本文整理汇总了C++中KeyFrame::GetCameraCenter方法的典型用法代码示例。如果您正苦于以下问题：C++ KeyFrame::GetCameraCenter方法的具体用法？C++ KeyFrame::GetCameraCenter怎么用？C++ KeyFrame::GetCameraCenter使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类KeyFrame的用法示例。
在下文中一共展示了KeyFrame::GetCameraCenter方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: UpdateNormalAndDepth
void MapPoint::UpdateNormalAndDepth()
{
map<KeyFrame*,size_t> observations;
KeyFrame* pRefKF;
cv::Mat Pos;
{
boost::mutex::scoped_lock lock1(mMutexFeatures);
boost::mutex::scoped_lock lock2(mMutexPos);
if(mbBad)
return;
observations=mObservations;
pRefKF=mpRefKF;
Pos = mWorldPos.clone();
}
cv::Mat normal = cv::Mat::zeros(3,1,CV_32F);
int n=0;
for(map<KeyFrame*,size_t>::iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++)
{
KeyFrame* pKF = mit->first;
cv::Mat Owi = pKF->GetCameraCenter();
cv::Mat normali = mWorldPos - Owi;
normal = normal + normali/cv::norm(normali);
n++;
}
cv::Mat PC = Pos - pRefKF->GetCameraCenter();
const float dist = cv::norm(PC);
const int level = pRefKF->GetKeyPointScaleLevel(observations[pRefKF]);
const float scaleFactor = pRefKF->GetScaleFactor();
const float levelScaleFactor = pRefKF->GetScaleFactor(level);
const int nLevels = pRefKF->GetScaleLevels();
{
boost::mutex::scoped_lock lock3(mMutexPos);
mfMinDistance = (1.0f/scaleFactor)*dist / levelScaleFactor;
mfMaxDistance = scaleFactor*dist * pRefKF->GetScaleFactor(nLevels-1-level);
mNormalVector = normal/n;
}
}