本文整理汇总了C++中MapPoint::setColor方法的典型用法代码示例。如果您正苦于以下问题：C++ MapPoint::setColor方法的具体用法？C++ MapPoint::setColor怎么用？C++ MapPoint::setColor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::setColor方法的2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: output
void NewMapPtsNCC::output() {
decidePointType();
for (size_t i = 0; i < newMapPts.size(); i++) {
MapPoint* mpt = newMapPts[i];
for (int c = 0; c < numCams; c++) {
int camId = m_camGroup.camIds[c];
if (mpt->pFeatures[camId]) {
for (FeaturePoint* fp = mpt->pFeatures[camId]; fp->nextFrame;
fp = fp->nextFrame) {
fp->mpt = mpt;
mpt->lastFrame =
fp->f > mpt->lastFrame ? fp->f : mpt->lastFrame;
mpt->nccBlks[camId].computeScaled(
pCoSLAM->slam[camId].m_smallImg,
pCoSLAM->slam[camId].m_smallScale, fp->x, fp->y);
int x = max(0, min((int) fp->x, pCoSLAM->slam[camId].m_img.w));
int y = max(0, min((int) fp->y, pCoSLAM->slam[camId].m_img.h));
mpt->setColor(pCoSLAM->slam[camId].m_rgb(x,y));
}
}
}
if (newMapPts[i]->lastFrame < pCoSLAM->curFrame) {
pCoSLAM->actMapPts.add(mpt);
} else
pCoSLAM->curMapPts.add(mpt);
}
}示例2: newMapPoints
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;
}