最近有点事博客更新断了几天,接下来争取一次性更完。LocalMapping这个类维护了一个局部地图,对关键帧进行处理、地图点检查剔除、生成新地图点。还是先上代码再总结。
#include "LocalMapping.h"
#include "LoopClosing.h"
#include "ORBmatcher.h"
#include "Optimizer.h"
#include<mutex>
namespace ORB_SLAM2
{
LocalMapping::LocalMapping(Map *pMap, const float bMonocular):
mbMonocular(bMonocular), mbResetRequested(false), mbFinishRequested(false), mbFinished(true), mpMap(pMap),
mbAbortBA(false), mbStopped(false), mbStopRequested(false), mbNotStop(false), mbAcceptKeyFrames(true)
{
}
void LocalMapping::SetLoopCloser(LoopClosing* pLoopCloser)
{
mpLoopCloser = pLoopCloser;
}
void LocalMapping::SetTracker(Tracking *pTracker)
{
mpTracker=pTracker;
}
void LocalMapping::Run()
{
mbFinished = false;
while(1)
{
// Tracking will see that Local Mapping is busy
// LocalMapping处于繁忙状态,处理的关键帧是Tracking线程发过来的
// 在LocalMapping线程处理完关键帧之前Tracking线程不能发送太快
SetAcceptKeyFrames(false);
// Check if there are keyframes in the queue
// 等待处理的关键帧不为空
if(CheckNewKeyFrames())
{
// BoW conversion and insertion in Map
// 计算关键帧特征点的BoW,将关键帧插入地图
ProcessNewKeyFrame();
// Check recent MapPoints
// 剔除ProcessNewKeyFrame函数中引入的不合格MapPoints
MapPointCulling();
// Triangulate new MapPoints
// 相机运动过程中与相邻关键帧通过三角化恢复出MapPoints
CreateNewMapPoints();
// 已经处理完队列中的最后的一个关键帧
if(!CheckNewKeyFrames())
{
// Find more matches in neighbor keyframes and fuse point duplications
// 检查并融合当前关键帧与相邻帧重复的MapPoints
SearchInNeighbors();
}
mbAbortBA = false;
// 已经处理完队列中的最后的一个关键帧,并且闭环检测没有请求停止LocalMapping,则进行一个local BA
if(!CheckNewKeyFrames() && !stopRequested())
{
if(mpMap->KeyFramesInMap()>2)
Optimizer::LocalBundleAdjustment(mpCurrentKeyFrame,&mbAbortBA, mpMap);
// Check redundant local Keyframes
// 检测并剔除当前帧相邻的关键帧中冗余的关键帧
// 标准:该关键帧的90%的MapPoints可以被其它关键帧观测到
// 在Tracking中插入关键帧的条件比较松,交给LocalMapping线程的关键帧会比较多
// 在这里再剔除冗余的关键帧
KeyFrameCulling();
}
// 将当前帧加入到闭环检测队列中
mpLoopCloser->InsertKeyFrame(mpCurrentKeyFrame);
}
else if(Stop())
{
// Safe area to stop
while(isStopped() && !CheckFinish())
{
// usleep(3000);
std::this_thread::sleep_for(std::chrono::milliseconds(3));
}
if(CheckFinish())
break;
}
ResetIfRequested();
// Tracking will see that Local Mapping is not busy
SetAcceptKeyFrames(true);
if(CheckFinish())
break;
//usleep(3000);
std::this_thread::sleep_for(std::chrono::milliseconds(3));
}
SetFinish();
}
// 将关键帧插入到地图中,以便将来进行局部地图优化
void LocalMapping::InsertKeyFrame(KeyFrame *pKF)
{
unique_lock<mutex> lock(mMutexNewKFs);
// 将关键帧插入到列表中
mlNewKeyFrames.push_back(pKF);
mbAbortBA=true;
}
// 看关键帧是否为空
bool LocalMapping::CheckNewKeyFrames()
{
unique_lock<mutex> lock(mMutexNewKFs);
