Do not instantiate viewers when not asked to use GUI

joydeep-b · Nov 4, 2016 · 411e6af · 411e6af
1 parent 6b2df80
commit 411e6af
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Showing 4 changed files with 59 additions and 32 deletions.
diff --git a/include/System.h b/include/System.h
@@ -158,6 +158,8 @@ class System
     std::mutex mMutexMode;
     bool mbActivateLocalizationMode;
     bool mbDeactivateLocalizationMode;
+
+    const bool enable_gui;
 };
 
 }// namespace ORB_SLAM

diff --git a/include/Tracking.h b/include/Tracking.h
@@ -51,7 +51,7 @@ class LoopClosing;
 class System;
 
 class Tracking
-{  
+{
 
 public:
     Tracking(System* pSys, ORBVocabulary* pVoc, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Map* pMap,
@@ -169,10 +169,10 @@ class Tracking
     KeyFrame* mpReferenceKF;
     std::vector<KeyFrame*> mvpLocalKeyFrames;
     std::vector<MapPoint*> mvpLocalMapPoints;
-    
+
     // System
     System* mpSystem;
-    
+
     //Drawers
     Viewer* mpViewer;
     FrameDrawer* mpFrameDrawer;
@@ -214,6 +214,8 @@ class Tracking
     bool mbRGB;
 
     list<MapPoint*> mlpTemporalPoints;
+
+    bool enable_gui;
 };
 
 } //namespace ORB_SLAM

diff --git a/src/System.cc b/src/System.cc
@@ -29,10 +29,18 @@
 namespace ORB_SLAM2
 {
 
-System::System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor,
-               const bool bUseViewer):mSensor(sensor),mbReset(false),mbActivateLocalizationMode(false),
-        mbDeactivateLocalizationMode(false)
-{
+System::System(const string &strVocFile,
+               const string &strSettingsFile,
+               const eSensor sensor,
+               const bool bUseViewer) :
+    mSensor(sensor),
+    mpViewer(nullptr),
+    mpFrameDrawer(nullptr),
+    mpMapDrawer(nullptr),
+    mbReset(false),
+    mbActivateLocalizationMode(false),
+    mbDeactivateLocalizationMode(false),
+    enable_gui(bUseViewer) {
     // Output welcome message
     cout << endl <<
     "ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza." << endl <<
@@ -77,9 +85,11 @@ System::System(const string &strVocFile, const string &strSettingsFile, const eS
     //Create the Map
     mpMap = new Map();
 
-    //Create Drawers. These are used by the Viewer
-    mpFrameDrawer = new FrameDrawer(mpMap);
-    mpMapDrawer = new MapDrawer(mpMap, strSettingsFile);
+    if (enable_gui) {
+      //Create Drawers. These are used by the Viewer
+      mpFrameDrawer = new FrameDrawer(mpMap);
+      mpMapDrawer = new MapDrawer(mpMap, strSettingsFile);
+    }
 
     //Initialize the Tracking thread
     //(it will live in the main thread of execution, the one that called this constructor)
@@ -94,12 +104,14 @@ System::System(const string &strVocFile, const string &strSettingsFile, const eS
     mpLoopCloser = new LoopClosing(mpMap, mpKeyFrameDatabase, mpVocabulary, mSensor!=MONOCULAR);
     mptLoopClosing = new thread(&ORB_SLAM2::LoopClosing::Run, mpLoopCloser);
 
-    //Initialize the Viewer thread and launch
-    mpViewer = new Viewer(this, mpFrameDrawer,mpMapDrawer,mpTracker,strSettingsFile);
-    if(bUseViewer)
-        mptViewer = new thread(&Viewer::Run, mpViewer);
+    if (enable_gui) {
+      //Initialize the Viewer thread and launch
+      mpViewer =
+          new Viewer(this, mpFrameDrawer,mpMapDrawer,mpTracker,strSettingsFile);
+      mptViewer = new thread(&Viewer::Run, mpViewer);
+      mpTracker->SetViewer(mpViewer);
+    }
 
-    mpTracker->SetViewer(mpViewer);
 
     //Set pointers between threads
     mpTracker->SetLocalMapper(mpLocalMapper);
@@ -118,7 +130,7 @@ cv::Mat System::TrackStereo(const cv::Mat &imLeft, const cv::Mat &imRight, const
     {
         cerr << "ERROR: you called TrackStereo but input sensor was not set to STEREO." << endl;
         exit(-1);
-    }   
+    }
 
     // Check mode change
     {
@@ -163,7 +175,7 @@ cv::Mat System::TrackRGBD(const cv::Mat &im, const cv::Mat &depthmap, const doub
     {
         cerr << "ERROR: you called TrackRGBD but input sensor was not set to RGBD." << endl;
         exit(-1);
-    }    
+    }
 
