CCM-SLAM代码阅读

ClintNode.cpp

boost::shared_ptr<cslam::ClientSystem> pCSys{new cslam::ClientSystem(Nh,NhPrivate,argv[1],argv[2])}; 

主函数入口，创建一个CSLAM client node：即ClientSystem类型的shared_ptr：pCSys

ClientSystem.cpp

ClientSystem的构造

//load params
mNhPrivate.param("ClientId",ClientId,-1);                 
//Check settings files                                                           
cv::FileStorage fsSettingsCam(strCamFile.c_str(), cv::FileStorage::READ);                       
//load vocabulary  载入词袋模型
this->LoadVocabulary(strVocFile);
/*Create KeyFrame Database  创造关键帧的数据库，用于Intra-Map Place Recognition和Inter-Map Place Recognition*/
mpKFDB.reset(new KeyFrameDatabase(mpVoc));
//Create the Map  对应map.cpp函数
mpMap.reset(new Map(mNh,mNhPrivate,mClientId,eSystemState::CLIENT));
//Initialize Agent  对应于ClientHandler.cpp
mpAgent.reset(new ClientHandler(mNh,mNhPrivate,mpVoc,mpKFDB,mpMap,mClientId,mpUID,eSystemState::CLIENT,strCamFile,nullptr));

ClientHandler.cpp