(self, tracked_frame=None)
| 291 | ) |
| 292 | |
| 293 | def select_optimize_targets(self, tracked_frame=None): |
| 294 | targets = [] |
| 295 | selection_method = self.kf_selection_method |
| 296 | if len(self.kf_graph) <= self.kf_window_size: |
| 297 | targets = self.kf_graph[:] |
| 298 | elif selection_method == 'random': |
| 299 | targets = random.sample(self.kf_graph, self.kf_window_size) |
| 300 | elif selection_method == 'multiple_max_set_coverage': |
| 301 | targets, self.kf_unoptimized_voxels, self.kf_optimized_voxels, self.kf_all_voxels = multiple_max_set_coverage( |
| 302 | self.kf_graph, |
| 303 | self.kf_seen_voxel_num, |
| 304 | self.kf_unoptimized_voxels, |
| 305 | self.kf_optimized_voxels, |
| 306 | self.kf_window_size, |
| 307 | self.kf_svo_idx, |
| 308 | self.kf_all_voxels, |
| 309 | self.num_vertexes) |
| 310 | |
| 311 | if tracked_frame is not None and (tracked_frame != self.current_kf): |
| 312 | targets += [tracked_frame] |
| 313 | return targets |
| 314 | |
| 315 | def insert_kf(self, frame): |
| 316 | self.last_kf_observed = self.current_seen_voxel |
no test coverage detected