31局部建图线程剔除关键帧

ORBSLAM2

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代码

void LocalMapping::KeyFrameCulling()
{
    // Check redundant keyframes (only local keyframes)
    // A keyframe is considered redundant if the 90% of the MapPoints it sees, are seen
    // in at least other 3 keyframes (in the same or finer scale)
    // We only consider close stereo points
    vector<KeyFrame*> vpLocalKeyFrames = mpCurrentKeyFrame->GetVectorCovisibleKeyFrames();//取出当前帧中的共视关键帧，一级关键帧

    for(vector<KeyFrame*>::iterator vit=vpLocalKeyFrames.begin(), vend=vpLocalKeyFrames.end(); vit!=vend; vit++)//开始迭代这些共视关键帧
    {
        KeyFrame* pKF = *vit;//取出这些关键帧
        if(pKF->mnId==0)//共视关键帧中如果有第一帧关键帧，那么久continue
            continue;
        const vector<MapPoint*> vpMapPoints = pKF->GetMapPointMatches();//取出这些共视帧中的地图点

        int nObs = 3;//被观测次数
        const int thObs=nObs;
        int nRedundantObservations=0;//记录冗余观测点的数目
        int nMPs=0;
        for(size_t i=0, iend=vpMapPoints.size(); i<iend; i++)//开始遍历这些地图点
        {
            MapPoint* pMP = vpMapPoints[i];//取出这些地图点
            if(pMP)
            {
                if(!pMP->isBad())
                {
                    if(!mbMonocular)//对于非单目
                    {
                        if(pKF->mvDepth[i]>pKF->mThDepth || pKF->mvDepth[i]<0)//对于深度太远或者深度小于零就continue
                            continue;
                    }

                    nMPs++;
                    if(pMP->Observations()>thObs)//地图点的观测是否大于3次？
                    {
                        const int &scaleLevel = pKF->mvKeysUn[i].octave;//取出观测地图点的特征点所在的层数
                        const map<KeyFrame*, size_t> observations = pMP->GetObservations();//获取地图点的观测帧
                        int nObs=0;
                        for(map<KeyFrame*, size_t>::const_iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++)//遍历地图点的观测帧
                        {
                            KeyFrame* pKFi = mit->first;//取出观测帧
                            if(pKFi==pKF)//如过观测帧中的观测帧于自己是同一帧
                                continue;
                            const int &scaleLeveli = pKFi->mvKeysUn[mit->second].octave;//获取地图点的观测帧的特征点所在的层数

                            if(scaleLeveli<=scaleLevel+1)//如果地图点的观测帧（二级？？）的特征点小于观测帧（一级？？）+1的尺度
                            {
                                nObs++;//观测+1
                                if(nObs>=thObs)//找到了观测次大于3，那就满足，break
                                    break;
                            }
                        }
                        if(nObs>=thObs)
                        {
                            nRedundantObservations++;//冗余帧数就+1
                        }
                    }
                }
            }
        }  

        if(nRedundantObservations>0.9*nMPs)//判断该关键帧的地图点是都大于0.9*有效地图点。这个关键帧就是冗余的
            pKF->SetBadFlag();//当前帧的共视关键帧是否要删除
    }
}