(self, tracked_frame=None, update_pose=True)
| 269 | return first_frame |
| 270 | |
| 271 | def do_mapping(self, tracked_frame=None, update_pose=True): |
| 272 | self.decoder.train() |
| 273 | optimize_targets = self.select_optimize_targets(tracked_frame) |
| 274 | bundle_adjust_frames( |
| 275 | optimize_targets, |
| 276 | self.map_states, |
| 277 | self.decoder, |
| 278 | self.loss_criteria, |
| 279 | self.voxel_size, |
| 280 | self.step_size, |
| 281 | self.n_rays, |
| 282 | self.num_iterations, |
| 283 | self.sdf_truncation, |
| 284 | self.max_voxel_hit, |
| 285 | self.max_distance, |
| 286 | update_pose=update_pose, |
| 287 | optim=self.optim, |
| 288 | scaler=self.scaler, |
| 289 | frame_id=tracked_frame.stamp, |
| 290 | use_adaptive_ending=self.use_adaptive_ending |
| 291 | ) |
| 292 | |
| 293 | def select_optimize_targets(self, tracked_frame=None): |
| 294 | targets = [] |
no test coverage detected