ORB_SLAM2源码解析－system.cc

在mono_kitti.cc中通过SLAM.TrackMonocular(im,tframe)，进入SLAM系统也就来到了system.cc，

#include "System.h"
#include "Converter.h"
#include <thread>
#include <pangolin/pangolin.h>
#include <iomanip>

namespace ORB_SLAM2
{

//System的构造函数，对一些参数进行设定
System::System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor,
               const bool bUseViewer):mSensor(sensor), mpViewer(static_cast<Viewer*>(NULL)), mbReset(false),mbActivateLocalizationMode(false),
        mbDeactivateLocalizationMode(false)
{
    // Output welcome message
    cout << endl <<
    "ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza." << endl <<
    "This program comes with ABSOLUTELY NO WARRANTY;" << endl  <<
    "This is free software, and you are welcome to redistribute it" << endl <<
    "under certain conditions. See LICENSE.txt." << endl << endl;

    cout << "Input sensor was set to: ";

    if(mSensor==MONOCULAR)
        cout << "Monocular" << endl;
    else if(mSensor==STEREO)
        cout << "Stereo" << endl;
    else if(mSensor==RGBD)
        cout << "RGB-D" << endl;

    //Check settings file
    //读取对应的参数设定的文件，如果运行过ORB-SLAM2就会知道对应的就是相机内参、帧率、基线（双目）
    //深度阈值，对应ORB Extractor的参数设定，还有Viewer线程的参数设定，XXX.yaml这种文件类型
    cv::FileStorage fsSettings(strSettingsFile.c_str(), cv::FileStorage::READ);
    if(!fsSettings.isOpened())
    {
       cerr << "Failed to open settings file at: " << strSettingsFile << endl;
       exit(-1);
    }


    //Load ORB Vocabulary
    //下载对应的词袋模型，对应的是.txt文件类型
    cout << endl << "Loading ORB Vocabulary. This could take a while..." << endl;

    mpVocabulary = new ORBVocabulary();
    //载入词袋模型
    bool bVocLoad = mpVocabulary->loadFromTextFile(strVocFile);
    if(!bVocLoad)
    {
        cerr << "Wrong path to vocabulary. " << endl;
        cerr << "Falied to open at: " << strVocFile << endl;
        exit(-1);
    }
    cout << "Vocabulary loaded!" << endl << endl;

    //Create KeyFrame Database
    //创建关键帧数据库
    mpKeyFrameDatabase = new KeyFrameDatabase(*mpVocabulary);

    //Create the Map
    //建图
    mpMap = new Map();

    //Create Drawers. These are used by the Viewer
    //创建显示窗口供使用者选择
    mpFrameDrawer = new FrameDrawer(mpMap);
    mpMapDrawer = new MapDrawer(mpMap, strSettingsFile);

    //Initialize the Tracking thread
    //(it will live in the main thread of execution, the one that called this constructor)
    //初始化Tracking线程
    mpTracker = new Tracking(this, mpVocabulary, mpFrameDrawer, mpMapDrawer,
                             mpMap, mpKeyFrameDatabase, strSettingsFile, mSensor);

    //Initialize the Local Mapping thread and launch
    //初始化Local Mapping 线程
    mpLocalMapper = new LocalMapping(mpMap, mSensor==MONOCULAR);
    mptLocalMapping = new thread(&ORB_SLAM2::LocalMapping::Run,mpLocalMapper);

    //Initialize the Loop Closing thread and launch
    //初始化闭环检测线程
    mpLoopCloser = new LoopClosing(mpMap, mpKeyFrameDatabase, mpVocabulary, mSensor!=MONOCULAR);
    mptLoopClosing = new thread(&ORB_SLAM2::LoopClosing::Run, mpLoopCloser);

    //Initialize the Viewer thread and launch
    //初始化可视化线程
    if(bUseViewer)
    {
        mpViewer = new Viewer(this, mpFrameDrawer,mpMapDrawer,mpTracker,strSettingsFile);
        mptViewer = new thread(&Viewer::Run, mpViewer);
        mpTracker->SetViewer(mpViewer);
    }

    //Set pointers between threads
    mpTracker->SetLocalMapper(mpLocalMapper);
    mpTracker->SetLoopClosing(mpLoopCloser);

    mpLocalMapper->SetTracker(mpTracker);
    mpLocalMapper->SetLoopCloser(mpLoopCloser);

    mpLoopCloser->SetTracker(mpTracker);
    mpLoopCloser->SetLocalMapper(mpLocalMapper);
}

