def mapping_process(camera, conn: Pipe):
optimizer = LocalBA()
keyframes = []
mappoints = []
measurements = []
stopped = False
while not stopped:
# we need two things, keyframe poses and measurements
# the measurements have mappoints, keyframe id and projected position
new_keyframes = []
new_mappoints = []
new_measurements = []
while not conn.empty()
new_data = conn.recv()
if type(new_data) is PipeKeyFrame:
new_keyframes.append(new_data)
elif type(new_data) is PipeMapPoint:
new_mappoints.append(new_data)
elif type(new_data) is PipeMeasurement:
new_measurements.append(new_data)
for kf in new_keyframes:
optimizer.add_keyframe(kf.id, kf.pose, camera, fixed=True)
for mp in new_mappoints:
optimizer.add_mappoint(mp.id, mp.position)
def receive_command_data(self, pipe: multiprocessing.Pipe) -> any:
if not pipe.empty():
return pipe.get()
else:
return None