Method SearchInNeighbors

src/LocalMapping.cc:714–823

}

void LocalMapping::SearchInNeighbors()
{
    // Retrieve neighbor keyframes
    int nn = 10;
    if(mbMonocular)
        nn=30;
    const vector<KeyFrame*> vpNeighKFs = mpCurrentKeyFrame->GetBestCovisibilityKeyFrames(nn);
    vector<KeyFrame*> vpTargetKFs;
    for(vector<KeyFrame*>::const_iterator vit=vpNeighKFs.begin(), vend=vpNeighKFs.end(); vit!=vend; vit++)
    {
        KeyFrame* pKFi = *vit;
        if(pKFi->isBad() || pKFi->mnFuseTargetForKF == mpCurrentKeyFrame->mnId)
            continue;
        vpTargetKFs.push_back(pKFi);
        pKFi->mnFuseTargetForKF = mpCurrentKeyFrame->mnId;
    }

    // Add some covisible of covisible
    // Extend to some second neighbors if abort is not requested
    for(int i=0, imax=vpTargetKFs.size(); i<imax; i++)
    {
        const vector<KeyFrame*> vpSecondNeighKFs = vpTargetKFs[i]->GetBestCovisibilityKeyFrames(20);
        for(vector<KeyFrame*>::const_iterator vit2=vpSecondNeighKFs.begin(), vend2=vpSecondNeighKFs.end(); vit2!=vend2; vit2++)
        {
            KeyFrame* pKFi2 = *vit2;
            if(pKFi2->isBad() || pKFi2->mnFuseTargetForKF==mpCurrentKeyFrame->mnId || pKFi2->mnId==mpCurrentKeyFrame->mnId)
                continue;
            vpTargetKFs.push_back(pKFi2);
            pKFi2->mnFuseTargetForKF=mpCurrentKeyFrame->mnId;
        }
        if (mbAbortBA)
            break;
    }

    // Extend to temporal neighbors
    if(mbInertial)
    {
        KeyFrame* pKFi = mpCurrentKeyFrame->mPrevKF;
        while(vpTargetKFs.size()<20 && pKFi)
        {
            if(pKFi->isBad() || pKFi->mnFuseTargetForKF==mpCurrentKeyFrame->mnId)
            {
                pKFi = pKFi->mPrevKF;
                continue;
            }
            vpTargetKFs.push_back(pKFi);
            pKFi->mnFuseTargetForKF=mpCurrentKeyFrame->mnId;
            pKFi = pKFi->mPrevKF;
        }
    }

    // Search matches by projection from current KF in target KFs
    ORBmatcher matcher;
    vector<MapPoint*> vpMapPointMatches = mpCurrentKeyFrame->GetMapPointMatches();
    for(vector<KeyFrame*>::iterator vit=vpTargetKFs.begin(), vend=vpTargetKFs.end(); vit!=vend; vit++)
    {
        KeyFrame* pKFi = *vit;