//运行的系统设定为双目
cv::Mat System::TrackStereo(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timestamp)
{
    if(mSensor!=STEREO)
    {
        cerr << "ERROR: you called TrackStereo but input sensor was not set to STEREO." << endl;
        exit(-1);
    }   

    // Check mode change
    {
        unique_lock<mutex> lock(mMutexMode);
        if(mbActivateLocalizationMode)
        {
            mpLocalMapper->RequestStop();

            // Wait until Local Mapping has effectively stopped
            while(!mpLocalMapper->isStopped())
            {
                usleep(1000);
            }

            mpTracker->InformOnlyTracking(true);
            mbActivateLocalizationMode = false;
        }
        if(mbDeactivateLocalizationMode)
        {
            mpTracker->InformOnlyTracking(false);
            mpLocalMapper->Release();
            mbDeactivateLocalizationMode = false;
        }
    }

    // Check reset
    {
    unique_lock<mutex> lock(mMutexReset);
    if(mbReset)
    {
        mpTracker->Reset();
        mbReset = false;
    }
    }
    //进入tracking.cc
    cv::Mat Tcw = mpTracker->GrabImageStereo(imLeft,imRight,timestamp);

    unique_lock<mutex> lock2(mMutexState);
    mTrackingState = mpTracker->mState;
    mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints;
    mTrackedKeyPointsUn = mpTracker->mCurrentFrame.mvKeysUn;
    return Tcw;
}

//运行系统设定为深度相机
cv::Mat System::TrackRGBD(const cv::Mat &im, const cv::Mat &depthmap, const double &timestamp)
{
    if(mSensor!=RGBD)
    {
        cerr << "ERROR: you called TrackRGBD but input sensor was not set to RGBD." << endl;
        exit(-1);
    }    

    // Check mode change
    {
        unique_lock<mutex> lock(mMutexMode);
        if(mbActivateLocalizationMode)
        {
            mpLocalMapper->RequestStop();

            // Wait until Local Mapping has effectively stopped
            while(!mpLocalMapper->isStopped())
            {
                usleep(1000);
            }

            mpTracker->InformOnlyTracking(true);
            mbActivateLocalizationMode = false;
        }
        if(mbDeactivateLocalizationMode)
        {
            mpTracker->InformOnlyTracking(false);
            mpLocalMapper->Release();
            mbDeactivateLocalizationMode = false;
        }
    }

    // Check reset
    {
    unique_lock<mutex> lock(mMutexReset);
    if(mbReset)
    {
        mpTracker->Reset();
        mbReset = false;
    }
    }

    cv::Mat Tcw = mpTracker->GrabImageRGBD(im,depthmap,timestamp);

    unique_lock<mutex> lock2(mMutexState);
    mTrackingState = mpTracker->mState;
    mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints;
    mTrackedKeyPointsUn = mpTracker->mCurrentFrame.mvKeysUn;
    return Tcw;
}

//运行系统设定为单目
cv::Mat System::TrackMonocular(const cv::Mat &im, const double &timestamp)
{
    if(mSensor!=MONOCULAR)
    {
        cerr << "ERROR: you called TrackMonocular but input sensor was not set to Monocular." << endl;
        exit(-1);
    }

    // Check mode change
    {
        unique_lock<mutex> lock(mMutexMode);
        if(mbActivateLocalizationMode)
        {
            mpLocalMapper->RequestStop();

            // Wait until Local Mapping has effectively stopped
            while(!mpLocalMapper->isStopped())
            {
                usleep(1000);
            }

            mpTracker->InformOnlyTracking(true);
            mbActivateLocalizationMode = false;
        }
        if(mbDeactivateLocalizationMode)
        {
            mpTracker->InformOnlyTracking(false);
            mpLocalMapper->Release();
            mbDeactivateLocalizationMode = false;
        }
    }

    // Check reset
    {
    unique_lock<mutex> lock(mMutexReset);
    if(mbReset)
    {
        mpTracker->Reset();
        mbReset = false;
    }
    }

    cv::Mat Tcw = mpTracker->GrabImageMonocular(im,timestamp);

    unique_lock<mutex> lock2(mMutexState);
    mTrackingState = mpTracker->mState;
    mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints;
    mTrackedKeyPointsUn = mpTracker->mCurrentFrame.mvKeysUn;

    return Tcw;
}

//激活定位模块
void System::ActivateLocalizationMode()
{
    unique_lock<mutex> lock(mMutexMode);
    mbActivateLocalizationMode = true;
}

