README.md

map operation

Common operation

• find an certain element from map

map<int, Eigen::Vector3d>::iterator itPredict;//map的迭代器
    for (size_t i = 0; i < ids.size(); i++)
    {
        //printf("prevLeftId size %d prevLeftPts size %d\n",(int)prevLeftIds.size(), (int)prevLeftPts.size());
        int id = ids[i];
        itPredict = predictPts.find(id);
        if (itPredict != predictPts.end())//迭代器itPredict如果滿足if中的條件，就說明itPredict已經找到了該id
        {
            Eigen::Vector2d tmp_uv;
            m_camera[0]->spaceToPlane(itPredict->second, tmp_uv);
            predict_pts.push_back(cv::Point2f(tmp_uv.x(), tmp_uv.y()));
            predict_pts_debug.push_back(cv::Point2f(tmp_uv.x(), tmp_uv.y()));
        }
        else
            predict_pts.push_back(prev_pts[i]);
    }

Reference

1. Visualization.cpp in VINS-Fusion

weisong

Contact

• Author: Weisong Wen, PhD Candidate in Hong Kong Polytechnic University.
• Email: weisongwen@weisongwen
• Affiliation: Intelligent Positioning and Navigation Laboratory