| 55 | |
| 56 | template<class Archive> |
| 57 | void serialize(Archive& ar, const unsigned int version) |
| 58 | { |
| 59 | ar & mnId; |
| 60 | ar & const_cast<long unsigned int&>(mnFrameId); |
| 61 | ar & const_cast<double&>(mTimeStamp); |
| 62 | // Grid |
| 63 | ar & const_cast<int&>(mnGridCols); |
| 64 | ar & const_cast<int&>(mnGridRows); |
| 65 | ar & const_cast<float&>(mfGridElementWidthInv); |
| 66 | ar & const_cast<float&>(mfGridElementHeightInv); |
| 67 | |
| 68 | // Variables of tracking |
| 69 | //ar & mnTrackReferenceForFrame; |
| 70 | //ar & mnFuseTargetForKF; |
| 71 | // Variables of local mapping |
| 72 | //ar & mnBALocalForKF; |
| 73 | //ar & mnBAFixedForKF; |
| 74 | //ar & mnNumberOfOpt; |
| 75 | // Variables used by KeyFrameDatabase |
| 76 | //ar & mnLoopQuery; |
| 77 | //ar & mnLoopWords; |
| 78 | //ar & mLoopScore; |
| 79 | //ar & mnRelocQuery; |
| 80 | //ar & mnRelocWords; |
| 81 | //ar & mRelocScore; |
| 82 | //ar & mnMergeQuery; |
| 83 | //ar & mnMergeWords; |
| 84 | //ar & mMergeScore; |
| 85 | //ar & mnPlaceRecognitionQuery; |
| 86 | //ar & mnPlaceRecognitionWords; |
| 87 | //ar & mPlaceRecognitionScore; |
| 88 | //ar & mbCurrentPlaceRecognition; |
| 89 | // Variables of loop closing |
| 90 | //serializeMatrix(ar,mTcwGBA,version); |
| 91 | //serializeMatrix(ar,mTcwBefGBA,version); |
| 92 | //serializeMatrix(ar,mVwbGBA,version); |
| 93 | //serializeMatrix(ar,mVwbBefGBA,version); |
| 94 | //ar & mBiasGBA; |
| 95 | //ar & mnBAGlobalForKF; |
| 96 | // Variables of Merging |
| 97 | //serializeMatrix(ar,mTcwMerge,version); |
| 98 | //serializeMatrix(ar,mTcwBefMerge,version); |
| 99 | //serializeMatrix(ar,mTwcBefMerge,version); |
| 100 | //serializeMatrix(ar,mVwbMerge,version); |
| 101 | //serializeMatrix(ar,mVwbBefMerge,version); |
| 102 | //ar & mBiasMerge; |
| 103 | //ar & mnMergeCorrectedForKF; |
| 104 | //ar & mnMergeForKF; |
| 105 | //ar & mfScaleMerge; |
| 106 | //ar & mnBALocalForMerge; |
| 107 | |
| 108 | // Scale |
| 109 | ar & mfScale; |
| 110 | // Calibration parameters |
| 111 | ar & const_cast<float&>(fx); |
| 112 | ar & const_cast<float&>(fy); |
| 113 | ar & const_cast<float&>(invfx); |
| 114 | ar & const_cast<float&>(invfy); |
nothing calls this directly
no test coverage detected