Skip to content

Save/Load Atlas Functionality #310

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
neo-knight-td wants to merge 17 commits into from
Closed

Save/Load Atlas Functionality #310

Changes from 1 commit
Commits
Show all changes
17 commits
Select commit Hold shift + click to select a range
980ac9b
Boost serialization code + PreSave/PostLoad functions
May 4, 2021
0ce0d6d
Serialization code + added constructor for KFDB loading
May 4, 2021
3e58a1f
Serialization code + added include for tuple serialization
May 4, 2021
ae0ed23
Load/Save Atlas functions declaration
May 4, 2021
b3a7adc
PreSave/PostLoad code added
May 4, 2021
c4ce511
Functions for Save/Load + constructor + avoid infinite loop in Detect…
May 4, 2021
9e603a7
avoid failure in 1st LBA post merge
May 4, 2021
3ae3981
added condition in color index
May 4, 2021
2dd5fef
PreSave/PostLoad functions + avoid getting empty camera center
May 4, 2021
a9948ee
Added include and examples
May 4, 2021
ea2da47
Save/Load Functions
May 4, 2021
a77e821
Set StepbyStep
May 4, 2021
dcbb819
Added include and example code
May 4, 2021
114227e
Add Mono scripts in CMakeLists.txt
Sep 18, 2021
c9316ed
Unserialize MspMaps
Sep 18, 2021
ce8a338
Mono Scripts
Sep 18, 2021
d2f6ddd
Add Mono code lines
Sep 18, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Next Next commit
Added include and examples
  • Loading branch information
Thomas Dutrannois committed May 4, 2021
commit a9948ee5eae5863e837ee9200761c39c2867e518
10 changes: 10 additions & 0 deletions CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -113,6 +113,7 @@ include/OptimizableTypes.h
include/MLPnPsolver.h
include/TwoViewReconstruction.h
include/Config.h
include/serialize_tuple.h
Copy link

@fliegend fliegend May 6, 2021

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

why not directly use boost library? It works with me.

Copy link
Author

@neo-knight-td neo-knight-td May 6, 2021

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

When I serialized large maps, I had a bug when recovering the MapPoints's observations from the backup. Serializing mObservations directly solved the problem. However those observations contain a tuples. If I'm not mistaken, by default, there is no tuple serialization in Boost. That's why this is required.

Copy link

@fliegend fliegend May 7, 2021

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I didn't meet this kind of problem. Will your program break down with red error? Recover from backup is ok from my side.

Copy link

@fliegend fliegend May 7, 2021

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

not sure if this is helpful. https://github.com/UZ-SLAMLab/ORB_SLAM3/pull/310/files#r627844802
But I think add serialize_tuple.h is also a good option:)

)

add_subdirectory(Thirdparty/g2o)
Expand Down Expand Up @@ -149,6 +150,15 @@ add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})

add_executable(stereo_save
Examples/Stereo/stereo_save.cc)
target_link_libraries(stereo_save ${PROJECT_NAME})

add_executable(stereo_load
Examples/Stereo/stereo_load.cc)
target_link_libraries(stereo_load ${PROJECT_NAME})


add_executable(stereo_tum_vi
Examples/Stereo/stereo_tum_vi.cc)
target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
Expand Down