add some comments

JingaoLouis · May 25, 2019 · 1189474 · 1189474
1 parent f30c640
commit 1189474
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Showing 9 changed files with 39 additions and 14 deletions.
diff --git a/ch13/config/default.yaml b/ch13/config/default.yaml
@@ -2,10 +2,8 @@
 # data
 # the tum dataset directory, change it to yours! 
 dataset_dir: /media/xiang/Data/Dataset/Kitti/dataset/sequences/00
-# dataset_dir: /mnt/1A9286BD92869CBF/Dataset/Kitti/dataset/sequences/02
 
 # camera intrinsics
-# fr1
 camera.fx: 517.3
 camera.fy: 516.5
 camera.cx: 325.1

diff --git a/ch13/include/myslam/frontend.h b/ch13/include/myslam/frontend.h
@@ -26,9 +26,10 @@ class Frontend {
 
     Frontend();
 
+    /// 外部接口，添加一个帧并计算其定位结果
     bool AddFrame(Frame::Ptr frame);
 
-    // 
+    /// Set函数
     void SetMap(Map::Ptr map) { map_ = map; }
 
     void SetBackend(std::shared_ptr<Backend> backend) { backend_ = backend; }
@@ -112,11 +113,10 @@ class Frontend {
     // data
     FrontendStatus status_ = FrontendStatus::INITING;
 
-    Frame::Ptr current_frame_ = nullptr;
-    Frame::Ptr last_frame_ = nullptr;
-    Frame::Ptr ref_frame_ = nullptr;
-    Camera::Ptr camera_left_ = nullptr;
-    Camera::Ptr camera_right_ = nullptr;
+    Frame::Ptr current_frame_ = nullptr;  // 当前帧
+    Frame::Ptr last_frame_ = nullptr;     // 上一帧
+    Camera::Ptr camera_left_ = nullptr;   // 左侧相机
+    Camera::Ptr camera_right_ = nullptr;  // 右侧相机
 
     Map::Ptr map_ = nullptr;
     std::shared_ptr<Backend> backend_ = nullptr;

diff --git a/ch13/include/myslam/g2o_types.h b/ch13/include/myslam/g2o_types.h
@@ -21,6 +21,7 @@
 
 namespace myslam {
 /// vertex and edges used in g2o ba
+/// 位姿顶点
 class VertexPose : public g2o::BaseVertex<6, SE3> {
    public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
@@ -40,6 +41,7 @@ class VertexPose : public g2o::BaseVertex<6, SE3> {
     virtual bool write(std::ostream &out) const override { return true; }
 };
 
+/// 路标顶点
 class VertexXYZ : public g2o::BaseVertex<3, Vec3> {
    public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
@@ -56,6 +58,7 @@ class VertexXYZ : public g2o::BaseVertex<3, Vec3> {
     virtual bool write(std::ostream &out) const override { return true; }
 };
 
+/// 仅估计位姿的一元边
 class EdgeProjectionPoseOnly : public g2o::BaseUnaryEdge<2, Vec2, VertexPose> {
    public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
@@ -97,6 +100,7 @@ class EdgeProjectionPoseOnly : public g2o::BaseUnaryEdge<2, Vec2, VertexPose> {
     Mat33 _K;
 };
 
+/// 带有地图和位姿的二元边
 class EdgeProjection
     : public g2o::BaseBinaryEdge<2, Vec2, VertexPose, VertexXYZ> {
    public:

diff --git a/ch13/include/myslam/map.h b/ch13/include/myslam/map.h
@@ -9,7 +9,7 @@
 namespace myslam {
 
 /**
- * @brief
+ * @brief 地图
  * 和地图的交互：前端调用InsertKeyframe和InsertMapPoint插入新帧和地图点，后端维护地图的结构，判定outlier/剔除等等
  */
 class Map {
@@ -21,24 +21,29 @@ class Map {
 
     Map() {}
 
+    /// 增加一个关键帧
     void InsertKeyFrame(Frame::Ptr frame);
-
+    /// 增加一个地图顶点
     void InsertMapPoint(MapPoint::Ptr map_point);
 
