C++ MapPoint::setLocalStatic方法代码示例

void NewMapPts::decidePointType() {
	using namespace std;
	assert(pCoSLAM);

	const int hw = 20;

	//generate dynamic masks
	int numCams = pCoSLAM->numCams;
	Mat_uc mask[SLAM_MAX_NUM];
	for (int c = 0; c < numCams; c++) {
		int camId = m_camGroup.camIds[c];
		mask[camId].resize(pCoSLAM->slam[camId].H, pCoSLAM->slam[camId].W);
		mask[camId].fill(0);
	}

	for (int c = 0; c < numCams; c++) {
		int camId = m_camGroup.camIds[c];
		vector<FeaturePoint*> vecDynMapPts;
		pCoSLAM->slam[camId].getMappedDynPts(vecDynMapPts);

		int W = mask[camId].cols;
		int H = mask[camId].rows;
		for (size_t i = 0; i < vecDynMapPts.size(); i++) {
			FeaturePoint* fp = vecDynMapPts[i];
			int x = static_cast<int>(fp->x + 0.5);
			int y = static_cast<int>(fp->y + 0.5);

			for (int s = -hw; s <= hw; s++) {
				for (int t = -hw; t <= hw; t++) {
					int x1 = x + t;
					int y1 = y + s;
					if (x1 < 0 || x1 >= W || y1 < 0 || y1 >= H)
						continue;
					mask[camId].data[y1 * W + x1] = 1;
				}
			}
		}
	}

	for (size_t i = 0; i < newMapPts.size(); i++) {
		MapPoint* mpt = newMapPts[i];
		if (mpt->isUncertain()) {
			bool isStatic = true;
			for (int c = 0; c < numCams; c++) {
				int camId = m_camGroup.camIds[c];
				int W = mask[camId].cols;
				int H = mask[camId].rows;
				FeaturePoint* fp = mpt->pFeatures[camId];
				if (fp) {
					int x = static_cast<int>(fp->x + 0.5);
					int y = static_cast<int>(fp->y + 0.5);

					if (x >= 0 && x < W && y >= 0 && y < H) {
						if (mask[camId][y * W + x] > 0) {
							isStatic = false;
							break;
						}
					}
				}
			}
			if (isStatic) {
				mpt->setLocalStatic();
			}
		}
	}

}

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;
}