| 3425 | } |
| 3426 | |
| 3427 | void Tracking::UpdateLocalPoints() |
| 3428 | { |
| 3429 | mvpLocalMapPoints.clear(); |
| 3430 | |
| 3431 | int count_pts = 0; |
| 3432 | |
| 3433 | for(vector<KeyFrame*>::const_reverse_iterator itKF=mvpLocalKeyFrames.rbegin(), itEndKF=mvpLocalKeyFrames.rend(); itKF!=itEndKF; ++itKF) |
| 3434 | { |
| 3435 | KeyFrame* pKF = *itKF; |
| 3436 | const vector<MapPoint*> vpMPs = pKF->GetMapPointMatches(); |
| 3437 | |
| 3438 | for(vector<MapPoint*>::const_iterator itMP=vpMPs.begin(), itEndMP=vpMPs.end(); itMP!=itEndMP; itMP++) |
| 3439 | { |
| 3440 | |
| 3441 | MapPoint* pMP = *itMP; |
| 3442 | if(!pMP) |
| 3443 | continue; |
| 3444 | if(pMP->mnTrackReferenceForFrame==mCurrentFrame.mnId) |
| 3445 | continue; |
| 3446 | if(!pMP->isBad()) |
| 3447 | { |
| 3448 | count_pts++; |
| 3449 | mvpLocalMapPoints.push_back(pMP); |
| 3450 | pMP->mnTrackReferenceForFrame=mCurrentFrame.mnId; |
| 3451 | } |
| 3452 | } |
| 3453 | } |
| 3454 | } |
| 3455 | |
| 3456 | |
| 3457 | void Tracking::UpdateLocalKeyFrames() |
nothing calls this directly
no test coverage detected