Method run

src/PLPSLAM/global_optimization_module.cc:90–174

    }

    void global_optimization_module::run()
    {
        spdlog::info("start global optimization module");

        is_terminated_ = false;

        while (true)
        {
            std::this_thread::sleep_for(std::chrono::milliseconds(5));

            // check if termination is requested
            if (terminate_is_requested())
            {
                // terminate and break
                terminate();
                break;
            }

            // check if pause is requested
            if (pause_is_requested())
            {
                // pause and wait
                pause();
                // check if termination or reset is requested during pause
                while (is_paused() && !terminate_is_requested() && !reset_is_requested())
                {
                    std::this_thread::sleep_for(std::chrono::milliseconds(3));
                }
            }

            // check if reset is requested
            if (reset_is_requested())
            {
                // reset and continue
                reset();
                continue;
            }

            // if the queue is empty, the following process is not needed
            if (!keyframe_is_queued())
            {
                continue;
            }

            // dequeue the keyframe from the queue -> cur_keyfrm_
            {
                std::lock_guard<std::mutex> lock(mtx_keyfrm_queue_);
                cur_keyfrm_ = keyfrms_queue_.front();
                keyfrms_queue_.pop_front();
            }

            // not to be removed during loop detection and correction
            cur_keyfrm_->set_not_to_be_erased();

            // pass the current keyframe to the loop detector
            loop_detector_->set_current_keyframe(cur_keyfrm_);

            // detect some loop candidate with BoW