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ORB_SLAM2 (NOTES (Frame (mInitialFrame, mLastFrame, mCurrentFrame),…

- - - - double uc, vc, fu, fv,
        cws_determinant, cws[4][3], ccs[4][3]
      - double *pws, *us, *alphas, *pcs
      - int maximum_number_of_correspondences
      - number_of_correspondences
      - vector<MapPoint *mvpMapPointMatches
      - vector<cv::Poin2f> mvP2D
      - vector<float> mvSigma2
      - vector<cv::Point3f> mvP3Dw
    - - ORB_SLAM::
        
        Map* mpMap
        
        Tracking* mpTracker
        
        LoopClosing* mpLoopCloser
        
        Viewer* mpViewer
        
        FrameDrawer* mpFrameDrawer
        
        MapDrawer* mpMapDrawer
        
        LocalMapping* mpLocalMapper
        
        eSensor mSensor
        
        KeyFrameDatabase* mpKeyFrameDatabase
        
        ORBVocabulary* mpVocabulary
      - std::
        
        thread* mptLocalMapping
        
        thread* mptLoopClosing
        
        thread* mptViewer
        
        mutex mMutexReset
        
        bool mbReset
        
        mbActivateLocalizationMode
        
        mbDeactivateLocalizationMode
        
        int mTrackingState
        
        vector<MapPoint*> mTrackedMapPoints
        
        vector<cv::KeyPoint> mTrackedKeyPointsUn
        
        mutex mMutexState
      - Slam system basis of everything, it contains all other objects
- - - - Tracking.cc
        
        in
        
        Tracking::TrackReferenceKeyFrame()
        
        in order to use
        
        int ORBmatcher::SearchByBow()
        
        Called in
        
        Tracking::Track()
      - LocalMapping.cc
      - LoopClosing.cc
      - LocalMapping.cc