Method KeyFrameCulling

src/LocalMapping.cc:902–1054

}

void LocalMapping::KeyFrameCulling()
{
    // Check redundant keyframes (only local keyframes)
    // A keyframe is considered redundant if the 90% of the MapPoints it sees, are seen
    // in at least other 3 keyframes (in the same or finer scale)
    // We only consider close stereo points
    const int Nd = 21;
    mpCurrentKeyFrame->UpdateBestCovisibles();
    vector<KeyFrame*> vpLocalKeyFrames = mpCurrentKeyFrame->GetVectorCovisibleKeyFrames();

    float redundant_th;
    if(!mbInertial)
        redundant_th = 0.9;
    else if (mbMonocular)
        redundant_th = 0.9;
    else
        redundant_th = 0.5;

    const bool bInitImu = mpAtlas->isImuInitialized();
    int count=0;

    // Compoute last KF from optimizable window:
    unsigned int last_ID;
    if (mbInertial)
    {
        int count = 0;
        KeyFrame* aux_KF = mpCurrentKeyFrame;
        while(count<Nd && aux_KF->mPrevKF)
        {
            aux_KF = aux_KF->mPrevKF;
            count++;
        }
        last_ID = aux_KF->mnId;
    }



    for(vector<KeyFrame*>::iterator vit=vpLocalKeyFrames.begin(), vend=vpLocalKeyFrames.end(); vit!=vend; vit++)
    {
        count++;
        KeyFrame* pKF = *vit;

        if((pKF->mnId==pKF->GetMap()->GetInitKFid()) || pKF->isBad())
            continue;
        const vector<MapPoint*> vpMapPoints = pKF->GetMapPointMatches();

        int nObs = 3;
        const int thObs=nObs;
        int nRedundantObservations=0;
        int nMPs=0;
        for(size_t i=0, iend=vpMapPoints.size(); i<iend; i++)
        {
            MapPoint* pMP = vpMapPoints[i];
            if(pMP)
            {
                if(!pMP->isBad())
                {
                    if(!mbMonocular)