| 162 | } |
| 163 | |
| 164 | system::~system() |
| 165 | { |
| 166 | global_optimization_thread_.reset(nullptr); |
| 167 | delete global_optimizer_; |
| 168 | global_optimizer_ = nullptr; |
| 169 | |
| 170 | mapping_thread_.reset(nullptr); |
| 171 | delete mapper_; |
| 172 | mapper_ = nullptr; |
| 173 | |
| 174 | delete tracker_; |
| 175 | tracker_ = nullptr; |
| 176 | |
| 177 | // FW: also delete planar mapper |
| 178 | if (_b_seg_or_not) |
| 179 | { |
| 180 | delete _planar_mapper; |
| 181 | _planar_mapper = nullptr; |
| 182 | } |
| 183 | |
| 184 | delete bow_db_; |
| 185 | bow_db_ = nullptr; |
| 186 | delete map_db_; |
| 187 | map_db_ = nullptr; |
| 188 | delete cam_db_; |
| 189 | cam_db_ = nullptr; |
| 190 | delete bow_vocab_; |
| 191 | bow_vocab_ = nullptr; |
| 192 | |
| 193 | spdlog::debug("DESTRUCT: system"); |
| 194 | } |
| 195 | |
| 196 | void system::startup(const bool need_initialize) |
| 197 | { |