for (int camera_index = 0; camera_index < this->m_safe_camera_list.size(); ++camera_index) { camera* cam = &(this->m_safe_camera_list[camera_index]); if (cam->m_is_exter_calib_check_mark == true) { // as a Internal reference K of the camera, the K-1 is : // 1/ax 0 -px/ax // 0 1/ay -py/ay // 0 0 1 Eigen::Matrix3f invk; invk.setIdentity(); invk(0, 0) = 1.0 / cam->m_inter_calib(0, 0); invk(0, 2) = -1.0 * cam->m_inter_calib(0, 2) / cam->m_inter_calib(0, 0); invk(1, 1) = 1.0 / cam->m_inter_calib(1, 1); invk(1, 2) = -1.0 * cam->m_inter_calib(1, 2) / cam->m_inter_calib(1, 1); Eigen::Vector3f tmp_t_verts = cam->m_exter_calib.topRightCorner(3, 1); Eigen::Matrix3f tmp_inv_r_mat= cam->m_exter_calib.topLeftCorner(3, 3).transpose(); Eigen::Vector3f tmp_root_point = -tmp_inv_r_mat * tmp_t_verts; for (int pose_index = 0; pose_index < cam->m_2D_pose_list.size(); ++pose_index) { Eigen::MatrixXf pose = cam->m_2D_pose_list[pose_index]; // check the pose's Confidence, if all the joints's confidiance is smaller than the gain, drop out float confidence = pose.row(2).maxCoeff(); if (confidence < this->m_joint_confidence_gian) { continue; }; my_radials tmpradials; tmpradials.m_2d_pose = pose; tmpradials.m_root_point = tmp_root_point; tmpradials.m_radials_points = (invk * pose.topRows(2).colwise().homogeneous()).colwise().normalized(); tmpradials.m_radials_points = tmp_inv_r_mat * tmpradials.m_radials_points; tmpradials.m_3d_pose_ID = -1; tmpradials.m_camera_index = camera_index; tmpradials.m_poes_index = pose_index; tmpradials.m_pose_confidence = pose.row(2).leftCols(7).sum(); this->m_3d_radials.push_back(tmpradials); } } }

这段代码是一个 for 循环，遍历了一个名为 m_safe_camera_list 的相机列表。对于列表中的每个相机，如果其 m_is_exter_calib_check_mark 属性为 true，则进行以下操作：

1. 计算相机的内参矩阵 K 的逆矩阵 invk，其中 K 的值被存储在相机的 m_inter_calib 属性中；
2. 计算相机的外参矩阵 m_exter_calib 的逆矩阵的转置矩阵 tmp_inv_r_mat；
3. 根据 tmp_inv_r_mat 和 m_exter_calib 中的平移向量计算相机在世界坐标系下的位置 tmp_root_point；
4. 遍历相机 m_2D_pose_list 中的姿态，对于每个姿态：
- 检查该姿态的置信度是否大于设定的阈值 m_joint_confidence_gian，如果不是则跳过；
- 构建一个名为 tmpradials 的结构体，存储该姿态的相关信息，包括姿态的 2D 坐标、3D 坐标、相机索引、姿态索引等；
- 将 tmpradials 添加到名为 m_3d_radials 的结构体列表中。

整个代码的作用是将相机的 2D 姿态转换为 3D 姿态，并将结果存储在 m_3d_radials 中。

相关问题

帮我检查下这段代码哪里有问题：// #pragma once #include<iostream> using namespace std; template<class T> class Myarray { public: Myarray(int Capa) { cout << "M的有残调用" << endl; this->m_Capay = Capa; this->m_size = 0; this->pAdress = new T[this->m_Capay] } Myarray(const Myarray& arr) { cout << "M的拷贝调用" << endl; this->m_Capay = arr.m_Capay; this->m_size = arr.m_Capay; //this->pAdress = arr.pAdress; this->pAdress = new T[arr.m_Capay]; for (int i = 0; i < this->m_size; i++) { this->pAdress[i] = arr.pAdress[i]; } } Myarray& operator=(const Myarray& arr) { cout << "M的有operat用" << endl; if (this->pAdress != NULL) { delete[] this->pAdress; this->pAdress = NULL; this->m_Capay = 0; this->m_size = 0 } this->m_Capay = arr.m_Capay; this->m_size = arr.m_size; this->pAdress = new T[arr.m_Capay]; for (int i = 0; i < m_size; i++) { this->pAdress[i] = arr.pAdress[i]; } return *this; } ~Myarray() { if (this->pAdress != NULL) { cout << "M的西沟调用" << endl; delete[] this->pAdress; this->pAdress = NULL; } } private: T* pAdress; int m_Capay; int m_size; };

在第13行，构造函数的语句 `this->pAdress = new T[this->m_Capay]` 末尾缺少分号`;`，应该修改为：

this->pAdress = new T[this->m_Capay];

在第27行，赋值运算符的语句 `this->m_size = arr.m_Capay;` 应该修改为：

this->m_size = arr.m_size;

在第34行，赋值运算符的语句 `this->m_size = arr.m_size;` 应该修改为：

this->m_size = arr.m_size;

在第38行，析构函数的语句 `this->m_size = 0` 末尾缺少分号`;`，应该修改为：

this->m_size = 0;

