Method reset

src/PLPSLAM/tracking_module.cc:395–421

    }

    void tracking_module::reset()
    {
        spdlog::info("resetting system");

        initializer_.reset();
        keyfrm_inserter_.reset();

        mapper_->request_reset();
        global_optimizer_->request_reset();

        bow_db_->clear();
        map_db_->clear();

        data::frame::next_id_ = 0;
        data::keyframe::next_id_ = 0;
        data::landmark::next_id_ = 0;

        // FW:
        if (map_db_->_b_use_line_tracking)
        {
            data::Line::_next_id = 0;
        }

        last_reloc_frm_id_ = 0;

        tracking_state_ = tracker_state_t::NotInitialized;
    }

    // FW: main function
    void tracking_module::track()