Method TrackReferenceKeyFrame

src/Tracking.cc:2720–2779

bool Tracking::TrackReferenceKeyFrame()
{
    // Compute Bag of Words vector
    mCurrentFrame.ComputeBoW();

    // We perform first an ORB matching with the reference keyframe
    // If enough matches are found we setup a PnP solver
    ORBmatcher matcher(0.7,true);
    vector<MapPoint*> vpMapPointMatches;

    int nmatches = matcher.SearchByBoW(mpReferenceKF,mCurrentFrame,vpMapPointMatches);

    if(nmatches<15)
    {
        cout << "TRACK_REF_KF: Less than 15 matches!!\n";
        return false;
    }

    mCurrentFrame.mvpMapPoints = vpMapPointMatches;
    mCurrentFrame.SetPose(mLastFrame.GetPose());

    //mCurrentFrame.PrintPointDistribution();


    // cout << " TrackReferenceKeyFrame mLastFrame.mTcw:  " << mLastFrame.mTcw << endl;
    Optimizer::PoseOptimization(&mCurrentFrame);

    // Discard outliers
    int nmatchesMap = 0;
    for(int i =0; i<mCurrentFrame.N; i++)
    {
        //if(i >= mCurrentFrame.Nleft) break;
        if(mCurrentFrame.mvpMapPoints[i])
        {
            if(mCurrentFrame.mvbOutlier[i])
            {
                MapPoint* pMP = mCurrentFrame.mvpMapPoints[i];

                mCurrentFrame.mvpMapPoints[i]=static_cast<MapPoint*>(NULL);
                mCurrentFrame.mvbOutlier[i]=false;
                if(i < mCurrentFrame.Nleft){
                    pMP->mbTrackInView = false;
                }
                else{
                    pMP->mbTrackInViewR = false;
                }
                pMP->mbTrackInView = false;
                pMP->mnLastFrameSeen = mCurrentFrame.mnId;
                nmatches--;
            }
            else if(mCurrentFrame.mvpMapPoints[i]->Observations()>0)
                nmatchesMap++;
        }
    }

    if (mSensor == System::IMU_MONOCULAR || mSensor == System::IMU_STEREO || mSensor == System::IMU_RGBD)
        return true;
    else