Method from_json

src/PLPSLAM/data/map_database.cc:181–278

        }

        void map_database::from_json(camera_database *cam_db, bow_vocabulary *bow_vocab, bow_database *bow_db,
                                     const nlohmann::json &json_keyfrms, const nlohmann::json &json_landmarks)
        {
            std::lock_guard<std::mutex> lock(mtx_map_access_);

            // Step 1. delete all the data in map database
            for (auto &lm : landmarks_)
            {
                delete lm.second;
                lm.second = nullptr;
            }

            for (auto &keyfrm : keyframes_)
            {
                delete keyfrm.second;
                keyfrm.second = nullptr;
            }

            landmarks_.clear();
            keyframes_.clear();
            max_keyfrm_id_ = 0;
            local_landmarks_.clear();
            origin_keyfrm_ = nullptr;

            // Step 2. Register keyframes
            // If the object does not exist at this step, the corresponding pointer is set as nullptr.
            spdlog::info("decoding {} keyframes to load", json_keyfrms.size());
            for (const auto &json_id_keyfrm : json_keyfrms.items())
            {
                const auto id = std::stoi(json_id_keyfrm.key());
                assert(0 <= id);
                const auto json_keyfrm = json_id_keyfrm.value();

                register_keyframe(cam_db, bow_vocab, bow_db, id, json_keyfrm);
            }

            // Step 3. Register 3D landmark point
            // If the object does not exist at this step, the corresponding pointer is set as nullptr.
            spdlog::info("decoding {} landmarks to load", json_landmarks.size());
            for (const auto &json_id_landmark : json_landmarks.items())
            {
                const auto id = std::stoi(json_id_landmark.key());
                assert(0 <= id);
                const auto json_landmark = json_id_landmark.value();

                register_landmark(id, json_landmark);
            }

            // Step 4. Register graph information
            spdlog::info("registering essential graph");
            for (const auto &json_id_keyfrm : json_keyfrms.items())
            {
                const auto id = std::stoi(json_id_keyfrm.key());
                assert(0 <= id);
                const auto json_keyfrm = json_id_keyfrm.value();

                register_graph(id, json_keyfrm);
            }