| 44 | |
| 45 | template<class Archive> |
| 46 | void serialize(Archive &ar, const unsigned int version) |
| 47 | { |
| 48 | ar & mnId; |
| 49 | ar & mnInitKFid; |
| 50 | ar & mnMaxKFid; |
| 51 | ar & mnBigChangeIdx; |
| 52 | |
| 53 | // Save/load a set structure, the set structure is broken in libboost 1.58 for ubuntu 16.04, a vector is serializated |
| 54 | //ar & mspKeyFrames; |
| 55 | //ar & mspMapPoints; |
| 56 | ar & mvpBackupKeyFrames; |
| 57 | ar & mvpBackupMapPoints; |
| 58 | |
| 59 | ar & mvBackupKeyFrameOriginsId; |
| 60 | |
| 61 | ar & mnBackupKFinitialID; |
| 62 | ar & mnBackupKFlowerID; |
| 63 | |
| 64 | ar & mbImuInitialized; |
| 65 | ar & mbIsInertial; |
| 66 | ar & mbIMU_BA1; |
| 67 | ar & mbIMU_BA2; |
| 68 | } |
| 69 | |
| 70 | public: |
| 71 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
nothing calls this directly
no outgoing calls
no test coverage detected