Method LoadAtlas

src/System.cc:1445–1506

}

bool System::LoadAtlas(int type)
{
    string strFileVoc, strVocChecksum;
    bool isRead = false;

    string pathLoadFileName = "./";
    pathLoadFileName = pathLoadFileName.append(mStrLoadAtlasFromFile);
    pathLoadFileName = pathLoadFileName.append(".osa");

    if(type == TEXT_FILE) // File text
    {
        cout << "Starting to read the save text file " << endl;
        std::ifstream ifs(pathLoadFileName, std::ios::binary);
        if(!ifs.good())
        {
            cout << "Load file not found" << endl;
            return false;
        }
        boost::archive::text_iarchive ia(ifs);
        ia >> strFileVoc;
        ia >> strVocChecksum;
        ia >> mpAtlas;
        cout << "End to load the save text file " << endl;
        isRead = true;
    }
    else if(type == BINARY_FILE) // File binary
    {
        cout << "Starting to read the save binary file"  << endl;
        std::ifstream ifs(pathLoadFileName, std::ios::binary);
        if(!ifs.good())
        {
            cout << "Load file not found" << endl;
            return false;
        }
        boost::archive::binary_iarchive ia(ifs);
        ia >> strFileVoc;
        ia >> strVocChecksum;
        ia >> mpAtlas;
        cout << "End to load the save binary file" << endl;
        isRead = true;
    }

    if(isRead)
    {
        //Check if the vocabulary is the same
        string strInputVocabularyChecksum = CalculateCheckSum(mStrVocabularyFilePath,TEXT_FILE);

        if(strInputVocabularyChecksum.compare(strVocChecksum) != 0)
        {
            cout << "The vocabulary load isn't the same which the load session was created " << endl;
            cout << "-Vocabulary name: " << strFileVoc << endl;
            return false; // Both are differents
        }

        mpAtlas->SetKeyFrameDababase(mpKeyFrameDatabase);
        mpAtlas->SetORBVocabulary(mpVocabulary);
        mpAtlas->PostLoad();