ClintNode.cpp
boost::shared_ptr<cslam::ClientSystem> pCSys{new cslam::ClientSystem(Nh,NhPrivate,argv[1],argv[2])};
主函数入口,创建一个CSLAM client node:即ClientSystem类型的shared_ptr:pCSys
ClientSystem.cpp
ClientSystem的构造
mNhPrivate.param("ClientId",ClientId,-1);
cv::FileStorage fsSettingsCam(strCamFile.c_str(), cv::FileStorage::READ);
this->LoadVocabulary(strVocFile);
mpKFDB.reset(new KeyFrameDatabase(mpVoc));
mpMap.reset(new Map(mNh,mNhPrivate,mClientId,eSystemState::CLIENT));
mpAgent.reset(new ClientHandler(mNh,mNhPrivate,mpVoc,mpKFDB,mpMap,mClientId,mpUID,eSystemState::CLIENT,strCamFile,nullptr));
ClientHandler.cpp
本文内容由网友自发贡献,版权归原作者所有,本站不承担相应法律责任。如您发现有涉嫌抄袭侵权的内容,请联系:hwhale#tublm.com(使用前将#替换为@)