     // Check mode change
     {
@@ -269,16 +281,16 @@ void System::Shutdown()
 {
     mpLocalMapper->RequestFinish();
     mpLoopCloser->RequestFinish();
-    mpViewer->RequestFinish();
+    if (enable_gui) mpViewer->RequestFinish();
 
     // Wait until all thread have effectively stopped
-    while(!mpLocalMapper->isFinished() || !mpLoopCloser->isFinished()  ||
-          !mpViewer->isFinished()      || mpLoopCloser->isRunningGBA())
-    {
+    while(!mpLocalMapper->isFinished() ||
+          !mpLoopCloser->isFinished()  ||
+          !(enable_gui && mpViewer->isFinished())      ||
+          mpLoopCloser->isRunningGBA()) {
         usleep(5000);
     }
-
-    pangolin::BindToContext("ORB-SLAM2: Map Viewer");
+    if (enable_gui) pangolin::BindToContext("ORB-SLAM2: Map Viewer");
 }
 
 void System::SaveTrajectoryTUM(const string &filename)

diff --git a/src/Tracking.cc b/src/Tracking.cc
@@ -46,8 +46,11 @@ namespace ORB_SLAM2
 Tracking::Tracking(System *pSys, ORBVocabulary* pVoc, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Map *pMap, KeyFrameDatabase* pKFDB, const string &strSettingPath, const int sensor):
     mState(NO_IMAGES_YET), mSensor(sensor), mbOnlyTracking(false), mbVO(false), mpORBVocabulary(pVoc),
     mpKeyFrameDB(pKFDB), mpInitializer(static_cast<Initializer*>(NULL)), mpSystem(pSys),
-    mpFrameDrawer(pFrameDrawer), mpMapDrawer(pMapDrawer), mpMap(pMap), mnLastRelocFrameId(0)
-{
+    mpFrameDrawer(pFrameDrawer), mpMapDrawer(pMapDrawer), mpMap(pMap),
+    mnLastRelocFrameId(0), enable_gui(true) {
+    if (!mpFrameDrawer || !mpMapDrawer) {
+      enable_gui = false;
+    }
     // Load camera parameters from settings file
 
     cv::FileStorage fSettings(strSettingPath, cv::FileStorage::READ);
@@ -283,7 +286,7 @@ void Tracking::Track()
         else
             MonocularInitialization();
 
-        mpFrameDrawer->Update(this);
+        if (enable_gui) mpFrameDrawer->Update(this);
 
         if(mState!=OK)
             return;
@@ -414,8 +417,10 @@ void Tracking::Track()
         else
             mState=LOST;
 
-        // Update drawer
-        mpFrameDrawer->Update(this);
+        if (enable_gui) {
+          // Update drawer
+          mpFrameDrawer->Update(this);
+        }
 
         // If tracking were good, check if we insert a keyframe
         if(bOK)
@@ -431,7 +436,9 @@ void Tracking::Track()
             else
                 mVelocity = cv::Mat();
 
-            mpMapDrawer->SetCurrentCameraPose(mCurrentFrame.mTcw);
+            if (enable_gui) {
+              mpMapDrawer->SetCurrentCameraPose(mCurrentFrame.mTcw);
+            }
 
             // Clean VO matches
             for(int i=0; i<mCurrentFrame.N; i++)
@@ -554,7 +561,9 @@ void Tracking::StereoInitialization()
 
         mpMap->mvpKeyFrameOrigins.push_back(pKFini);
 
-        mpMapDrawer->SetCurrentCameraPose(mCurrentFrame.mTcw);
+        if (enable_gui) {
+          mpMapDrawer->SetCurrentCameraPose(mCurrentFrame.mTcw);
+        }
 
         mState=OK;
     }
@@ -729,7 +738,9 @@ void Tracking::CreateInitialMapMonocular()
 
     mpMap->SetReferenceMapPoints(mvpLocalMapPoints);
 
-    mpMapDrawer->SetCurrentCameraPose(pKFcur->GetPose());
+    if (enable_gui) {
+      mpMapDrawer->SetCurrentCameraPose(pKFcur->GetPose());
+    }
 
     mpMap->mvpKeyFrameOrigins.push_back(pKFini);
 
@@ -916,7 +927,7 @@ bool Tracking::TrackWithMotionModel()
             else if(mCurrentFrame.mvpMapPoints[i]->Observations()>0)
                 nmatchesMap++;
         }
-    }    
+    }
 
     if(mbOnlyTracking)
     {