
 
cv::Mat ComputeF12 (KeyFrame *&pKF1, KeyFrame *&pKF2)
 
void CreateNewMapPoints ()
 
void KeyFrameCulling ()
 
void MapPointCulling ()
 
void ProcessNewKeyFrame ()
 
void ResetIfRequested ()
 
void SearchInNeighbors ()
 
void SetFinish ()
 
cv::Mat SkewSymmetricMatrix (const cv::Mat &v)
 

Protected Attributes

bool mbAbortBA
 
bool mbAcceptKeyFrames
 
bool mbFinished
 
bool mbFinishRequested
 
bool mbMonocular
 
bool mbNotStop
 
bool mbResetRequested
 
bool mbStopped
 
bool mbStopRequested
 
std::list< KeyFrame * > mlNewKeyFrames
 
std::list< MapPoint * > mlpRecentAddedMapPoints
 
std::mutex mMutexAccept
 
std::mutex mMutexFinish
 
std::mutex mMutexNewKFs
 
std::mutex mMutexReset
 
std::mutex mMutexStop
 
KeyFramempCurrentKeyFrame
 
LoopClosingmpLoopCloser
 
MapmpMap
 
TrackingmpTracker
 

Constructor & Destructor Documentation

◆ LocalMapping()

ORB_SLAM2::LocalMapping::LocalMapping ( Map pMap,
const float  bMonocular 
)

Member Function Documentation

◆ AcceptKeyFrames()

bool ORB_SLAM2::LocalMapping::AcceptKeyFrames ( )

◆ CheckFinish()

bool ORB_SLAM2::LocalMapping::CheckFinish ( )
protected

◆ CheckNewKeyFrames()

bool ORB_SLAM2::LocalMapping::CheckNewKeyFrames ( )
protected

◆ ComputeF12()

cv::Mat ORB_SLAM2::LocalMapping::ComputeF12 ( KeyFrame *&  pKF1,
KeyFrame *&  pKF2 
)
protected

◆ CreateNewMapPoints()

void ORB_SLAM2::LocalMapping::CreateNewMapPoints ( )
protected

◆ InsertKeyFrame()

void ORB_SLAM2::LocalMapping::InsertKeyFrame ( KeyFrame pKF)

◆ InterruptBA()

void ORB_SLAM2::LocalMapping::InterruptBA ( )

◆ isFinished()

bool ORB_SLAM2::LocalMapping::isFinished ( )

◆ isStopped()

bool ORB_SLAM2::LocalMapping::isStopped ( )

◆ KeyFrameCulling()

void ORB_SLAM2::LocalMapping::KeyFrameCulling ( )
protected

◆ KeyframesInQueue()

int ORB_SLAM2::LocalMapping::KeyframesInQueue ( )
inline

◆ MapPointCulling()

void ORB_SLAM2::LocalMapping::MapPointCulling ( )
protected

◆ ProcessNewKeyFrame()

void ORB_SLAM2::LocalMapping::ProcessNewKeyFrame ( )
protected

◆ Release()

void ORB_SLAM2::LocalMapping::Release ( )

◆ RequestFinish()

void ORB_SLAM2::LocalMapping::RequestFinish ( )

◆ RequestReset()

void ORB_SLAM2::LocalMapping::RequestReset ( )

◆ RequestStop()

void ORB_SLAM2::LocalMapping::RequestStop ( )

◆ ResetIfRequested()

void ORB_SLAM2::LocalMapping::ResetIfRequested ( )
protected

◆ Run()

void ORB_SLAM2::LocalMapping::Run ( )

◆ SearchInNeighbors()

void ORB_SLAM2::LocalMapping::SearchInNeighbors ( )
protected

◆ SetAcceptKeyFrames()

void ORB_SLAM2::LocalMapping::SetAcceptKeyFrames ( bool  flag)

◆ SetFinish()

void ORB_SLAM2::LocalMapping::SetFinish ( )
protected

◆ SetLoopCloser()

void ORB_SLAM2::LocalMapping::SetLoopCloser ( LoopClosing pLoopCloser)

◆ SetNotStop()

bool ORB_SLAM2::LocalMapping::SetNotStop ( bool  flag)

◆ SetTracker()

void ORB_SLAM2::LocalMapping::SetTracker ( Tracking pTracker)

◆ SkewSymmetricMatrix()

cv::Mat ORB_SLAM2::LocalMapping::SkewSymmetricMatrix ( const cv::Mat v)
protected

◆ Stop()

bool ORB_SLAM2::LocalMapping::Stop ( )

◆ stopRequested()

bool ORB_SLAM2::LocalMapping::stopRequested ( )

Member Data Documentation

◆ mbAbortBA

bool ORB_SLAM2::LocalMapping::mbAbortBA
protected

◆ mbAcceptKeyFrames

bool ORB_SLAM2::LocalMapping::mbAcceptKeyFrames
protected

◆ mbFinished

bool ORB_SLAM2::LocalMapping::mbFinished
protected

◆ mbFinishRequested

bool ORB_SLAM2::LocalMapping::mbFinishRequested
protected

◆ mbMonocular

bool ORB_SLAM2::LocalMapping::mbMonocular
protected

◆ mbNotStop

bool ORB_SLAM2::LocalMapping::mbNotStop
protected

◆ mbResetRequested

bool ORB_SLAM2::LocalMapping::mbResetRequested
protected

◆ mbStopped

bool ORB_SLAM2::LocalMapping::mbStopped
protected

◆ mbStopRequested

bool ORB_SLAM2::LocalMapping::mbStopRequested
protected

◆ mlNewKeyFrames

std::list<KeyFrame*> ORB_SLAM2::LocalMapping::mlNewKeyFrames
protected

◆ mlpRecentAddedMapPoints

std::list<MapPoint*> ORB_SLAM2::LocalMapping::mlpRecentAddedMapPoints
protected

◆ mMutexAccept

std::mutex ORB_SLAM2::LocalMapping::mMutexAccept
protected

◆ mMutexFinish

std::mutex ORB_SLAM2::LocalMapping::mMutexFinish
protected

◆ mMutexNewKFs

std::mutex ORB_SLAM2::LocalMapping::mMutexNewKFs
protected

◆ mMutexReset

std::mutex ORB_SLAM2::LocalMapping::mMutexReset
protected

◆ mMutexStop

std::mutex ORB_SLAM2::LocalMapping::mMutexStop
protected

◆ mpCurrentKeyFrame

KeyFrame* ORB_SLAM2::LocalMapping::mpCurrentKeyFrame
protected

◆ mpLoopCloser

LoopClosing* ORB_SLAM2::LocalMapping::mpLoopCloser
protected

◆ mpMap

Map* ORB_SLAM2::LocalMapping::mpMap
protected

◆ mpTracker

Tracking* ORB_SLAM2::LocalMapping::mpTracker
protected

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