泳道流程图（垂直）
2017-03-02 17:08:59 0 举报CLOUD_BASED_VO
作者其他创作
大纲/内容
Converting pts_obj & pts_img & cameraMatrix to string
Recover pts_img & pts_obj &cameraMatrix
Send Mainloop Message
Return String
Join PointCloud
Robot.cpp
Parsing Json-String to TMatrix
slamCore
ROBOT
Connect to Server
FFIInterface
Luajit
Close
NginX
Initialization
N
Receive Mainloop Message
Compute Keypoints and Descriptor
Initial
Receive Initial Message
Type?
Read a Frame
Save Initializing Parameters
MainLoop
End of Frames?
Send Close Message
CLOUD_BASED_VO
Load Parameters
SERVER
Matching
Send Initial Message
slamInterface.cpp
Converting TMatrix to String
Y
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