#include?“ygz/Feature.h“
#include?“ygz/MapPoint.h“
#include?“ygz/frame.h“
#include?“ygz/BackendSlidingWindowG2O.h“
#include?“ygz/Tracker.h“
#include?“ygz/ORBMatcher.h“
#include?“ygz/Camera.h“

//?g2o?related
#include?“ygz/G2OTypes.h“
#include?
#include?
#include?
#include?
#include?

namespace?ygz?{

????bool?BackendSlidingWindowG2O::IsBusy（）?{
????????unique_lock?lock（mMutexAccept）;
????????return?!mbAcceptKeyframes;
????}

????void?BackendSlidingWindowG2O::MainLoop（）?{

????????mbFinished?=?false;
????????while?（1）?{

????????????//?Tracking?will?see?that?Local?Mapping?is?busy
????????????SetAcceptKeyframes（false）;

????????????//?Check?if?there?are?keyframes?in?the?queue
????????????if?（CheckNewKeyframes（））?{
????????????????//?BoW?conversion?and?insertion?in?Map
????????????????mbAbortBA?=?false;
????????????????LOG（INFO）?<????????????????ProcessNewKeyframe（）;
????????????????LOG（INFO）?<????????????}?else?if?（Stop（））?{
????????????????//?Safe?area?to?stop
????????????????while?（isStopped（）?&&?!CheckFinish（））?{
????????????????????usleep（3000）;
????????????????}
????????????????if?（CheckFinish（））
????????????????????break;
????????????}

????????????ResetIfRequested（）;

????????????//?Tracking?will?see?that?Local?Mapping?is?busy
????????????SetAcceptKeyframes（true）;

????????????if?（CheckFinish（））
????????????????break;

????????????usleep（3000）;
????????}

????????SetFinish（）;
????}

????void?BackendSlidingWindowG2O::ProcessNewKeyframe（）?{
????????{
????????????unique_lock?lock（mMutexNewKFs）;
????????????mpCurrent?=?mpNewKFs.front（）;
????????????mpNewKFs.pop_front（）;
????????}

????????{
????????????unique_lock?lockKF（mMutexKFs）;
????????????mpKFs.push_back（mpCurrent）;
????????}

????????//?將雙目匹配出來的，且沒有關聯地圖點的那些點，為它們創建新的地圖點
????????mpCurrent->AssignFeaturesToGrid（）;

????????int?cntSetGood?=?0?cntImmature?=?0;

????????{
????????????unique_lock?lockMps（mMutexPoints）;
????????????unique_lock?lock（mpCurrent->mMutexFeature）;
????????????for?（size_t?i?=?0;?i?mFeaturesLeft.size（）;?i++）?{
????????????????shared_ptr?feat?=?mpCurrent->mFeaturesLeft[i];
????????????????if?（feat?==?nullptr）
????????????????????continue;
????????????????if?（feat->mfInvDepth?>?0?&&?feat->mpPoint?==?nullptr）?{

????????????????????//?距離過近或過遠都不可靠
????????????????????if?（feat->mfInvDepth?????????????????????????feat->mfInvDepth?>?setting::maxNewMapPointInvD）
????????????????????????continue;

????????????????????//?create?a?new?map?point
????????????????????shared_ptr?pNewMP（new?MapPoint（mpCurrent?i））;
????????????????????pNewMP->AddObservation（mpCurrent?i）;
????????????????????feat->mpPoint?=?pNewMP;
????????????????????pNewMP->Com