orb-slam3(mono_tum)代码学习（一）setting

orb-slam3主要由跟踪（Tracking）、局部建图（LocalMapping）、回环检测（loopclosing）三个线程组成。

先看mono_tum的主函数部分，创建了一个system类的对象SLAM，system类是初始化和控制整个slam系统的类。

ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR,true);

查看system类的构造函数，system类在构造的时候传建了一个setting对象，setting类配置系统的各种参数

if(!node.empty() && node.isString() && node.string() == "1.0"){
        settings_ = new Settings(strSettingsFile,mSensor);

        mStrLoadAtlasFromFile = settings_->atlasLoadFile();
        mStrSaveAtlasToFile = settings_->atlasSaveFile();

        cout << (*settings_) << endl;
    }

在来看setting类的构造函数，读取的相机参数和ORB特征提取器的行为

Settings::Settings(const std::string &configFile, const int& sensor) :
    bNeedToUndistort_(false), bNeedToRectify_(false), bNeedToResize1_(false), bNeedToResize2_(false) {
        sensor_ = sensor;

        //Open settings file
        cv::FileStorage fSettings(configFile, cv::FileStorage::READ);
        if (!fSettings.isOpened()) {
            cerr << "[ERROR]: could not open configuration file at: " << configFile << endl;
            cerr << "Aborting..." << endl;

            exit(-1);
        }
        else{
            cout << "Loading settings from " << configFile << endl;
        }

        //Read first camera 根据不同的相机模型导入参数
        readCamera1(fSettings);
        cout << "\t-Loaded camera 1" << endl;

        //Read second camera if stereo (not rectified)
        if(sensor_ == System::STEREO || sensor_ == System::IMU_STEREO){
            readCamera2(fSettings);
            cout << "\t-Loaded camera 2" << endl;
        }

        //Read image info 更新参数，如imageScale
        readImageInfo(fSettings);
        cout << "\t-Loaded image info" << endl;

        if(sensor_ == System::IMU_MONOCULAR || sensor_ == System::IMU_STEREO || sensor_ == System::IMU_RGBD){
            readIMU(fSettings);
            cout << "\t-Loaded IMU calibration" << endl;
        }

        if(sensor_ == System::RGBD || sensor_ == System::IMU_RGBD){
            readRGBD(fSettings);
            cout << "\t-Loaded RGB-D calibration" << endl;
        }
        // YAML 配置文件中的参数用于设置 ORB 特征提取器的行为,尺度金字塔中相邻层之间的缩放因子、层数，最多提取的特征点数、Fast角点检测阈值
        readORB(fSettings);
        cout << "\t-Loaded ORB settings" << endl;
        //读取可视化相关参数
        readViewer(fSettings);
        cout << "\t-Loaded viewer settings" << endl;
        //读取与加载和保存 Atlas（地图数据）相关的参数
        readLoadAndSave(fSettings);
        cout << "\t-Loaded Atlas settings" << endl;
        readOtherParameters(fSettings);
        cout << "\t-Loaded misc parameters" << endl;

        if(bNeedToRectify_){
            precomputeRectificationMaps();
            cout << "\t-Computed rectification maps" << endl;
        }

        cout << "----------------------------------" << endl;
    }

将配置文件传入setting类成为内参后，定义了tracking对象，并开了localmapping和loopclosing两个新线程

    mpFrameDrawer = new FrameDrawer(mpAtlas);
    mpMapDrawer = new MapDrawer(mpAtlas, strSettingsFile, settings_);

    //Initialize the Tracking thread
    //(it will live in the main thread of execution, the one that called this constructor)
    cout << "Seq. Name: " << strSequence << endl;
    mpTracker = new Tracking(this, mpVocabulary, mpFrameDrawer, mpMapDrawer,
                             mpAtlas, mpKeyFrameDatabase, strSettingsFile, mSensor, settings_, strSequence);

    //Initialize the Local Mapping thread and launch
    mpLocalMapper = new LocalMapping(this, mpAtlas, mSensor==MONOCULAR || mSensor==IMU_MONOCULAR,
                                     mSensor==IMU_MONOCULAR || mSensor==IMU_STEREO || mSensor==IMU_RGBD, strSequence);
    mptLocalMapping = new thread(&ORB_SLAM3::LocalMapping::Run,mpLocalMapper);
    mpLocalMapper->mInitFr = initFr;
    if(settings_)
        mpLocalMapper->mThFarPoints = settings_->thFarPoints();
    else
        mpLocalMapper->mThFarPoints = fsSettings["thFarPoints"];
    if(mpLocalMapper->mThFarPoints!=0)
    {
        cout << "Discard points further than " << mpLocalMapper->mThFarPoints << " m from current camera" << endl;
        mpLocalMapper->mbFarPoints = true;
    }
    else
        mpLocalMapper->mbFarPoints = false;

    //Initialize the Loop Closing thread and launch
    // mSensor!=MONOCULAR && mSensor!=IMU_MONOCULAR
    mpLoopCloser = new LoopClosing(mpAtlas, mpKeyFrameDatabase, mpVocabulary, mSensor!=MONOCULAR, activeLC); // mSensor!=MONOCULAR);
    mptLoopClosing = new thread(&ORB_SLAM3::LoopClosing::Run, mpLoopCloser);

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

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

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