| 117 | |
| 118 | template<class Archive> |
| 119 | void serializeVectorKeyPoints(Archive& ar, const std::vector<cv::KeyPoint>& vKP, const unsigned int version) |
| 120 | { |
| 121 | int NumEl; |
| 122 | |
| 123 | if (Archive::is_saving::value) { |
| 124 | NumEl = vKP.size(); |
| 125 | } |
| 126 | |
| 127 | ar & NumEl; |
| 128 | |
| 129 | std::vector<cv::KeyPoint> vKPaux = vKP; |
| 130 | if (Archive::is_loading::value) |
| 131 | vKPaux.reserve(NumEl); |
| 132 | |
| 133 | for(int i=0; i < NumEl; ++i) |
| 134 | { |
| 135 | cv::KeyPoint KPi; |
| 136 | |
| 137 | if (Archive::is_loading::value) |
| 138 | KPi = cv::KeyPoint(); |
| 139 | |
| 140 | if (Archive::is_saving::value) |
| 141 | KPi = vKPaux[i]; |
| 142 | |
| 143 | ar & KPi.angle; |
| 144 | ar & KPi.response; |
| 145 | ar & KPi.size; |
| 146 | ar & KPi.pt.x; |
| 147 | ar & KPi.pt.y; |
| 148 | ar & KPi.class_id; |
| 149 | ar & KPi.octave; |
| 150 | |
| 151 | if (Archive::is_loading::value) |
| 152 | vKPaux.push_back(KPi); |
| 153 | } |
| 154 | |
| 155 | |
| 156 | if (Archive::is_loading::value) |
| 157 | { |
| 158 | std::vector<cv::KeyPoint> *ptr; |
| 159 | ptr = (std::vector<cv::KeyPoint>*)( &vKP ); |
| 160 | *ptr = vKPaux; |
| 161 | } |
| 162 | } |
| 163 | |
| 164 | } // namespace ORB_SLAM3 |
| 165 | |