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Save/Load Atlas Functionality #310

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Save/Load Atlas Functionality #310

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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
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added condition in color index
  • Loading branch information
Thomas Dutrannois committed May 4, 2021
commit 3ae39819515c58180c57764f6326a31b2f091763
6 changes: 6 additions & 0 deletions src/MapDrawer.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -175,6 +175,9 @@ void MapDrawer::DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph, const b
cv::Mat Twc = pKF->GetPoseInverse().t();
unsigned int index_color = pKF->mnOriginMapId;

if (index_color > 5)
index_color = 0;

glPushMatrix();

glMultMatrixf(Twc.ptr<GLfloat>(0));
Expand Down Expand Up @@ -307,6 +310,9 @@ void MapDrawer::DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph, const b
cv::Mat Twc = pKF->GetPoseInverse().t();
unsigned int index_color = pKF->mnOriginMapId;

if (index_color > 5)
index_color = 0;

glPushMatrix();

glMultMatrixf(Twc.ptr<GLfloat>(0));
Expand Down