//失活定位模块
void System::DeactivateLocalizationMode()
{
    unique_lock<mutex> lock(mMutexMode);
    mbDeactivateLocalizationMode = true;
}

//地图是否进行修改
bool System::MapChanged()
{
    static int n=0;
    int curn = mpMap->GetLastBigChangeIdx();
    if(n<curn)
    {
        n=curn;
        return true;
    }
    else
        return false;
}

//重置系统
void System::Reset()
{
    unique_lock<mutex> lock(mMutexReset);
    mbReset = true;
}

//关闭整个系统
void System::Shutdown()
{
    mpLocalMapper->RequestFinish();
    mpLoopCloser->RequestFinish();
    if(mpViewer)
    {
        mpViewer->RequestFinish();
        while(!mpViewer->isFinished())
            usleep(5000);
    }

    // Wait until all thread have effectively stopped
    while(!mpLocalMapper->isFinished() || !mpLoopCloser->isFinished() || mpLoopCloser->isRunningGBA())
    {
        usleep(5000);
    }

    if(mpViewer)
        pangolin::BindToContext("ORB-SLAM2: Map Viewer");
}

//如果运行的是TUM数据集，保存其轨迹
void System::SaveTrajectoryTUM(const string &filename)
{
    cout << endl << "Saving camera trajectory to " << filename << " ..." << endl;
    if(mSensor==MONOCULAR)
    {
        cerr << "ERROR: SaveTrajectoryTUM cannot be used for monocular." << endl;
        return;
    }

    vector<KeyFrame*> vpKFs = mpMap->GetAllKeyFrames();
    sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);

    // Transform all keyframes so that the first keyframe is at the origin.
    // After a loop closure the first keyframe might not be at the origin.
    cv::Mat Two = vpKFs[0]->GetPoseInverse();

    ofstream f;
    f.open(filename.c_str());
    f << fixed;

    // Frame pose is stored relative to its reference keyframe (which is optimized by BA and pose graph).
    // We need to get first the keyframe pose and then concatenate the relative transformation.
    // Frames not localized (tracking failure) are not saved.

    // For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag
    // which is true when tracking failed (lbL).
    list<ORB_SLAM2::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
    list<double>::iterator lT = mpTracker->mlFrameTimes.begin();
    list<bool>::iterator lbL = mpTracker->mlbLost.begin();
    for(list<cv::Mat>::iterator lit=mpTracker->mlRelativeFramePoses.begin(),
        lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++, lbL++)
    {
        if(*lbL)
            continue;

        KeyFrame* pKF = *lRit;

        cv::Mat Trw = cv::Mat::eye(4,4,CV_32F);

        // If the reference keyframe was culled, traverse the spanning tree to get a suitable keyframe.
        while(pKF->isBad())
        {
            Trw = Trw*pKF->mTcp;
            pKF = pKF->GetParent();
        }

        Trw = Trw*pKF->GetPose()*Two;

        cv::Mat Tcw = (*lit)*Trw;
        cv::Mat Rwc = Tcw.rowRange(0,3).colRange(0,3).t();
        cv::Mat twc = -Rwc*Tcw.rowRange(0,3).col(3);

        vector<float> q = Converter::toQuaternion(Rwc);

        f << setprecision(6) << *lT << " " <<  setprecision(9) << twc.at<float>(0) << " " << twc.at<float>(1) << " " << twc.at<float>(2) << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << endl;
    }
    f.close();
    cout << endl << "trajectory saved!" << endl;
}

//如果运行的是TUM数据集，保存其关键帧轨迹
void System::SaveKeyFrameTrajectoryTUM(const string &filename)
{
    cout << endl << "Saving keyframe trajectory to " << filename << " ..." << endl;

    vector<KeyFrame*> vpKFs = mpMap->GetAllKeyFrames();
    sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);

    // Transform all keyframes so that the first keyframe is at the origin.
    // After a loop closure the first keyframe might not be at the origin.
    //cv::Mat Two = vpKFs[0]->GetPoseInverse();

    ofstream f;
    f.open(filename.c_str());
    f << fixed;

    for(size_t i=0; i<vpKFs.size(); i++)
    {
        KeyFrame* pKF = vpKFs[i];

