C++ (Cpp) MapPoint::isLocalDynamicの例

コード例 #1

ファイル: SL_CoSLAMBA.cpp プロジェクト: huangrui815/CoSLAM_for_Target_Following

void BundleRTS::updateNewPosesPoints() {
    //update the points
    for (MapPoint* mpt = pCoSLAM->curMapPts.getHead(); mpt; mpt = mpt->next) {
        if (mpt->lastFrame <= firstKeyFrame->f)
            continue;
//		if (mpt->bLocalDyn == TYPE_MAPPOINT_STATIC || mpt->bLocalDyn == TYPE_MAPPOINT_UNCERTAIN
//		)
        if (mpt->isLocalDynamic())
            updateStaticPointPosition(pCoSLAM->numCams, mpt,
                                      Const::PIXEL_ERR_VAR, false);
        else if (mpt->isLocalDynamic())
            updateDynamicPointPosition(pCoSLAM->numCams, mpt,
                                       Const::PIXEL_ERR_VAR, false);
    }
    for (MapPoint* mpt = pCoSLAM->actMapPts.getHead(); mpt; mpt = mpt->next) {
        if (mpt->lastFrame <= firstKeyFrame->f)
            continue;
//		if (mpt->bLocalDyn == TYPE_MAPPOINT_STATIC || mpt->bLocalDyn == TYPE_MAPPOINT_UNCERTAIN
//		)
        if (mpt->isLocalStatic())
            updateStaticPointPosition(pCoSLAM->numCams, mpt,
                                      Const::PIXEL_ERR_VAR, false);
        else if (mpt->isLocalDynamic())
            updateDynamicPointPosition(pCoSLAM->numCams, mpt,
                                       Const::PIXEL_ERR_VAR, false);
    }
}

コード例 #2

ファイル: SL_CoSLAMRobustBA.cpp プロジェクト: Kyate/CoSLAM

void RobustBundleRTS::updateNewPosesPoints() {
	//update the points
	for (MapPoint* mpt = pCoSLAM->curMapPts.getHead(); mpt; mpt = mpt->next) {
		if (mpt->lastFrame <= firstKeyFrame->f)
			continue;

		if (mpt->isLocalStatic())
			updateStaticPointPosition(pCoSLAM->numCams, mpt,
					Const::PIXEL_ERR_VAR, true);
		else if (mpt->isLocalDynamic())
			updateDynamicPointPosition(pCoSLAM->numCams, mpt,
					Const::PIXEL_ERR_VAR, true);
	}
	for (MapPoint* mpt = pCoSLAM->actMapPts.getHead(); mpt; mpt = mpt->next) {
		if (mpt->lastFrame <= firstKeyFrame->f)
			continue;
		if (mpt->isLocalStatic())
			updateStaticPointPosition(pCoSLAM->numCams, mpt,
					Const::PIXEL_ERR_VAR, true);
		else if (mpt->isLocalStatic())
			updateDynamicPointPosition(pCoSLAM->numCams, mpt,
					Const::PIXEL_ERR_VAR, true);
	}
}