Function updateMapElements

viewer/public/js/main.js:293–345

(msgSize, keyframes, edges, points, referencePointIds, currentFramePose)

}

function updateMapElements(msgSize, keyframes, edges, points, referencePointIds, currentFramePose) {
    trackStats.update();
    cameraFrames.updateCurrentFrame(currentFramePose);
    viewControls.setCurrentIntrinsic(currentFramePose);

    if (cameraFrames.numValidKeyframe == 0 && keyframes.length == 0) {
        return;
    }

    for (let point of points) {
        let id = point["id"];
        if (point["point_pos"] == undefined) {
            pointCloud.removePoint(id);
        }
        else {
            let x = point["point_pos"][0] * GLOBAL_SCALE;
            let y = point["point_pos"][1] * GLOBAL_SCALE;
            let z = point["point_pos"][2] * GLOBAL_SCALE;
            let r = point["rgb"][0];
            let g = point["rgb"][1];
            let b = point["rgb"][2];
            pointCloud.updatePoint(id, x, y, z, r, g, b);
        }
    }
    for (let keyframe of keyframes) {
        let id = keyframe["id"];
        if (keyframe["camera_pose"] == undefined) {
            cameraFrames.removeKeyframe(id);
        }
        else {
            cameraFrames.updateKeyframe(id, keyframe["camera_pose"]);
        }
    }
    cameraFrames.setEdges(edges);


    let currentMillis = new Date().getTime();
    if (receiveTimestamp != 0) {
        let dt = currentMillis - receiveTimestamp;
        if (dt < 2) dt = 2;
        let fps = 1000.0 / dt;
        // adaptive update rate
        //viewControls.updateSmoothness(fps);
        console.log(("         " + parseInt(msgSize / 1000)).substr(-6) + " KB"
            + ("     " + (fps).toFixed(1)).substr(-7) + " fps, "
            + ("         " + pointCloud.nValidPoint).substr(-6) + " pts, "
            + ("         " + cameraFrames.numValidKeyframe).substr(-6) + " kfs");
    }
    receiveTimestamp = currentMillis;

    pointCloud.colorizeReferencePoints(referencePointIds);

}

function removeAllElements() {
    for (let id in pointCloud.vertexIds) {