| 47 | friend class boost::serialization::access; |
| 48 | template<class Archive> |
| 49 | void serialize(Archive & ar, const unsigned int version) |
| 50 | { |
| 51 | ar & mnId; |
| 52 | ar & mnFirstKFid; |
| 53 | ar & mnFirstFrame; |
| 54 | ar & nObs; |
| 55 | // Variables used by the tracking |
| 56 | //ar & mTrackProjX; |
| 57 | //ar & mTrackProjY; |
| 58 | //ar & mTrackDepth; |
| 59 | //ar & mTrackDepthR; |
| 60 | //ar & mTrackProjXR; |
| 61 | //ar & mTrackProjYR; |
| 62 | //ar & mbTrackInView; |
| 63 | //ar & mbTrackInViewR; |
| 64 | //ar & mnTrackScaleLevel; |
| 65 | //ar & mnTrackScaleLevelR; |
| 66 | //ar & mTrackViewCos; |
| 67 | //ar & mTrackViewCosR; |
| 68 | //ar & mnTrackReferenceForFrame; |
| 69 | //ar & mnLastFrameSeen; |
| 70 | |
| 71 | // Variables used by local mapping |
| 72 | //ar & mnBALocalForKF; |
| 73 | //ar & mnFuseCandidateForKF; |
| 74 | |
| 75 | // Variables used by loop closing and merging |
| 76 | //ar & mnLoopPointForKF; |
| 77 | //ar & mnCorrectedByKF; |
| 78 | //ar & mnCorrectedReference; |
| 79 | //serializeMatrix(ar,mPosGBA,version); |
| 80 | //ar & mnBAGlobalForKF; |
| 81 | //ar & mnBALocalForMerge; |
| 82 | //serializeMatrix(ar,mPosMerge,version); |
| 83 | //serializeMatrix(ar,mNormalVectorMerge,version); |
| 84 | |
| 85 | // Protected variables |
| 86 | ar & boost::serialization::make_array(mWorldPos.data(), mWorldPos.size()); |
| 87 | ar & boost::serialization::make_array(mNormalVector.data(), mNormalVector.size()); |
| 88 | //ar & BOOST_SERIALIZATION_NVP(mBackupObservationsId); |
| 89 | //ar & mObservations; |
| 90 | ar & mBackupObservationsId1; |
| 91 | ar & mBackupObservationsId2; |
| 92 | serializeMatrix(ar,mDescriptor,version); |
| 93 | ar & mBackupRefKFId; |
| 94 | //ar & mnVisible; |
| 95 | //ar & mnFound; |
| 96 | |
| 97 | ar & mbBad; |
| 98 | ar & mBackupReplacedId; |
| 99 | |
| 100 | ar & mfMinDistance; |
| 101 | ar & mfMaxDistance; |
| 102 | |
| 103 | } |
| 104 | |
| 105 | |
| 106 | public: |
nothing calls this directly
no test coverage detected