- find an certain element from map
map<int, Eigen::Vector3d>::iterator itPredict;//map的迭代器
for (size_t i = 0; i < ids.size(); i++)
{
//printf("prevLeftId size %d prevLeftPts size %d\n",(int)prevLeftIds.size(), (int)prevLeftPts.size());
int id = ids[i];
itPredict = predictPts.find(id);
if (itPredict != predictPts.end())//迭代器itPredict如果滿足if中的條件,就說明itPredict已經找到了該id
{
Eigen::Vector2d tmp_uv;
m_camera[0]->spaceToPlane(itPredict->second, tmp_uv);
predict_pts.push_back(cv::Point2f(tmp_uv.x(), tmp_uv.y()));
predict_pts_debug.push_back(cv::Point2f(tmp_uv.x(), tmp_uv.y()));
}
else
predict_pts.push_back(prev_pts[i]);
}
weisong
- Author: Weisong Wen, PhD Candidate in Hong Kong Polytechnic University.
- Email: weisongwen@weisongwen
- Affiliation: Intelligent Positioning and Navigation Laboratory