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
KeyFrame *	mpCurrentKeyFrame
LoopClosing *	mpLoopCloser
Map *	mpMap
Tracking *	mpTracker

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

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

• orbslam2/include/LocalMapping.h