return(!mlNewKeyFrames.empty());
}
// 处理列表中的关键帧
// 关联当前关键帧至MapPoints,并更新MapPoints的平均观测方向和观测距离范围
void LocalMapping::ProcessNewKeyFrame()
{
// 从队列中取出一帧关键帧,最前面那一帧
{
unique_lock<mutex> lock(mMutexNewKFs);
mpCurrentKeyFrame = mlNewKeyFrames.front();
mlNewKeyFrames.pop_front();
}
// Compute Bags of Words structures
// 计算该关键帧特征点的Bow
mpCurrentKeyFrame->ComputeBoW();
// Associate MapPoints to the new keyframe and update normal and descriptor
// 跟踪局部地图过程中新匹配上的MapPoints和当前关键帧绑定
// 在TrackLocalMap函数中将局部地图中的MapPoints与当前帧进行了匹配,但没有与当前帧进行关联
const vector<MapPoint*> vpMapPointMatches = mpCurrentKeyFrame->GetMapPointMatches();
for(size_t i=0; i<vpMapPointMatches.size(); i++)
{
MapPoint* pMP = vpMapPointMatches[i];
if(pMP)
{
if(!pMP->isBad())
{
// 非当前帧生成的地图点
// 为当前帧在tracking过程跟踪到的地图点添加属性
if(!pMP->IsInKeyFrame(mpCurrentKeyFrame))
{
// 添加观测
pMP->AddObservation(mpCurrentKeyFrame, i);
// 获得该点的平均观测方向和观测距离范围
pMP->UpdateNormalAndDepth();
// 加入关键帧后,更新3d点的最佳描述子
pMP->ComputeDistinctiveDescriptors();
}
else // this can only happen for new stereo points inserted by the Tracking
{
mlpRecentAddedMapPoints.push_back(pMP);
}
}
}
}
// Update links in the Covisibility Graph
// 更新关键帧间的连接关系,Covisibility图和Essential图
mpCurrentKeyFrame->UpdateConnections();
// Insert Keyframe in Map
// 将该关键帧插入到地图中
mpMap->AddKeyFrame(mpCurrentKeyFrame);
}
// 剔除ProcessNewKeyFrame和CreateNewMapPoints函数中引入的质量不好的MapPoints
void LocalMapping::MapPointCulling()
{
// Check Recent Added MapPoints
list<MapPoint*>::iterator lit = mlpRecentAddedMapPoints.begin();
const unsigned long int nCurrentKFid = mpCurrentKeyFrame->mnId;
int nThObs;
if(mbMonocular)
nThObs = 2;
else
nThObs = 3;
const int cnThObs = nThObs;
// 遍历等待检查的MapPoints
while(lit!=mlpRecentAddedMapPoints.end())
{
MapPoint* pMP = *lit;
if(pMP->isBad())
{
// 已经是坏点的MapPoints直接从链表中删除
lit = mlpRecentAddedMapPoints.erase(lit);
}
else if(pMP->GetFoundRatio()<0.25f)
{
// 跟踪到该MapPoint的Frame数相比预计可观测到该MapPoint的Frame数的比例小于25%
pMP->SetBadFlag();
lit = mlpRecentAddedMapPoints.erase(lit);
}
else if(((int)nCurrentKFid-(int)pMP->mnFirstKFid)>=2 && pMP->Observations()<=cnThObs)
{
// 从该点建立开始,到现在已经过了不少于2个关键帧
// 但是观测到该点的关键帧数却不超过cnThObs帧,则该点不合格
pMP->SetBadFlag();
lit = mlpRecentAddedMapPoints.erase(lit);
}
else if(((int)nCurrentKFid-(int)pMP->mnFirstKFid)>=3)
// 从建立该点开始,已经过了3个关键帧而没有被剔除,则认为是质量高的点
// 仅从队列中删除,放弃对该点的检测
lit = mlpRecentAddedMapPoints.erase(lit);
else
lit++;
}
}
// 产生新的地图点
void LocalMapping::CreateNewMapPoints()
{
// Retrieve neighbor keyframes in covisibility graph
int nn = 10;
if(mbMonocular)