修改后的代码如下：

#pragma once
#include<iostream>
using namespace std;

template<class T>
class Myarray {
public:
    Myarray(int Capa) {
        cout << "M的有残调用" << endl;
        this->m_Capay = Capa;
        this->m_size = 0;
        this->pAdress = new T[this->m_Capay];
    }
    Myarray(const Myarray& arr) {
        cout << "M的拷贝调用" << endl;
        this->m_Capay = arr.m_Capay;
        this->m_size = arr.m_size;
        //this->pAdress = arr.pAdress;
        this->pAdress = new T[arr.m_Capay];
        for (int i = 0; i < this->m_size; i++)
        {
            this->pAdress[i] = arr.pAdress[i];
        }
    }
    Myarray& operator=(const Myarray& arr) {
        cout << "M的有operat用" << endl;
        if (this->pAdress != NULL)
        {
            delete[] this->pAdress;
            this->pAdress = NULL;
            this->m_Capay = 0;
            this->m_size = 0;
        }
        this->m_Capay = arr.m_Capay;
        this->m_size = arr.m_size;
        this->pAdress = new T[arr.m_Capay];
        for (int i = 0; i < m_size; i++)
        {
            this->pAdress[i] = arr.pAdress[i];
        }
        return *this;
    }
    ~Myarray() {
        if (this->pAdress != NULL)
        {
            cout << "M的西沟调用" << endl;
            delete[] this->pAdress;
            this->pAdress = NULL;
        }
    }
private:
    T* pAdress;
    int m_Capay;
    int m_size;
};

#pragma once #include<iostream> using namespace std; template<class T> class MyArray { public: // 有参构造 MyAddress(int capacity) { this->m_Capacity = capacity; this->m_Size = 0; this->pAddress = new T[this->m_Capacity]; } // 析构函数 ~MyArray() { if (this->pAddress != NULL) { delete[]this->pAddress; this->MyAddress = NULL; } } // 拷贝构造 MyArray(const MyArray& arr) { this->m_Capacity = arr.m_Capacity; this->m_Size = arr.m_Size; /*this->pAddress = arr.pAddress;*/// 浅拷贝 this->pAddress = new T[arr.m_Capacity];// 深拷贝 // 将arr中的数据都拷贝过来 for (int i = 0; i < this->m_Size; i++) { this->pAddress[i] = arr.pAddress[i]; } } // operator= 防止浅拷贝问题 MyArray& operator=(const MyArray& arr) { // 判断原来堆区是否有数据，如果有先释放 if (this->pAddress != NULL) { delete[]this->pAddress; this->pAddress = NULL; this->m_Capacity = 0; this->m_Size = 0; } // 深拷贝 this->m_Capacity = arr.m_Capacity; this->m_Size = arr.m_Size; this->pAddress=new T[arr.m_Capacity] for (int i = 0; i < this->m_Size; i++) { this->pAddress[i] = arr.pAddress[i]; } return *this; } private: T* pAddress;// 指针指向堆区开辟的真实数组 int m_Capacity;// 数组容量 int m_Size;//数组大小 };上述代码有什么问题？

在上述代码中，`MyArray` 类中的构造函数被命名为 `MyAddress`，而不是 `MyArray`，这是一个拼写错误。

此外，在析构函数中，将 `this->MyAddress` 设置为 `NULL` 是错误的，应该是将 `this->pAddress` 设置为 `NULL` 来释放堆内存。

在赋值操作符重载函数中，没有为 `pAddress` 分配新的内存空间之前就进行了赋值操作，这会导致潜在的内存泄漏。应该先为 `pAddress` 分配新的内存空间，然后再进行赋值操作。

修正后的代码如下：

#pragma once
#include<iostream>
using namespace std;

template<class T>
class MyArray {
public:
    // 有参构造
    MyArray(int capacity) {
        this->m_Capacity = capacity;
        this->m_Size = 0;
        this->pAddress = new T[this->m_Capacity];
    }

    // 析构函数
    ~MyArray() {
        if (this->pAddress != NULL) {
            delete[] this->pAddress;
            this->pAddress = NULL;
        }
    }

    // 拷贝构造
    MyArray(const MyArray& arr) {
        this->m_Capacity = arr.m_Capacity;
        this->m_Size = arr.m_Size;
        this->pAddress = new T[arr.m_Capacity];
        // 将arr中的数据都拷贝过来
        for (int i = 0; i < this->m_Size; i++) {
            this->pAddress[i] = arr.pAddress[i];
        }
    }

    // operator= 防止浅拷贝问题
    MyArray& operator=(const MyArray& arr) {
        // 判断原来堆区是否有数据，如果有先释放
        if (this->pAddress != NULL) {
            delete[] this->pAddress;
            this->pAddress = NULL;
            this->m_Capacity = 0;
            this->m_Size = 0;
        }
        // 深拷贝
        this->m_Capacity = arr.m_Capacity;
        this->m_Size = arr.m_Size;
        this->pAddress = new T[arr.m_Capacity];
        for (int i = 0; i < this->m_Size; i++) {
            this->pAddress[i] = arr.pAddress[i];
        }
        return *this;
    }

private:
    T* pAddress;    // 指针指向堆区开辟的真实数组
    int m_Capacity; // 数组容量
    int m_Size;     // 数组大小
};

修正后的代码中，`MyArray` 类的构造函数被改回为 `MyArray`，修复了拼写错误。同时，在析构函数和赋值操作符重载函数中，修正了错误的内存释放和深拷贝实现。