dataset.h
                                    ↑
common_include.h -> 1.camera.h -> frame.h ---|-------------|
                    2.config.h       |       |             |--->frontend.h---| 
                    3.feature.h      |       |---->map.h---|                 |
                    4.mappoint.h ------------|      ↓                       |----->visual_odometry.h
                    5.g2o_types.h    |----------->viewer.h-------------------|

1.Camera

fx,fy,cx,cy,pose

2.Config

File->dataset_dir,fx,fy,cx,cy,num_features,num_features_init, num_features_tracking

3.Feature

Frame

KeyPoint(pixel)

MapPoint(3rdPose)

Outlier(T,F)

InImage(T,F)

↕

4.MapPoint

Id

Outlier(T,F)

Pose

ObservedTime

vector

5.Frame

Id

KeyFrameId

IsKeyFrame(T,F)

Pose

LeftImg

RightImg

vector

vector

6.Dataset

Dataset_path

vector(4)

Get_NextFrame

7.Map

Landmarks(map)

KeyFrames(map)

Num_Active_Keyframes_(show 7 boxes)

8.Frontend

CurrentFrame

LastFrame

LeftCamera

RightCamera

Tracking_inliers

Target=RelativeMotion(Last,Current)

Backend

Viewer

9.Visual_Odometry

Frontend

Backend

Map

Viewer

Dataset

VisualOdometry->Config->Dataset

Frontend(Dataset->Camera0,Dataset->Camera1)