nn=20;
// 在当前关键帧的共视关键帧中找到共视程度最高的nn帧相邻帧
const vector<KeyFrame*> vpNeighKFs = mpCurrentKeyFrame->GetBestCovisibilityKeyFrames(nn);
ORBmatcher matcher(0.6,false);
cv::Mat Rcw1 = mpCurrentKeyFrame->GetRotation();
cv::Mat Rwc1 = Rcw1.t();
cv::Mat tcw1 = mpCurrentKeyFrame->GetTranslation();
cv::Mat Tcw1(3,4,CV_32F);
Rcw1.copyTo(Tcw1.colRange(0,3));
tcw1.copyTo(Tcw1.col(3));
cv::Mat Ow1 = mpCurrentKeyFrame->GetCameraCenter();
const float &fx1 = mpCurrentKeyFrame->fx;
const float &fy1 = mpCurrentKeyFrame->fy;
const float &cx1 = mpCurrentKeyFrame->cx;
const float &cy1 = mpCurrentKeyFrame->cy;
const float &invfx1 = mpCurrentKeyFrame->invfx;
const float &invfy1 = mpCurrentKeyFrame->invfy;
const float ratioFactor = 1.5f*mpCurrentKeyFrame->mfScaleFactor;
int nnew=0;
// Search matches with epipolar restriction and triangulate
// 遍历相邻关键帧
for(size_t i=0; i<vpNeighKFs.size(); i++)
{
if(i>0 && CheckNewKeyFrames())
return;
KeyFrame* pKF2 = vpNeighKFs[i];
// Check first that baseline is not too short
cv::Mat Ow2 = pKF2->GetCameraCenter();
// 两个关键帧间的相机位移
cv::Mat vBaseline = Ow2-Ow1;
const float baseline = cv::norm(vBaseline);
// 判断相机运动的基线是不是足够长
if(!mbMonocular)
{
// 如果是立体相机,关键帧间距太小时不生成3D点
if(baseline<pKF2->mb)
continue;
}
else
{
// 邻接关键帧的场景深度中值
const float medianDepthKF2 = pKF2->ComputeSceneMedianDepth(2);
// baseline与景深的比例
const float ratioBaselineDepth = baseline/medianDepthKF2;
// 如果特别远,那么不考虑当前邻接的关键帧,不生成3D点
if(ratioBaselineDepth<0.01)
continue;
}
// Compute Fundamental Matrix
// 根据两个关键帧的位姿计算它们之间的基本矩阵
cv::Mat F12 = ComputeF12(mpCurrentKeyFrame,pKF2);
// Search matches that fullfil epipolar constraint
// 通过极线约束限制匹配时的搜索范围,进行特征点匹配
vector<pair<size_t,size_t> > vMatchedIndices;
matcher.SearchForTriangulation(mpCurrentKeyFrame,pKF2,F12,vMatchedIndices,false);
cv::Mat Rcw2 = pKF2->GetRotation();
cv::Mat Rwc2 = Rcw2.t();
cv::Mat tcw2 = pKF2->GetTranslation();
cv::Mat Tcw2(3,4,CV_32F);
Rcw2.copyTo(Tcw2.colRange(0,3));
tcw2.copyTo(Tcw2.col(3));
const float &fx2 = pKF2->fx;
const float &fy2 = pKF2->fy;
const float &cx2 = pKF2->cx;
const float &cy2 = pKF2->cy;
const float &invfx2 = pKF2->invfx;
const float &invfy2 = pKF2->invfy;
// Triangulate each match
// 对每对匹配通过三角化生成3D点
const int nmatches = vMatchedIndices.size();
for(int ikp=0; ikp<nmatches; ikp++)
{
// 当前关键帧中的索引
const int &idx1 = vMatchedIndices[ikp].first;
// 邻接关键帧中的索引
const int &idx2 = vMatchedIndices[ikp].second;
const cv::KeyPoint &kp1 = mpCurrentKeyFrame->mvKeysUn[idx1];
const float kp1_ur=mpCurrentKeyFrame->mvuRight[idx1];
bool bStereo1 = kp1_ur>=0;
