| 333 | } |
| 334 | |
| 335 | void Atlas::PostLoad() |
| 336 | { |
| 337 | map<unsigned int,GeometricCamera*> mpCams; |
| 338 | for(GeometricCamera* pCam : mvpCameras) |
| 339 | { |
| 340 | mpCams[pCam->GetId()] = pCam; |
| 341 | } |
| 342 | |
| 343 | mspMaps.clear(); |
| 344 | unsigned long int numKF = 0, numMP = 0; |
| 345 | for(Map* pMi : mvpBackupMaps) |
| 346 | { |
| 347 | mspMaps.insert(pMi); |
| 348 | pMi->PostLoad(mpKeyFrameDB, mpORBVocabulary, mpCams); |
| 349 | numKF += pMi->GetAllKeyFrames().size(); |
| 350 | numMP += pMi->GetAllMapPoints().size(); |
| 351 | } |
| 352 | mvpBackupMaps.clear(); |
| 353 | } |
| 354 | |
| 355 | void Atlas::SetKeyFrameDababase(KeyFrameDatabase* pKFDB) |
| 356 | { |
nothing calls this directly
no test coverage detected