void NewMapPts::decidePointType() {
using namespace std;
assert(pCoSLAM);
const int hw = 20;
//generate dynamic masks
int numCams = pCoSLAM->numCams;
Mat_uc mask[SLAM_MAX_NUM];
for (int c = 0; c < numCams; c++) {
int camId = m_camGroup.camIds[c];
mask[camId].resize(pCoSLAM->slam[camId].H, pCoSLAM->slam[camId].W);
mask[camId].fill(0);
}
for (int c = 0; c < numCams; c++) {
int camId = m_camGroup.camIds[c];
vector<FeaturePoint*> vecDynMapPts;
pCoSLAM->slam[camId].getMappedDynPts(vecDynMapPts);
int W = mask[camId].cols;
int H = mask[camId].rows;
for (size_t i = 0; i < vecDynMapPts.size(); i++) {
FeaturePoint* fp = vecDynMapPts[i];
int x = static_cast<int>(fp->x + 0.5);
int y = static_cast<int>(fp->y + 0.5);
for (int s = -hw; s <= hw; s++) {
for (int t = -hw; t <= hw; t++) {
int x1 = x + t;
int y1 = y + s;
if (x1 < 0 || x1 >= W || y1 < 0 || y1 >= H)
continue;
mask[camId].data[y1 * W + x1] = 1;
}
}
}
}
for (size_t i = 0; i < newMapPts.size(); i++) {
MapPoint* mpt = newMapPts[i];
if (mpt->isUncertain()) {
bool isStatic = true;
for (int c = 0; c < numCams; c++) {
int camId = m_camGroup.camIds[c];
int W = mask[camId].cols;
int H = mask[camId].rows;
FeaturePoint* fp = mpt->pFeatures[camId];
if (fp) {
int x = static_cast<int>(fp->x + 0.5);
int y = static_cast<int>(fp->y + 0.5);
if (x >= 0 && x < W && y >= 0 && y < H) {
if (mask[camId][y * W + x] > 0) {
isStatic = false;
break;
}
}
}
}
if (isStatic) {
mpt->setLocalStatic();
}
}
}
}
int SingleSLAM::newMapPoints(std::vector<MapPoint*>& mapPts, double maxEpiErr,
double maxNcc) {
std::vector<FeaturePoint*> vecFeatPts;
getUnMappedAndTrackedFeatPts(vecFeatPts, 0, Param::nMinFeatTrkLen);
mapPts.clear();
mapPts.reserve(4096);
double M[3], m1[2], m2[2];
//reconstruct 3D map points
int numRecons = 0;
for (size_t k = 0; k < vecFeatPts.size(); k++) {
FeaturePoint* cur_fp = vecFeatPts[k];
FeaturePoint* pre_fp = cur_fp;
while (pre_fp->preFrame && pre_fp->preFrame->cam) {
if (pre_fp->type == TYPE_FEATPOINT_DYNAMIC) {
break;
}
pre_fp = pre_fp->preFrame;
}
if (pre_fp->type == TYPE_FEATPOINT_DYNAMIC || !pre_fp->cam)
continue;
normPoint(iK.data, pre_fp->m, m1);
normPoint(iK.data, cur_fp->m, m2);
//triangulate the two feature points to get the 3D point
binTriangulate(pre_fp->cam->R, pre_fp->cam->t, cur_fp->cam->R,
cur_fp->cam->t, m1, m2, M);
if (isAtCameraBack(cur_fp->cam->R, cur_fp->cam->t, M))
continue;
double cov[9], org[3];
getBinTriangulateCovMat(K.data, pre_fp->cam->R, pre_fp->cam->t, K.data,
cur_fp->cam->R, cur_fp->cam->t, M, cov, Const::PIXEL_ERR_VAR);
getCameraCenter(cur_fp->cam->R, cur_fp->cam->t, org);
double s = fabs(cov[0] + cov[4] + cov[8]);
if (dist3(org, M) < sqrt(s))
continue;
//check the reprojection error
double err1 = reprojErrorSingle(K.data, pre_fp->cam->R, pre_fp->cam->t,
M, pre_fp->m);
double err2 = reprojErrorSingle(K.data, cur_fp->cam->R, cur_fp->cam->t,
M, cur_fp->m);
if (err1 < maxEpiErr && err2 < maxEpiErr) {
//a new map point is generated
refineTriangulation(cur_fp, M, cov);
err1 = reprojErrorSingle(K.data, pre_fp->cam->R, pre_fp->cam->t, M,
pre_fp->m);
err2 = reprojErrorSingle(K.data, cur_fp->cam->R, cur_fp->cam->t, M,
cur_fp->m);
if (isAtCameraBack(cur_fp->cam->R, cur_fp->cam->t, M)
|| isAtCameraBack(pre_fp->cam->R, pre_fp->cam->t, M))
continue;
if (err1 < maxEpiErr && err2 < maxEpiErr) {
MapPoint* pM = new MapPoint(M[0], M[1], M[2], pre_fp->f);
doubleArrCopy(pM->cov, 0, cov, 9);
mapPts.push_back(pM);
pM->lastFrame = cur_fp->f;
for (FeaturePoint* p = cur_fp; p; p = p->preFrame)
p->mpt = pM;
//add the feature point
pM->addFeature(camId, cur_fp);
pM->setLocalStatic();
//compute the NCC block
pM->nccBlks[camId].computeScaled(m_lastKeyPos->imgSmall,
m_lastKeyPos->imgScale, cur_fp->x, cur_fp->y);
int x = max(0, min((int) cur_fp->x, m_rgb.w - 1));
int y = max(0, min((int) cur_fp->y, m_rgb.h - 1));
pM->setColor(m_rgb(x, y));
numRecons++;
}
}
}
return numRecons;
}