const cv::KeyPoint &kp2 = pKF2->mvKeysUn[idx2];
const float kp2_ur = pKF2->mvuRight[idx2];
bool bStereo2 = kp2_ur>=0;
// Check parallax between rays
// 利用匹配点反投影得到视差角
cv::Mat xn1 = (cv::Mat_<float>(3,1) << (kp1.pt.x-cx1)*invfx1, (kp1.pt.y-cy1)*invfy1, 1.0);
cv::Mat xn2 = (cv::Mat_<float>(3,1) << (kp2.pt.x-cx2)*invfx2, (kp2.pt.y-cy2)*invfy2, 1.0);
// 由相机坐标系转到世界坐标系,得到视差角
cv::Mat ray1 = Rwc1*xn1;
cv::Mat ray2 = Rwc2*xn2;
const float cosParallaxRays = ray1.dot(ray2)/(cv::norm(ray1)*cv::norm(ray2));
float cosParallaxStereo = cosParallaxRays+1;
float cosParallaxStereo1 = cosParallaxStereo;
float cosParallaxStereo2 = cosParallaxStereo;
// 对于双目,利用双目得到视差角
if(bStereo1)
cosParallaxStereo1 = cos(2*atan2(mpCurrentKeyFrame->mb/2,mpCurrentKeyFrame->mvDepth[idx1]));
else if(bStereo2)
cosParallaxStereo2 = cos(2*atan2(pKF2->mb/2,pKF2->mvDepth[idx2]));
// 得到双目观测的视差角
cosParallaxStereo = min(cosParallaxStereo1,cosParallaxStereo2);
// 三角化恢复3D点
cv::Mat x3D;
// cosParallaxRays>0 && (bStereo1 || bStereo2 || cosParallaxRays<0.9998)表明视差角正常
// cosParallaxRays<cosParallaxStereo表明视差角很小
// 视差角度小时用三角法恢复3D点,视差角大时用双目恢复3D点
if(cosParallaxRays<cosParallaxStereo && cosParallaxRays>0 && (bStereo1 || bStereo2 || cosParallaxRays<0.9998))
{
// Linear Triangulation Method
cv::Mat A(4,4,CV_32F);
A.row(0) = xn1.at<float>(0)*Tcw1.row(2)-Tcw1.row(0);
A.row(1) = xn1.at<float>(1)*Tcw1.row(2)-Tcw1.row(1);
A.row(2) = xn2.at<float>(0)*Tcw2.row(2)-Tcw2.row(0);
A.row(3) = xn2.at<float>(1)*Tcw2.row(2)-Tcw2.row(1);
cv::Mat w,u,vt;
cv::SVD::compute(A,w,u,vt,cv::SVD::MODIFY_A| cv::SVD::FULL_UV);
x3D = vt.row(3).t();
if(x3D.at<float>(3)==0)
continue;
// Euclidean coordinates
x3D = x3D.rowRange(0,3)/x3D.at<float>(3);
}
else if(bStereo1 && cosParallaxStereo1<cosParallaxStereo2)
{
x3D = mpCurrentKeyFrame->UnprojectStereo(idx1);
}
else if(bStereo2 && cosParallaxStereo2<cosParallaxStereo1)
{
x3D = pKF2->UnprojectStereo(idx2);
}
else
continue; //No stereo and very low parallax
cv::Mat x3Dt = x3D.t();
//Check triangulation in front of cameras
// 检测深度正负
float z1 = Rcw1.row(2).dot(x3Dt)+tcw1.at<float>(2);
if(z1<=0)
continue;
float z2 = Rcw2.row(2).dot(x3Dt)+tcw2.at<float>(2);
if(z2<=0)
continue;
//Check reprojection error in first keyframe
// 计算3D点在当前关键帧下的重投影误差
const float &sigmaSquare1 = mpCurrentKeyFrame->mvLevelSigma2[kp1.octave];
const float x1 = Rcw1.row(0).dot(x3Dt)+tcw1.at<float>(0);
const float y1 = Rcw1.row(1).dot(x3Dt)+tcw1.at<float>(1);
const float invz1 = 1.0/z1;
if(!bStereo1)
{
float u1 = fx1*x1*invz1+cx1;
float v1 = fy1*y1*invz1+cy1;
float errX1 = u1 - kp1.pt.x;
