LocalMapping

LocalMapping(System* pSys, 
             Atlas* pAtlas, 
             const float bMonocular, 
             bool bInertial, 
             const string &_strSeqName = std::string())

void Run()

void RequestStop()

bool Stop()

void Release()

bool isStopped()

bool stopRequested()

void RequestFinish()

bool isFinished()

bool SetNotStop(bool flag)

void InsertKeyFrame(KeyFrame* pKF)

void EmptyQueue()

int KeyframesInQueue()

bool AcceptKeyFrames()

void SetAcceptKeyFrames(bool flag)

void SetLoopCloser(LoopClosing* pLoopCloser)

void SetTracker(Tracking* pTracker)

void RequestReset()

void RequestResetActiveMap(Map* pMap)

void InterruptBA()

bool IsInitializing()

double GetCurrKFTime()

KeyFrame* GetCurrKF()

Eigen::MatrixXd mcovInertial;  // Inertial covariance matrix
Eigen::Matrix3d mRwg;          // Rotation from world to gravity
Eigen::Vector3d mbg;           // Gyroscope bias
Eigen::Vector3d mba;           // Accelerometer bias
double mScale;                  // Scale factor
double mInitTime;              // Initialization time
double mCostTime;              // Optimization cost time

unsigned int mInitSect;        // Initialization section
unsigned int mIdxInit;         // Initialization index
unsigned int mnKFs;            // Number of keyframes
double mFirstTs;               // First timestamp
int mnMatchesInliers;          // Number of inlier matches
int mInitFr;                   // Initial frame ID
int mIdxIteration;             // Iteration index
string strSequence;            // Sequence name

bool mbNotBA1;     // Skip first BA
bool mbNotBA2;     // Skip second BA
bool mbBadImu;     // IMU initialization failed
bool mbWriteStats; // Write statistics to file

bool mbFarPoints;      // Enable far point filtering
float mThFarPoints;    // Threshold for far points (in meters)

// Local Mapping is typically created by the System class
// Example initialization:

ORB_SLAM3::LocalMapping localMapper(pSystem, pAtlas, 
                                    true,  // monocular
                                    false, // no IMU
                                    "sequence_01");

localMapper.SetLoopCloser(pLoopCloser);
localMapper.SetTracker(pTracker);

// Start the thread
std::thread localMappingThread(&ORB_SLAM3::LocalMapping::Run, &localMapper);

// Insert a keyframe from tracking
localMapper.InsertKeyFrame(pNewKeyFrame);

// Check queue status
int queueSize = localMapper.KeyframesInQueue();
std::cout << "Keyframes in queue: " << queueSize << std::endl;

// Stop for visualization
localMapper.RequestStop();
while (!localMapper.isStopped()) {
    std::this_thread::sleep_for(std::chrono::milliseconds(3));
}

// Resume processing
localMapper.Release();

// Cleanup
localMapper.RequestFinish();
localMappingThread.join();