SLAM十四讲第十三讲：设计SLAM系统代码详解（2）

slam十四讲之第十三讲 设计 slam系统代码详解

这里主要是 后端 ，代码不多，前端看懂了这边很好理解

//
// Created by gaoxiang on 19-5-2.
//

#include "myslam/backend.h"
#include "myslam/algorithm.h"
#include "myslam/feature.h"
#include "myslam/g2o_types.h"
#include "myslam/map.h"
#include "myslam/mappoint.h"

namespace myslam {
   
   

Backend::Backend() {
   
     //构造函数中启动优化线程并挂起
    backend_running_.store(true);
    backend_thread_ = std::thread(std::bind(&Backend::BackendLoop, this));
}

void Backend::UpdateMap() {
   
    //更新地图
    std::unique_lock<std::mutex> lock(data_mutex_);
    map_update_.notify_one();//随机唤醒一个等待的线程
}

void Backend::Stop() {
   
     //结束优化
    backend_running_.store(false);
    map_update_.notify_one();
    backend_thread_.join();
}

void Backend::BackendLoop() {
   
     //后端线程
    while (backend_running_.load()) {
   
   
        std::unique_lock<std::mutex> lock(data_mutex_);
        map_update_.wait(lock);

        /// 后端仅优化激活的Frames和Landmarks
        Map::KeyframesType active_kfs = map_->GetActiveKeyFrames();
        Map::LandmarksType active_landmarks = map_->GetActiveMapPoints();
        Optimize(active_kfs, active_landmarks);
    }
}

void Backend::Optimize(Map::KeyframesType &keyframes,
                       Map::LandmarksType <
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