本文整理汇总了C++中MapPoint::SetWorldPos方法的典型用法代码示例。如果您正苦于以下问题：C++ MapPoint::SetWorldPos方法的具体用法？C++ MapPoint::SetWorldPos怎么用？C++ MapPoint::SetWorldPos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MapPoint的用法示例。
在下文中一共展示了MapPoint::SetWorldPos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: CorrectLoop
void LoopClosing::CorrectLoop()
{
// Send a stop signal to Local Mapping
// Avoid new keyframes are inserted while correcting the loop
mpLocalMapper->RequestStop();
// Wait until Local Mapping has effectively stopped
//ros::Rate r(1e4);
//while(ros::ok() && !mpLocalMapper->isStopped())
while(!mpLocalMapper->isStopped())
{
//r.sleep();
boost::this_thread::sleep(boost::posix_time::milliseconds(10000));
}
// Ensure current keyframe is updated
mpCurrentKF->UpdateConnections();
// Retrive keyframes connected to the current keyframe and compute corrected Sim3 pose by propagation
mvpCurrentConnectedKFs = mpCurrentKF->GetVectorCovisibleKeyFrames();
mvpCurrentConnectedKFs.push_back(mpCurrentKF);
KeyFrameAndPose CorrectedSim3, NonCorrectedSim3;
CorrectedSim3[mpCurrentKF]=mg2oScw;
cv::Mat Twc = mpCurrentKF->GetPoseInverse();
for(vector<KeyFrame*>::iterator vit=mvpCurrentConnectedKFs.begin(), vend=mvpCurrentConnectedKFs.end(); vit!=vend; vit++)
{
KeyFrame* pKFi = *vit;
cv::Mat Tiw = pKFi->GetPose();
if(pKFi!=mpCurrentKF)
{
cv::Mat Tic = Tiw*Twc;
cv::Mat Ric = Tic.rowRange(0,3).colRange(0,3);
cv::Mat tic = Tic.rowRange(0,3).col(3);
g2o::Sim3 g2oSic(Converter::toMatrix3d(Ric),Converter::toVector3d(tic),1.0);
g2o::Sim3 g2oCorrectedSiw = g2oSic*mg2oScw;
//Pose corrected with the Sim3 of the loop closure
CorrectedSim3[pKFi]=g2oCorrectedSiw;
}
cv::Mat Riw = Tiw.rowRange(0,3).colRange(0,3);
cv::Mat tiw = Tiw.rowRange(0,3).col(3);
g2o::Sim3 g2oSiw(Converter::toMatrix3d(Riw),Converter::toVector3d(tiw),1.0);
//Pose without correction
NonCorrectedSim3[pKFi]=g2oSiw;
}
// Correct all MapPoints obsrved by current keyframe and neighbors, so that they align with the other side of the loop
for(KeyFrameAndPose::iterator mit=CorrectedSim3.begin(), mend=CorrectedSim3.end(); mit!=mend; mit++)
{
KeyFrame* pKFi = mit->first;
g2o::Sim3 g2oCorrectedSiw = mit->second;
g2o::Sim3 g2oCorrectedSwi = g2oCorrectedSiw.inverse();
g2o::Sim3 g2oSiw =NonCorrectedSim3[pKFi];
vector<MapPoint*> vpMPsi = pKFi->GetMapPointMatches();
for(size_t iMP=0, endMPi = vpMPsi.size(); iMP<endMPi; iMP++)
{
MapPoint* pMPi = vpMPsi[iMP];
if(!pMPi)
continue;
if(pMPi->isBad())
continue;
if(pMPi->mnCorrectedByKF==mpCurrentKF->mnId)
continue;
// Project with non-corrected pose and project back with corrected pose
cv::Mat P3Dw = pMPi->GetWorldPos();
Eigen::Matrix<double,3,1> eigP3Dw = Converter::toVector3d(P3Dw);
Eigen::Matrix<double,3,1> eigCorrectedP3Dw = g2oCorrectedSwi.map(g2oSiw.map(eigP3Dw));
cv::Mat cvCorrectedP3Dw = Converter::toCvMat(eigCorrectedP3Dw);
pMPi->SetWorldPos(cvCorrectedP3Dw);
pMPi->mnCorrectedByKF = mpCurrentKF->mnId;
pMPi->mnCorrectedReference = pKFi->mnId;
pMPi->UpdateNormalAndDepth();
}
// Update keyframe pose with corrected Sim3. First transform Sim3 to SE3 (scale translation)
Eigen::Matrix3d eigR = g2oCorrectedSiw.rotation().toRotationMatrix();
Eigen::Vector3d eigt = g2oCorrectedSiw.translation();
double s = g2oCorrectedSiw.scale();
eigt *=(1./s); //[R t/s;0 1]
cv::Mat correctedTiw = Converter::toCvSE3(eigR,eigt);
pKFi->SetPose(correctedTiw);
// Make sure connections are updated
pKFi->UpdateConnections();
}
// Start Loop Fusion
// Update matched map points and replace if duplicated
//.........这里部分代码省略.........