orbslam2 localMapping流程图

flowchart TB

%% ========== 1. 入口 & 初始化检测 ==========

T0 $"Track() 入口"$

T1{{mState == NO_IMAGES_YET?}}

T2 $"mState \leftarrow NOT_INITIALIZED"$

%% ========== 2. 获取地图互斥锁 ==========

LOCK $"unique_lock(mpMap-\>mMutexMapUpdate)"$

%% ========== 3. 尚未初始化 ==========

INIT_CHK{{mState == NOT_INITIALIZED?}}

STEREO_INIT $"StereoInitialization() / MonocularInitialization()"$

DRAW_INIT $"mpFrameDrawer-\>Update(this)"$

RET_NOT_OK{{初始化后 mState != OK?}}

RET_EARLY $"return (等待下一帧)"$

%% ========== 4. 系统已初始化 ==========

MAIN $"-- 进入正常跟踪流程 --"$

ONLY_TRACK{{mbOnlyTracking?}}

REPLACED $"CheckReplacedInLastFrame()"$

MM_EMPTY{{mVelocity.empty()?}}

TRACK_MM $"TrackWithMotionModel()"$

RELOC $"Relocalization()"$

BOOL_OR $"bOK = bOK_MM ∥ bOK_Reloc"$

SET_REF $"若缺失, mpReferenceKF \to mCurrentFrame.mpReferenceKF"$

%% ========== 5. 局部地图跟踪 ==========

LOCAL_TRACK_CHK{{可调用 TrackLocalMap?}}

LOCAL_TRACK $"bOK = TrackLocalMap()"$

%% ========== 6. 跟踪结果判定 ==========

SET_STATE $"mState = (bOK ? OK : LOST)"$

DRAW_FRAME $"mpFrameDrawer-\>Update(this)"$

%% ========== 7. 跟踪成功后的更新 ==========

OK_CHK{{bOK?}}

UPDATE_VEL $"mVelocity ← Tcw_now × (Tcw_last)\^-1"$

SET_CAMPOSE $"mpMapDrawer-\>SetCurrentCameraPose()"$

CLEAN_VO $"清空仅 VO 匹配点"$

DEL_TEMP $"删除 mlpTemporalPoints"$

NEEDKF{{NeedNewKeyFrame()?}}

NEWKF $"CreateNewKeyFrame()"$

%% ========== 8. 跟踪失败后的处理 ==========

LOST_CHK{{mState == LOST ∧ Map KFs ≤ 5?}}

SYS_RESET $"mpSystem-\>Reset(); return"$

%% ========== 9. 收尾：更新 mLastFrame 等 ==========

FILL_REFKF $"若仍缺失 \to mCurrentFrame.mpReferenceKF = mpReferenceKF"$

SAVE_LAST $"mLastFrame = Frame(mCurrentFrame)"$

STORE_POSE $"记录相对位姿 / 时间戳向量"$

%% ---------- 连线 ----------

T0 --> T1

T1 -- 是 --> T2 --> LOCK

T1 -- 否 --> LOCK

LOCK --> INIT_CHK

INIT_CHK -- 是 --> STEREO_INIT --> DRAW_INIT --> RET_NOT_OK

RET_NOT_OK -- 是 --> RET_EARLY

RET_NOT_OK -- 否 --> MAIN

INIT_CHK -- 否 --> MAIN

%% ---- 正常跟踪主干 ----

MAIN --> ONLY_TRACK

ONLY_TRACK -- 否 -->|LocalMapping 开启| \

REPLACED --> MM_EMPTY

ONLY_TRACK -- 是 -->|仅跟踪模式| MM_EMPTY

MM_EMPTY -- 否 --> TRACK_MM

MM_EMPTY -- 是 --> TRACK_MM

TRACK_MM --> RELOC

RELOC --> BOOL_OR

BOOL_OR --> SET_REF

SET_REF --> LOCAL_TRACK_CHK

LOCAL_TRACK_CHK -- 可调用 --> LOCAL_TRACK --> SET_STATE

LOCAL_TRACK_CHK -- 不可调用 --> SET_STATE

SET_STATE --> DRAW_FRAME --> OK_CHK

%% ---- 跟踪成功路径 ----

OK_CHK -- 是 --> UPDATE_VEL --> SET_CAMPOSE --> CLEAN_VO --> DEL_TEMP --> NEEDKF

NEEDKF -- 是 --> NEWKF --> LOST_CHK

NEEDKF -- 否 --> LOST_CHK

%% ---- 跟踪失败路径 ----

OK_CHK -- 否 --> LOST_CHK

LOST_CHK -- 是 --> SYS_RESET

LOST_CHK -- 否 --> FILL_REFKF --> SAVE_LAST --> STORE_POSE