int NewMapPtsNCC::reconstructTracks(Track2D tracks[], int numTracks,
int curFrame, std::vector<MapPoint*>& mapPts, int minLen,
double maxRpErr) {
int num = 0;
for (int k = 0; k < numTracks; k++) {
if (tracks[k].length() >= minLen) {
Mat_d ms(numCams, 2);
Mat_d nms(numCams, 2);
Mat_d Ks(numCams, 9);
Mat_d Rs(numCams, 9);
Mat_d Ts(numCams, 3);
int npts = 0;
for (Track2DNode* pTkNode = tracks[k].head.next; pTkNode; pTkNode =
pTkNode->next) {
int camId = pTkNode->f;
ms.data[2 * npts] = pTkNode->x;
ms.data[2 * npts + 1] = pTkNode->y;
//normalize the image coordinates of the feature points
normPoint(m_invK[camId], ms.data + 2 * npts,
nms.data + 2 * npts);
memcpy(Ks.data + 9 * npts, m_K[camId], sizeof(double) * 9);
memcpy(Rs.data + 9 * npts, m_R[camId], sizeof(double) * 9);
memcpy(Ts.data + 3 * npts, m_t[camId], sizeof(double) * 3);
npts++;
}
double M[4];
triangulateMultiView(npts, Rs.data, Ts.data, nms.data, M);
bool outlier = false;
//check re-projection error
for (int i = 0; i < npts; i++) {
double rm[2];
project(Ks.data + 9 * i, Rs.data + 9 * i, Ts.data + 3 * i, M,
rm);
double err = dist2(ms.data + 2 * i, rm);
if (err > maxRpErr
|| isAtCameraBack(Rs.data + 9 * i, Ts.data + 3 * i, M)) {
outlier = true;
break;
}
}
//if it is a inlier, a new map point is generated
if (!outlier) {
MapPoint* pM = new MapPoint(M[0], M[1], M[2], curFrame);
mapPts.push_back(pM);
//get the triangulation covariance
getTriangulateCovMat(npts, Ks.data, Rs.data, Ts.data, M,
pM->cov, Const::PIXEL_ERR_VAR);
int nDyn = 0;
for (Track2DNode* pTkNode = tracks[k].head.next; pTkNode;
pTkNode = pTkNode->next) {
int iCam = m_camGroup.camIds[pTkNode->f];
FeaturePoint* fp = pTkNode->pt;
fp->reprojErr = reprojErrorSingle(fp->K, fp->cam->R,
fp->cam->t, M, fp->m);
pM->addFeature(iCam, fp);
if (fp->type == TYPE_FEATPOINT_DYNAMIC)
nDyn++;
}
if (nDyn > 1) {
pM->setLocalDynamic();
}
// else if (nDyn == 1)
// pM->type = TYPE_MAPPOINT_UNCERTAIN;
// else{
// pM->type = TYPE_MAPPOINT_UNCERTAIN;
// pM->newPt = true;
// }
else
pM->setUncertain();
num++;
}
}
}
return num;
}
