(self, frame)
| 313 | return targets |
| 314 | |
| 315 | def insert_kf(self, frame): |
| 316 | self.last_kf_observed = self.current_seen_voxel |
| 317 | self.current_kf = frame |
| 318 | self.last_kf_seen_voxel = self.seen_voxel |
| 319 | self.kf_graph += [frame] |
| 320 | self.kf_seen_voxel += [self.seen_voxel] |
| 321 | self.kf_seen_voxel_num += [self.last_kf_observed] |
| 322 | self.kf_svo_idx += [self.svo_idx] |
| 323 | # If a new keyframe is inserted, |
| 324 | # add the voxel in the newly inserted keyframe to the unoptimized voxel (remove the overlapping voxel) |
| 325 | if self.kf_selection_method == 'multiple_max_set_coverage' and self.kf_unoptimized_voxels != None: |
| 326 | self.kf_unoptimized_voxels[self.svo_idx.long() + 1] += True |
| 327 | self.kf_unoptimized_voxels[0] = False |
| 328 | |
| 329 | def voxel_field_insert_kf(self, insert_ratio): |
| 330 | # compute intersection |
no outgoing calls
no test coverage detected