Add curr frame's points into m_keyframe_of_updating_list

[narutojxl]

Hi @ziv-lin, after transformed curr's points into map, when insert these celles into m_keyframe_of_updating_list called in add_cells into each keyframe of updating_list, we only insert the first cell into each keyframe, right? why we don't insert all of cells into each of them? Thanks for your help!

FUNC_T void add_cells( const std::set< Mapping_cell_ptr > &cells_vec ) { unsigned int last_cell_numbers = 0; for ( typename std::set< Mapping_cell_ptr >::iterator it = cells_vec.begin(); it != cells_vec.end(); it++ ) { m_set_cell.insert( ( it ) ); m_map_pt_cell.insert( std::make_pair(((it))->get_center(), it) ); if(last_cell_numbers!= m_set_cell.size()) // New different cell { if(last_cell_numbers == 0) { // Init octree m_pcl_cells_center->push_back( pcl::PointXYZ( (it)->m_center( 0 ), (it)->m_center( 1 ), (it)->m_center( 2 ) ) ); } last_cell_numbers = m_set_cell.size(); } }; m_accumulate_frames++; }

[ziv-lin]

Not only just the first cell, we insert all of the cells which have been visited in this scan.

[narutojxl]

Hi @ziv-lin, why when we insert cell's center into m_pcl_cells_center only when last_cell_numbers == 0, I don't understand.

[ziv-lin]

This is some of the codes of legacy, in the older version, I maintain a octree in Maps, which have beed deleted in one of the version, but I forget to delete this code :)