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Fix: combine map problem #9

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merged 1 commit into from
Aug 26, 2024
Merged

Fix: combine map problem #9

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2 changes: 1 addition & 1 deletion src/map.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1516,7 +1516,7 @@ void Map::merge(std::shared_ptr<Map> mapB){
kfIter->ids[i] = pointIdB2A[kfIter->ids[i]];
}
}
mapManager->addKeyFrame(&(*kfIter));
mapManager->addKeyFrame(&(*kfIter), true);
}
}

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16 changes: 10 additions & 6 deletions src/tslam.cpp
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Expand Up @@ -28,6 +28,7 @@ authors and should not be interpreted as representing official policies, either
or implied Andrea Settimi and Hong-Bin Yang.
*/
#include <regex>
#include <filesystem>

#include "tslam.h"
#include "utils/system.h"
Expand Down Expand Up @@ -183,15 +184,18 @@ namespace tslam{
*estimatedImageParam = TheMapA->keyframes.begin()->imageParams;
}

string basePath = outputPath;
if(std::regex_match(basePath, std::regex("\\.map$"))){
basePath.substr(0, basePath.length() - 4);
}
std::filesystem::path basePath = outputPath;

if(exportYml){
TheMapA->saveToMarkerMap(basePath + ".yml");
TheMapA->saveToMarkerMap(basePath.replace_extension("yml"));
}
if(exportPly){
TheMapA->exportToFile(basePath + ".ply",cv::Scalar(125,125,125),cv::Scalar(255,0,0),cv::Scalar(0,0,255),{1111,1195,1129,1196,1141},cv::Scalar(0,255,0));
TheMapA->exportToFile(basePath.replace_extension("ply"),
cv::Scalar(125,125,125),
cv::Scalar(255,0,0),
cv::Scalar(0,0,255),
{},
cv::Scalar(0,255,0));
}

TheMapA->saveToFile(std::move(outputPath));
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6 changes: 3 additions & 3 deletions src/utils/mapmanager.cpp
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Expand Up @@ -238,7 +238,7 @@ void MapManager::reset(){



Frame& MapManager::addKeyFrame(Frame *newPtrFrame){
Frame& MapManager::addKeyFrame(Frame *newPtrFrame, bool forceAddNewMarker){
auto getNOFValidMarkers=[this](){
int nValidMarkers=0;
for(auto &m:TheMap->map_markers)
Expand All @@ -247,9 +247,9 @@ Frame& MapManager::addKeyFrame(Frame *newPtrFrame){
};

// in localizeOnly mode, filter out the marker that is not in the map
if(System::getParams().localizeOnly){
if(!forceAddNewMarker && System::getParams().localizeOnly){
std::vector<tslam::MarkerObservation> filteredMarkers;
for(auto m : newPtrFrame->markers) {
for(const auto &m : newPtrFrame->markers) {
if (TheMap->map_markers.count(m.id)!=0){
filteredMarkers.push_back(m);
}
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2 changes: 1 addition & 1 deletion src/utils/mapmanager.h
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Expand Up @@ -69,7 +69,7 @@ struct NewPointInfo{
//call whenever a new frame is avaiable.
//return 0 if nothing is done
int newFrame(Frame &kf, int32_t curkeyFrame);
Frame &addKeyFrame(Frame *f);
Frame &addKeyFrame(Frame *f, bool forceAddNewMarker = false);

//applies the changes to map require tracking to be stoped, such as removing frames or points
bool mapUpdate(void);
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