float errY1 = v1 - kp1.pt.y;
if((errX1*errX1+errY1*errY1)>5.991*sigmaSquare1)
continue;
}
else
{
float u1 = fx1*x1*invz1+cx1;
float u1_r = u1 - mpCurrentKeyFrame->mbf*invz1;
float v1 = fy1*y1*invz1+cy1;
float errX1 = u1 - kp1.pt.x;
float errY1 = v1 - kp1.pt.y;
float errX1_r = u1_r - kp1_ur;
if((errX1*errX1+errY1*errY1+errX1_r*errX1_r)>7.8*sigmaSquare1)
continue;
}
//Check reprojection error in second keyframe
// 计算3D点在另一个关键帧下的重投影误差
const float sigmaSquare2 = pKF2->mvLevelSigma2[kp2.octave];
const float x2 = Rcw2.row(0).dot(x3Dt)+tcw2.at<float>(0);
const float y2 = Rcw2.row(1).dot(x3Dt)+tcw2.at<float>(1);
const float invz2 = 1.0/z2;
if(!bStereo2)
{
float u2 = fx2*x2*invz2+cx2;
float v2 = fy2*y2*invz2+cy2;
float errX2 = u2 - kp2.pt.x;
float errY2 = v2 - kp2.pt.y;
if((errX2*errX2+errY2*errY2)>5.991*sigmaSquare2)
continue;
}
else
{
float u2 = fx2*x2*invz2+cx2;
float u2_r = u2 - mpCurrentKeyFrame->mbf*invz2;
float v2 = fy2*y2*invz2+cy2;
float errX2 = u2 - kp2.pt.x;
float errY2 = v2 - kp2.pt.y;
float errX2_r = u2_r - kp2_ur;
if((errX2*errX2+errY2*errY2+errX2_r*errX2_r)>7.8*sigmaSquare2)
continue;
}
//Check scale consistency
// 检查尺度连续性
cv::Mat normal1 = x3D-Ow1;
float dist1 = cv::norm(normal1);
cv::Mat normal2 = x3D-Ow2;
float dist2 = cv::norm(normal2);
if(dist1==0 || dist2==0)
continue;
const float ratioDist = dist2/dist1;
const float ratioOctave = mpCurrentKeyFrame->mvScaleFactors[kp1.octave]/pKF2->mvScaleFactors[kp2.octave];
if(ratioDist*ratioFactor<ratioOctave || ratioDist>ratioOctave*ratioFactor)
continue;
// Triangulation is succesfull
// 三角化生成3D点成功,构造成MapPoint
MapPoint* pMP = new MapPoint(x3D,mpCurrentKeyFrame,mpMap);
// 为该MapPoint添加属性
pMP->AddObservation(mpCurrentKeyFrame,idx1);
pMP->AddObservation(pKF2,idx2);
mpCurrentKeyFrame->AddMapPoint(pMP,idx1);
pKF2->AddMapPoint(pMP,idx2);
pMP->ComputeDistinctiveDescriptors();
pMP->UpdateNormalAndDepth();
mpMap->AddMapPoint(pMP);
// 将新产生的点放入检测队列
mlpRecentAddedMapPoints.push_back(pMP);
nnew++;
}
}
}
// 检查并融合当前关键帧与相邻帧(两级相邻)重复的MapPoints
void LocalMapping::SearchInNeighbors()
{
// Retrieve neighbor keyframes
// 获得当前关键帧在covisibility图中权重排名前nn的邻接关键帧
// 找到当前帧一级相邻与二级相邻关键帧
int nn = 10;
if(mbMonocular)
nn=20;
const vector<KeyFrame*> vpNeighKFs = mpCurrentKeyFrame->GetBestCovisibilityKeyFrames(nn);
vector<KeyFrame*> vpTargetKFs;
for(vector<KeyFrame*>::const_iterator vit=vpNeighKFs.begin(), vend=vpNeighKFs.end(); vit!=vend; vit++)
{
KeyFrame* pKFi = *vit;
if(pKFi->isBad() || pKFi->mnFuseTargetForKF == mpCurrentKeyFrame->mnId)
continue;
