Method ProcessNewKeyFrame

src/LocalMapping.cc:298–338

}

void LocalMapping::ProcessNewKeyFrame()
{
    {
        unique_lock<mutex> lock(mMutexNewKFs);
        mpCurrentKeyFrame = mlNewKeyFrames.front();
        mlNewKeyFrames.pop_front();
    }

    // Compute Bags of Words structures
    mpCurrentKeyFrame->ComputeBoW();

    // Associate MapPoints to the new keyframe and update normal and descriptor
    const vector<MapPoint*> vpMapPointMatches = mpCurrentKeyFrame->GetMapPointMatches();

    for(size_t i=0; i<vpMapPointMatches.size(); i++)
    {
        MapPoint* pMP = vpMapPointMatches[i];
        if(pMP)
        {
            if(!pMP->isBad())
            {
                if(!pMP->IsInKeyFrame(mpCurrentKeyFrame))
                {
                    pMP->AddObservation(mpCurrentKeyFrame, i);
                    pMP->UpdateNormalAndDepth();
                    pMP->ComputeDistinctiveDescriptors();
                }
                else // this can only happen for new stereo points inserted by the Tracking
                {
                    mlpRecentAddedMapPoints.push_back(pMP);
                }
            }
        }
    }

    // Update links in the Covisibility Graph
    mpCurrentKeyFrame->UpdateConnections();

    // Insert Keyframe in Map
    mpAtlas->AddKeyFrame(mpCurrentKeyFrame);
}

void LocalMapping::EmptyQueue()
{