       // pKF->SetPose(pKF->GetPose()*Two);

        if(pKF->isBad())
            continue;

        cv::Mat R = pKF->GetRotation().t();
        vector<float> q = Converter::toQuaternion(R);
        cv::Mat t = pKF->GetCameraCenter();
        f << setprecision(6) << pKF->mTimeStamp << setprecision(7) << " " << t.at<float>(0) << " " << t.at<float>(1) << " " << t.at<float>(2)
          << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << endl;

    }

    f.close();
    cout << endl << "trajectory saved!" << endl;
}

//如果运行的是KITTI数据集，保存其轨迹
void System::SaveTrajectoryKITTI(const string &filename)
{
    cout << endl << "Saving camera trajectory to " << filename << " ..." << endl;
    if(mSensor==MONOCULAR)
    {
        cerr << "ERROR: SaveTrajectoryKITTI cannot be used for monocular." << endl;
        return;
    }

    vector<KeyFrame*> vpKFs = mpMap->GetAllKeyFrames();
    sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);

    // Transform all keyframes so that the first keyframe is at the origin.
    // After a loop closure the first keyframe might not be at the origin.
    cv::Mat Two = vpKFs[0]->GetPoseInverse();

    ofstream f;
    f.open(filename.c_str());
    f << fixed;

    // Frame pose is stored relative to its reference keyframe (which is optimized by BA and pose graph).
    // We need to get first the keyframe pose and then concatenate the relative transformation.
    // Frames not localized (tracking failure) are not saved.

    // For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag
    // which is true when tracking failed (lbL).
    list<ORB_SLAM2::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
    list<double>::iterator lT = mpTracker->mlFrameTimes.begin();
    for(list<cv::Mat>::iterator lit=mpTracker->mlRelativeFramePoses.begin(), lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++)
    {
        ORB_SLAM2::KeyFrame* pKF = *lRit;

        cv::Mat Trw = cv::Mat::eye(4,4,CV_32F);

        while(pKF->isBad())
        {
          //  cout << "bad parent" << endl;
            Trw = Trw*pKF->mTcp;
            pKF = pKF->GetParent();
        }

        Trw = Trw*pKF->GetPose()*Two;

        cv::Mat Tcw = (*lit)*Trw;
        cv::Mat Rwc = Tcw.rowRange(0,3).colRange(0,3).t();
        cv::Mat twc = -Rwc*Tcw.rowRange(0,3).col(3);

        f << setprecision(9) << Rwc.at<float>(0,0) << " " << Rwc.at<float>(0,1)  << " " << Rwc.at<float>(0,2) << " "  << twc.at<float>(0) << " " <<
             Rwc.at<float>(1,0) << " " << Rwc.at<float>(1,1)  << " " << Rwc.at<float>(1,2) << " "  << twc.at<float>(1) << " " <<
             Rwc.at<float>(2,0) << " " << Rwc.at<float>(2,1)  << " " << Rwc.at<float>(2,2) << " "  << twc.at<float>(2) << endl;
    }
    f.close();
    cout << endl << "trajectory saved!" << endl;
}

int System::GetTrackingState()
{
    unique_lock<mutex> lock(mMutexState);
    return mTrackingState;
}

vector<MapPoint*> System::GetTrackedMapPoints()
{
    unique_lock<mutex> lock(mMutexState);
    return mTrackedMapPoints;
}

vector<cv::KeyPoint> System::GetTrackedKeyPointsUn()
{
    unique_lock<mutex> lock(mMutexState);
    return mTrackedKeyPointsUn;
}

} //namespace ORB_SLAM

这部分代码主要针对三个不同的模型，提供了不同的接口，并初始化了几个线程：

tracking线程：这部分最复杂，主要从图像中提取特征，并根据上一帧进行姿态估计，如果上一帧丢失则通过全局重定位初始化位姿，然后跟踪已经重建的局部地图，优化位姿，再确定新的关键帧。

local　mapping线程，这一部分完成局部地图的构建，包含关键帧的插入，验证最近生成的地图点并进行筛选，然后生成新的地图点，使用（local BA）最后再对插入的关键帧进行筛选，去除多余的关键帧。

Loop closing线程 这一部分主要分为两个过程，分别是闭环探测和闭环校正。闭环检测先使用WOB进行探测，然后通过Sim3算法计算相似变换。闭环校正，主要是闭环融合和Essential Graph的图优化。

Viewer线程 对估计的位姿和特征点进行可视化显示

这个部分没有什么好讲的，接下来的ORB、Frame、Track等才是又难又重要的部分。

附上单目系统的运行流程图：

参考链接：

https://blog.csdn.net/Felaim/article/details/79377708