ORB-SLAM2 TRACKING

bool Tracking::TrackWithMotionModel()//匀速运动追踪模式
{
    ORBmatcher matcher(0.9,true);//ORB匹配器，用于后面在当前帧上搜索与重映射之后的地图点匹配的特征点
    //第一个参数是一个接受最佳匹配的系数，只有当最佳匹配点的汉明距离小于次加匹配点距离的0.9倍时才接收匹配点。
    //第二个参数表示匹配特征点时是否考虑方向。 

    // Update last frame pose according to its reference keyframe
    // Create "visual odometry" points if in Localization Mode
    UpdateLastFrame();//纯定位模式下构建一个视觉里程计

    mCurrentFrame.SetPose(mVelocity*mLastFrame.mTcw);//通过匀速运动估计当前帧的位姿
    fill(mCurrentFrame.mvpMapPoints.begin(),mCurrentFrame.mvpMapPoints.end(),static_cast<MapPoint*>(NULL));//

    // Project points seen in previous frame
    int th;//th是SearchByProjection控制搜索半径的参数
    if(mSensor!=System::STEREO)
        th=15;
    else
        th=7;
    int nmatches = matcher.SearchByProjection(mCurrentFrame,mLastFrame,th,mSensor==System::MONOCULAR);

    // If few matches, uses a wider window search
    if(nmatches<20)//如果匹配点比较少
    {
        fill(mCurrentFrame.mvpMapPoints.begin(),mCurrentFrame.mvpMapPoints.end(),static_cast<MapPoint*>(NULL));
        nmatches = matcher.SearchByProjection(mCurrentFrame,mLastFrame,2*th,mSensor==System::MONOCULAR);//扩大搜索半径，搜索半径*2
    }

    if(nmatches<20)//如果扩大半径后匹配点还是少
        return false;//宣告匀速运动模式追踪失败

    // Optimize frame pose with all matches
    Optimizer::PoseOptimization(&mCurrentFrame);//位姿优化

    // Discard outliers
    int nmatchesMap = 0;
    for(int i =0; i<mCurrentFrame.N; i++)
    {
        if(mCurrentFrame.mvpMapPoints[i])//mvpMapPoints记录了各个特征点所对应的地图点指针
        {
            if(mCurrentFrame.mvbOutlier[i])
            {
                MapPoint* pMP = mCurrentFrame.mvpMapPoints[i];

                mCurrentFrame.mvpMapPoints[i]=static_cast<MapPoint*>(NULL);
                mCurrentFrame.mvbOutlier[i]=false;
                pMP->mbTrackInView = false;
                pMP->mnLastFrameSeen = mCurrentFrame.mnId;
                nmatches--;
            }
            else if(mCurrentFrame.mvpMapPoints[i]->Observations()>0)
                nmatchesMap++;
        }
    }    

    if(mbOnlyTracking)//如果剩下的匹配的地图点太少就认为跟丢了
    {
        mbVO = nmatchesMap<10;
        return nmatches>20;
    }

    return nmatchesMap>=10;
}