Lsd-slam Deep Learning (3)-code parsing

Objective

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In Lsd-slam deep Learning (2) We have analyzed the algorithms here, assuming that the reader is already familiar with the basic operation of Ros, and has written a certain amount of code, we are directly on the dry. The procedure analyzed here is as follows

Main_live_odometry.cpp, the main function that can read video in real time

Main function

Track thread

Map thread

Constrait Threads

Optimization threads

Lsd-slam Deep Learning (3)-code parsing