Method initialize

src/PLPSLAM/module/initializer.cc:88–145

        }

        bool initializer::initialize(data::frame &curr_frm)
        {

            switch (setup_type_)
            {
            case camera::setup_type_t::Monocular:
            {
                // construct an initializer if not constructed
                if (state_ == initializer_state_t::NotReady)
                {
                    create_initializer(curr_frm);
                    return false;
                }

                // try to initialize
                if (!try_initialize_for_monocular(curr_frm))
                {
                    // failed
                    return false;
                }

                // create new map if succeeded, which means we found first two image to initialize the map
                create_map_for_monocular(curr_frm);
                break;
            }
            case camera::setup_type_t::Stereo:
            case camera::setup_type_t::RGBD:
            {
                state_ = initializer_state_t::Initializing;

                // try to initialize
                if (!try_initialize_for_stereo(curr_frm))
                {
                    // failed
                    return false;
                }

                // create new map if succeeded
                create_map_for_stereo(curr_frm);
                break;
            }
            default:
            {
                throw std::runtime_error("Undefined camera setup");
            }
            }

            // check the state is succeeded or not
            if (state_ == initializer_state_t::Succeeded)
            {
                init_frm_id_ = curr_frm.id_;
                return true;
            }
            else
            {
                return false;
            }
        }