The weighted predicted velocity about dynamic-vins HOT 1 CLOSED

if (!is_compensate)
    {
        unsigned short temp_object_id = prev_semantic_id.at<unsigned short>(y_center, x_center);

        if (temp_object_id > 0)
        {
            dynamic_objects[temp_object_id].x_vel = x_center - dynamic_objects[temp_object_id].x_center;
            dynamic_objects[temp_object_id].y_vel = y_center - dynamic_objects[temp_object_id].y_center;
        }
        else
        {
            temp_object_id = ++object_id;
        }

        dynamic_objects[temp_object_id].x_center = x_center;
        dynamic_objects[temp_object_id].y_center = y_center;
        dynamic_objects[temp_object_id].x1 = x1;
        dynamic_objects[temp_object_id].y1 = y1;
        dynamic_objects[temp_object_id].x2 = x2;
        dynamic_objects[temp_object_id].y2 = y2;

        dynamic_objects[temp_object_id].x_weight_vel =
            (dynamic_objects[temp_object_id].x_weight_vel + dynamic_objects[temp_object_id].x_vel) / 2;
        dynamic_objects[temp_object_id].y_weight_vel =
            (dynamic_objects[temp_object_id].y_weight_vel + dynamic_objects[temp_object_id].y_vel) / 2;
        dynamic_objects[temp_object_id].is_update = true;
        dynamic_objects[temp_object_id].no_update_times = 0;
        cv::rectangle(semantic_id, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(temp_object_id), -1);
    }