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曹超大佬,感谢回答,请问
1.use_array_ind指的是什么意思呢
2.是用什么方法解决pst问题呢
3.每次采样的candidate viewpoint是当前帧视线范围内的,还是说只要看到过的呢
4.请问在CheckViewPointLineOfSight()中这段代码是什么意思呢,
它是以什么原理取判断viewpoint是否在视线之内以及在当前视线之内呢,
谢谢
for (int xi = 0; xi < 2; xi++)
{
for (int y = 0; y < vp_.kNumber.y(); y++)
{
for (int z = 0; z < vp_.kNumber.z(); z++)
{
int x = x_indices[xi];
Eigen::Vector3i end_sub(x, y, z);
int array_ind = grid_->GetArrayInd(end_sub);
if (!checked[array_ind])
{
CheckViewPointLineOfSightHelper(robot_sub, end_sub, max_sub, min_sub);
checked[array_ind] = true;
}
}
}
}
for (int x = 0; x < vp_.kNumber.x(); x++)
{
for (int yi = 0; yi < 2; yi++)
{
for (int z = 0; z < vp_.kNumber.z(); z++)
{
int y = y_indices[yi];
Eigen::Vector3i end_sub(x, y, z);
int array_ind = grid_->GetArrayInd(end_sub);
if (!checked[array_ind])
{
CheckViewPointLineOfSightHelper(robot_sub, end_sub, max_sub, min_sub);
checked[array_ind] = true;
}
}
}
}
for (int x = 0; x < vp_.kNumber.x(); x++)
{
for (int y = 0; y < vp_.kNumber.y(); y++)
{
for (int zi = 0; zi < 2; zi++)
{
int z = z_indices[zi];
Eigen::Vector3i end_sub(x, y, z);
int array_ind = grid_->GetArrayInd(end_sub);
if (!checked[array_ind])
{
CheckViewPointLineOfSightHelper(robot_sub, end_sub, max_sub, min_sub);
checked[array_ind] = true;
}
}
}
}
}
1,3,4 @qq_40663381 已经回答得很好了。关于2,什么是pst问题?