本文整理汇总了C++中KeyFrame::SetNotErase方法的典型用法代码示例。如果您正苦于以下问题：C++ KeyFrame::SetNotErase方法的具体用法？C++ KeyFrame::SetNotErase怎么用？C++ KeyFrame::SetNotErase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::SetNotErase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: matcher
bool LoopClosing::ComputeSim3()
{
// For each consistent loop candidate we try to compute a Sim3
const int nInitialCandidates = mvpEnoughConsistentCandidates.size();
// We compute first ORB matches for each candidate
// If enough matches are found, we setup a Sim3Solver
ORBmatcher matcher(0.75,true);
vector<Sim3Solver*> vpSim3Solvers;
vpSim3Solvers.resize(nInitialCandidates);
vector<vector<MapPoint*> > vvpMapPointMatches;
vvpMapPointMatches.resize(nInitialCandidates);
vector<bool> vbDiscarded;
vbDiscarded.resize(nInitialCandidates);
int nCandidates=0; //candidates with enough matches
for(int i=0; i<nInitialCandidates; i++)
{
KeyFrame* pKF = mvpEnoughConsistentCandidates[i];
// avoid that local mapping erase it while it is being processed in this thread
pKF->SetNotErase();
if(pKF->isBad())
{
vbDiscarded[i] = true;
continue;
}
int nmatches = matcher.SearchByBoW(mpCurrentKF,pKF,vvpMapPointMatches[i]);
if(nmatches<20)
{
vbDiscarded[i] = true;
continue;
}
else
{
Sim3Solver* pSolver = new Sim3Solver(mpCurrentKF,pKF,vvpMapPointMatches[i]);
pSolver->SetRansacParameters(0.99,20,300);
vpSim3Solvers[i] = pSolver;
}
nCandidates++;
}
bool bMatch = false;
// Perform alternatively RANSAC iterations for each candidate
// until one is succesful or all fail
while(nCandidates>0 && !bMatch)
{
for(int i=0; i<nInitialCandidates; i++)
{
if(vbDiscarded[i])
continue;
KeyFrame* pKF = mvpEnoughConsistentCandidates[i];
// Perform 5 Ransac Iterations
vector<bool> vbInliers;
int nInliers;
bool bNoMore;
Sim3Solver* pSolver = vpSim3Solvers[i];
cv::Mat Scm = pSolver->iterate(5,bNoMore,vbInliers,nInliers);
// If Ransac reachs max. iterations discard keyframe
if(bNoMore)
{
vbDiscarded[i]=true;
nCandidates--;
}
// If RANSAC returns a Sim3, perform a guided matching and optimize with all correspondences
if(!Scm.empty())
{
vector<MapPoint*> vpMapPointMatches(vvpMapPointMatches[i].size(), static_cast<MapPoint*>(NULL));
for(size_t j=0, jend=vbInliers.size(); j<jend; j++)
{
if(vbInliers[j])
vpMapPointMatches[j]=vvpMapPointMatches[i][j];
}
cv::Mat R = pSolver->GetEstimatedRotation();
cv::Mat t = pSolver->GetEstimatedTranslation();
const float s = pSolver->GetEstimatedScale();
matcher.SearchBySim3(mpCurrentKF,pKF,vpMapPointMatches,s,R,t,7.5);
g2o::Sim3 gScm(Converter::toMatrix3d(R),Converter::toVector3d(t),s);
const int nInliers = Optimizer::OptimizeSim3(mpCurrentKF, pKF, vpMapPointMatches, gScm, 10);
// If optimization is succesful stop ransacs and continue
if(nInliers>=20)
//.........这里部分代码省略.........