vpTargetKFs.push_back(pKFi); // 一级相邻帧
pKFi->mnFuseTargetForKF = mpCurrentKeyFrame->mnId;
// Extend to some second neighbors
// 二级相邻帧,5帧
const vector<KeyFrame*> vpSecondNeighKFs = pKFi->GetBestCovisibilityKeyFrames(5);
for(vector<KeyFrame*>::const_iterator vit2=vpSecondNeighKFs.begin(), vend2=vpSecondNeighKFs.end(); vit2!=vend2; vit2++)
{
KeyFrame* pKFi2 = *vit2;
if(pKFi2->isBad() || pKFi2->mnFuseTargetForKF==mpCurrentKeyFrame->mnId || pKFi2->mnId==mpCurrentKeyFrame->mnId)
continue;
vpTargetKFs.push_back(pKFi2);// 存入二级相邻帧
}
}
// Search matches by projection from current KF in target KFs
ORBmatcher matcher;
// 将当前帧的MapPoints分别与一级二级相邻帧进行融合
vector<MapPoint*> vpMapPointMatches = mpCurrentKeyFrame->GetMapPointMatches();
for(vector<KeyFrame*>::iterator vit=vpTargetKFs.begin(), vend=vpTargetKFs.end(); vit!=vend; vit++)
{
KeyFrame* pKFi = *vit;
// 投影当前帧的地图点到pKFi中,并判断是否有重复的地图点
// 如果地图点能匹配关键帧的特征点,并且该点有对应的地图点,那么将两个地图点合并
// 如果地图点能匹配关键帧的特征点,并且该点没有对应的地图点,那么为该点添加地图点
matcher.Fuse(pKFi,vpMapPointMatches);
}
// Search matches by projection from target KFs in current KF
// 用于存储一级邻接和二级邻接关键帧所有MapPoints的集合
vector<MapPoint*> vpFuseCandidates;
vpFuseCandidates.reserve(vpTargetKFs.size()*vpMapPointMatches.size());
// 将一级二级相邻帧的MapPoints分别与当前帧(的MapPoints)进行融合
// 遍历每一个一级邻接和二级邻接关键帧
for(vector<KeyFrame*>::iterator vitKF=vpTargetKFs.begin(), vendKF=vpTargetKFs.end(); vitKF!=vendKF; vitKF++)
{
KeyFrame* pKFi = *vitKF;
vector<MapPoint*> vpMapPointsKFi = pKFi->GetMapPointMatches();
// 遍历当前一级邻接和二级邻接关键帧中所有的MapPoints
for(vector<MapPoint*>::iterator vitMP=vpMapPointsKFi.begin(), vendMP=vpMapPointsKFi.end(); vitMP!=vendMP; vitMP++)
{
MapPoint* pMP = *vitMP;
if(!pMP)
continue;
// 判断MapPoints是否为坏点,或者是否已经加进集合vpFuseCandidates
if(pMP->isBad() || pMP->mnFuseCandidateForKF == mpCurrentKeyFrame->mnId)
continue;
// 加入集合,并标记已经加入
pMP->mnFuseCandidateForKF = mpCurrentKeyFrame->mnId;
vpFuseCandidates.push_back(pMP);
}
}
matcher.Fuse(mpCurrentKeyFrame,vpFuseCandidates);
// Update points
// 更新当前帧MapPoints的描述子,深度,观测主方向等属性
vpMapPointMatches = mpCurrentKeyFrame->GetMapPointMatches();
for(size_t i=0, iend=vpMapPointMatches.size(); i<iend; i++)
{
MapPoint* pMP=vpMapPointMatches[i];
if(pMP)
{
if(!pMP->isBad())
{
// 在所有找到pMP的关键帧中,获得最佳的描述子
pMP->ComputeDistinctiveDescriptors();
pMP->UpdateNormalAndDepth();
}
}
}
// Update connections in covisibility graph
// 步更新当前帧的MapPoints后更新与其它帧的连接关系
// 更新covisibility图
mpCurrentKeyFrame->UpdateConnections();
}
cv::Mat LocalMapping::ComputeF12(KeyFrame *&pKF1, KeyFrame *&pKF2)
{
cv::Mat R1w = pKF1->GetRotation();