+    /// 获取所有地图点
     LandmarksType GetAllMapPoints() {
         std::unique_lock<std::mutex> lck(data_mutex_);
         return landmarks_;
     }
+    /// 获取所有关键帧
     KeyframesType GetAllKeyFrames() {
         std::unique_lock<std::mutex> lck(data_mutex_);
         return keyframes_;
     }
 
+    /// 获取激活地图点
     LandmarksType GetActiveMapPoints() {
         std::unique_lock<std::mutex> lck(data_mutex_);
         return active_landmarks_;
     }
 
+    /// 获取激活关键帧
     KeyframesType GetActiveKeyFrames() {
         std::unique_lock<std::mutex> lck(data_mutex_);
         return active_keyframes_;

diff --git a/ch13/include/myslam/mappoint.h b/ch13/include/myslam/mappoint.h
@@ -10,14 +10,17 @@ struct Frame;
 
 struct Feature;
 
+/**
+ * 路标点类
+ * 特征点在三角化之后形成路标点
+ */
 struct MapPoint {
    public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
     typedef std::shared_ptr<MapPoint> Ptr;
     unsigned long id_ = 0;  // ID
     bool is_outlier_ = false;
     Vec3 pos_ = Vec3::Zero();  // Position in world
-
     std::mutex data_mutex_;
     int observed_times_ = 0;  // being observed by feature matching algo.
     std::list<std::weak_ptr<Feature>> observations_;
@@ -42,12 +45,13 @@ struct MapPoint {
         observed_times_++;
     }
 
+    void RemoveObservation(std::shared_ptr<Feature> feat);
+
     std::list<std::weak_ptr<Feature>> GetObs() {
         std::unique_lock<std::mutex> lck(data_mutex_);
         return observations_;
     }
 
-    void RemoveObservation(std::shared_ptr<Feature> feat);
     // factory function
     static MapPoint::Ptr CreateNewMappoint();
 };

diff --git a/ch13/include/myslam/viewer.h b/ch13/include/myslam/viewer.h
@@ -13,6 +13,10 @@
 #include "myslam/map.h"
 
 namespace myslam {
+
+/**
+ * 可视化
+ */
 class Viewer {
    public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
@@ -24,8 +28,10 @@ class Viewer {
 
     void Close();
 
+    // 增加一个当前帧
     void AddCurrentFrame(Frame::Ptr current_frame);
 
+    // 更新地图
     void UpdateMap();
 
    private:

diff --git a/ch13/include/myslam/visual_odometry.h b/ch13/include/myslam/visual_odometry.h
@@ -10,10 +10,14 @@
 
 namespace myslam {
 
+/**
+ * VO 对外接口
+ */
 class VisualOdometry {
    public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
     typedef std::shared_ptr<VisualOdometry> Ptr;
+
     /// constructor with config file
     VisualOdometry(std::string &config_path);
 
@@ -33,6 +37,7 @@ class VisualOdometry {
      */
     bool Step();
 
+    /// 获取前端状态
     FrontendStatus GetFrontendStatus() const { return frontend_->GetStatus(); }
 
    private:

diff --git a/ch13/src/backend.cpp b/ch13/src/backend.cpp
@@ -77,7 +77,7 @@ void Backend::Optimize(Map::KeyframesType &keyframes,
 
     // edges
     int index = 1;
-    double chi2_th = 5.991; // robust kernel 阈值
+    double chi2_th = 5.991;  // robust kernel 阈值
     std::map<EdgeProjection *, Feature::Ptr> edges_and_features;
 
     for (auto &landmark : landmarks) {

diff --git a/ch13/src/frontend.cpp b/ch13/src/frontend.cpp
@@ -382,6 +382,9 @@ bool Frontend::BuildInitMap() {
     return true;
 }
 
-bool Frontend::Reset() { return true; }
+bool Frontend::Reset() {
+    LOG(INFO) << "Reset is not implemented. ";
+    return true;
+}
 
 }  // namespace myslam