本文整理汇总了C++中KinfuTracker::icpIsLost方法的典型用法代码示例。如果您正苦于以下问题：C++ KinfuTracker::icpIsLost方法的具体用法？C++ KinfuTracker::icpIsLost怎么用？C++ KinfuTracker::icpIsLost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KinfuTracker的用法示例。
在下文中一共展示了KinfuTracker::icpIsLost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: if
void
displayICPState (KinfuTracker& kinfu, bool was_lost_)
{
string name = "last_good_track";
string name_estimate = "last_good_estimate";
if (was_lost_ && !kinfu.icpIsLost ()) //execute only when ICP just recovered (i.e. was_lost_ == true && icpIsLost == false)
{
removeCamera(name);
removeCamera(name_estimate);
clearClouds(false);
cloud_viewer_.updateText ("ICP State: OK", 450, 55, 20, 0.0, 1.0, 0.0, "icp");
cloud_viewer_.updateText ("Press 'S' to save the current world", 450, 35, 10, 0.0, 1.0, 0.0, "icp_save");
cloud_viewer_.updateText ("Press 'R' to reset the system", 450, 15, 10, 0.0, 1.0, 0.0, "icp_reset");
}
else if (!was_lost_ && kinfu.icpIsLost()) //execute only when we just lost ourselves (i.e. was_lost_ = false && icpIsLost == true)
{
// draw position of the last good track
Eigen::Affine3f last_pose = kinfu.getCameraPose();
drawCamera(last_pose, name, 0.0, 1.0, 0.0);
cloud_viewer_.updateText ("ICP State: LOST", 450, 55, 20, 1.0, 0.0, 0.0, "icp");
cloud_viewer_.updateText ("Press 'S' to save the current world", 450, 35, 10, 1.0, 0.0, 0.0, "icp_save");
cloud_viewer_.updateText ("Press 'R' to reset the system", 450, 15, 10, 1.0, 0.0, 0.0, "icp_reset");
}
if( kinfu.icpIsLost() )
{
removeCamera(name_estimate);
// draw current camera estimate
Eigen::Affine3f last_pose_estimate = kinfu.getLastEstimatedPose();
drawCamera(last_pose_estimate, name_estimate, 1.0, 0.0, 0.0);
}
// cout << "current estimated pose: " << kinfu.getLastEstimatedPose().translation() << std::endl << kinfu.getLastEstimatedPose().linear() << std::endl;
//
}