cv::Mat t1w = pKF1->GetTranslation();
cv::Mat R2w = pKF2->GetRotation();
cv::Mat t2w = pKF2->GetTranslation();
cv::Mat R12 = R1w*R2w.t();
cv::Mat t12 = -R1w*R2w.t()*t2w+t1w;
cv::Mat t12x = SkewSymmetricMatrix(t12);
const cv::Mat &K1 = pKF1->mK;
const cv::Mat &K2 = pKF2->mK;
return K1.t().inv()*t12x*R12*K2.inv();
}
void LocalMapping::RequestStop()
{
unique_lock<mutex> lock(mMutexStop);
mbStopRequested = true;
unique_lock<mutex> lock2(mMutexNewKFs);
mbAbortBA = true;
}
bool LocalMapping::Stop()
{
unique_lock<mutex> lock(mMutexStop);
if(mbStopRequested && !mbNotStop)
{
mbStopped = true;
cout << "Local Mapping STOP" << endl;
return true;
}
return false;
}
bool LocalMapping::isStopped()
{
unique_lock<mutex> lock(mMutexStop);
return mbStopped;
}
bool LocalMapping::stopRequested()
{
unique_lock<mutex> lock(mMutexStop);
return mbStopRequested;
}
void LocalMapping::Release()
{
unique_lock<mutex> lock(mMutexStop);
unique_lock<mutex> lock2(mMutexFinish);
if(mbFinished)
return;
mbStopped = false;
mbStopRequested = false;
for(list<KeyFrame*>::iterator lit = mlNewKeyFrames.begin(), lend=mlNewKeyFrames.end(); lit!=lend; lit++)
delete *lit;
mlNewKeyFrames.clear();
cout << "Local Mapping RELEASE" << endl;
}
bool LocalMapping::AcceptKeyFrames()
{
unique_lock<mutex> lock(mMutexAccept);
return mbAcceptKeyFrames;
}
void LocalMapping::SetAcceptKeyFrames(bool flag)
{
unique_lock<mutex> lock(mMutexAccept);
mbAcceptKeyFrames=flag;
}
bool LocalMapping::SetNotStop(bool flag)
{
unique_lock<mutex> lock(mMutexStop);
if(flag && mbStopped)
return false;
mbNotStop = flag;
return true;
}
void LocalMapping::InterruptBA()
{
mbAbortBA = true;
}
// 关键帧剔除
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
// 提取当前帧的共视关键帧
vector<KeyFrame*> vpLocalKeyFrames = mpCurrentKeyFrame->GetVectorCovisibleKeyFrames();
for(vector<KeyFrame*>::iterator vit=vpLocalKeyFrames.begin(), vend=vpLocalKeyFrames.end(); vit!=vend; vit++)
{
KeyFrame* pKF = *vit;
if(pKF->mnId==0)
continue;
// 提取每个共视关键帧的MapPoints
const vector<MapPoint*> vpMapPoints = pKF->GetMapPointMatches();
int nObs = 3;
const int thObs=nObs;
int nRedundantObservations=0;
int nMPs=0;
// 遍历该局部关键帧的MapPoints,判断是否90%以上的MapPoints能被其它关键帧(至少3个)观测到
for(size_t i=0, iend=vpMapPoints.size(); i<iend; i++)
{
MapPoint* pMP = vpMapPoints[i];
if(pMP)
{
if(!pMP->isBad())
{
if(!mbMonocular)
{
if(pKF->mvDepth[i]>pKF->mThDepth || pKF->mvDepth[i]<0)
continue;
}
nMPs++;
// MapPoints至少被三个关键帧观测到
if(pMP->Observations()>thObs)
{
const int &scaleLevel = pKF->mvKeysUn[i].octave;
const map<KeyFrame*, size_t> observations = pMP->GetObservations();
