ORB SLA2
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
ORB_SLAM2::LocalMapping Class Reference
Collaboration diagram for ORB_SLAM2::LocalMapping:
Collaboration graph
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Public Member Functions

 LocalMapping (Map *pMap, const float bMonocular)
 
void SetLoopCloser (LoopClosing *pLoopCloser)
 
void SetTracker (Tracking *pTracker)
 
void Run ()
 
void InsertKeyFrame (KeyFrame *pKF)
 
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 ()
 

Protected Member Functions

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)
 
void ResetIfRequested ()
 
bool CheckFinish ()
 
void SetFinish ()
 

Protected Attributes

bool mbMonocular
 
bool mbResetRequested
 
std::mutex mMutexReset
 
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
 
The documentation for this class was generated from the following files:
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