// 判断该MapPoint是否同时被三个关键帧观测到
int nObs=0;
for(map<KeyFrame*, size_t>::const_iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++)
{
KeyFrame* pKFi = mit->first;
if(pKFi==pKF)
continue;
const int &scaleLeveli = pKFi->mvKeysUn[mit->second].octave;
// Scale Condition
// 要求MapPoint在该局部关键帧的特征尺度大于(或近似于)其它关键帧的特征尺度
if(scaleLeveli<=scaleLevel+1)
{
nObs++;
// 已经找到三个同尺度的关键帧可以观测到该MapPoint,不用继续找了
if(nObs>=thObs)
break;
}
}
// 该MapPoint至少被三个关键帧观测到
if(nObs>=thObs)
{
nRedundantObservations++;
}
}
}
}
}
// 该局部关键帧90%以上的MapPoints能被其它至少三个关键帧观测到,则认为是冗余关键帧
if(nRedundantObservations>0.9*nMPs)
pKF->SetBadFlag();
}
}
cv::Mat LocalMapping::SkewSymmetricMatrix(const cv::Mat &v)
{
return (cv::Mat_<float>(3,3) << 0, -v.at<float>(2), v.at<float>(1),
v.at<float>(2), 0,-v.at<float>(0),
-v.at<float>(1), v.at<float>(0), 0);
}
void LocalMapping::RequestReset()
{
{
unique_lock<mutex> lock(mMutexReset);
mbResetRequested = true;
}
while(1)
{
{
unique_lock<mutex> lock2(mMutexReset);
if(!mbResetRequested)
break;
}
//usleep(3000);
std::this_thread::sleep_for(std::chrono::milliseconds(3));
}
}
void LocalMapping::ResetIfRequested()
{
unique_lock<mutex> lock(mMutexReset);
if(mbResetRequested)
{
mlNewKeyFrames.clear();
mlpRecentAddedMapPoints.clear();
mbResetRequested=false;
}
}
void LocalMapping::RequestFinish()
{
unique_lock<mutex> lock(mMutexFinish);
mbFinishRequested = true;
}
bool LocalMapping::CheckFinish()
{
unique_lock<mutex> lock(mMutexFinish);
return mbFinishRequested;
}
void LocalMapping::SetFinish()
{
unique_lock<mutex> lock(mMutexFinish);
mbFinished = true;
unique_lock<mutex> lock2(mMutexStop);
mbStopped = true;
}
bool LocalMapping::isFinished()
{
unique_lock<mutex> lock(mMutexFinish);
return mbFinished;
}
} //namespace ORB_SLAM
按照run函数中的顺序:
1、ProcessNewKeyFrame();
- 取出最前一个关键帧,计算其BoW
- 处理其和局部地图点之间的关系:在跟踪局部图时地图点只是和帧进行了匹配,但是没有关联,这里计算平均观测方向、距离范围、最佳描述子,更新共视图,将帧插入地图中
2、MapPointCulling(); 对上一步中引入的不好的地图点进行剔除
- 实际跟踪到的帧数比预计可观测的帧数比例小于%25时,剔除
- 某点建立之后已经过了不少于2个关键帧,但是观测到该点的帧却不多,剔除
- 点建立后过了三个关键帧依然没有被剔除,则是质量好的点
3、CreateNewMapPoints(); 和相邻帧通过三角化恢复一些地图点
- 获取一些共视关键帧,对于这些帧:
- 计算其和当前帧的基线与其场景深度中值的比例,比例太小,即基线太小则不考虑和这一帧进行三角化
- 计算两帧的基础矩阵并三角化
- 由视差角大小判断如何恢复点,检查深度、投影误差、尺度连续性
- 通过一系列检测后,三角化成功,为地图点添加观测属性、计算最佳描述子、更新观测方向和深度,将该点放入检测队列中,即第2步进行检查的队列
如果队列中没有待处理的关键帧:SearchInNeighbors(); 检查并融合当前关键帧与相邻帧(两级相邻)重复的地图点。
如果队列中没有待处理的关键帧,且闭环检测没有请求停止局部图,则执行一个局部BA,之后剔除冗余的关键帧。
以上是run函数的流程,也是这个线程的过程。
注:
- tracking线程中送来的关键帧放在mlNewKeyFrames变量中
- 候选待检查的地图点放在mlpRecentAddedMapPoints变量中,ProcessNewKeyFrame()函数和CreateNewMapPoints()都会向这个变量中添加地图点