remove conditional compilation of map save/load functionality

raulmur · Aug 28, 2017 · e443ba5 · e443ba5
1 parent a7a91d1
commit e443ba5
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Showing 16 changed files with 33 additions and 109 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -77,18 +77,13 @@ ${Pangolin_LIBRARIES}
 ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
 ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
 )
-if (NOT DEFINED USE_MAP_SAVE_LOAD)
-    set(USE_MAP_SAVE_LOAD OFF)
-endif()
-if(USE_MAP_SAVE_LOAD)
-    message(STATUS "Compile With map save/load function")
-    find_library(BOOST_SERIALIZATION boost_serialization)
-    if (NOT BOOST_SERIALIZATION)
-	message(FATAL_ERROR "Can't find libboost_serialization")
-    endif()
-    target_link_libraries(${PROJECT_NAME} ${BOOST_SERIALIZATION})
-    target_compile_definitions(${PROJECT_NAME} PUBLIC FUNC_MAP_SAVE_LOAD=1)
+
+message(STATUS "Compile With map save/load function")
+find_library(BOOST_SERIALIZATION boost_serialization)
+if (NOT BOOST_SERIALIZATION)
+    message(FATAL_ERROR "Can't find libboost_serialization")
 endif()
+target_link_libraries(${PROJECT_NAME} ${BOOST_SERIALIZATION})
 
 # Build examples
 

diff --git a/README.md b/README.md
@@ -256,11 +256,7 @@ PS: binary format is loaded faster and text format is more human-readable.
 
 #### Enable:
 
-You can enable this feature by defining a new variable `USE_MAP_SAVE_LOAD` when running cmake.
-
-For example, you can change `cmake .. -DCMAKE_BUILD_TYPE=Release` to `cmake .. -DCMAKE_BUILD_TYPE=Release -DUSE_MAP_SAVE_LOAD=1` after `echo "Configuring and building ORB_SLAM2 ..."` in `build.sh`.
-
-But `CMakeCache.txt` should be deleted if you want to undefine this variable.
+Considering this feature doesn't hurt performance, and it is annonying to deal with conditional compilation flags, so this feature will be enabled unconditionally.
 
 #### Usage:
 

diff --git a/include/KeyFrame.h b/include/KeyFrame.h
@@ -30,9 +30,8 @@
 #include "KeyFrameDatabase.h"
 
 #include <mutex>
-#ifdef FUNC_MAP_SAVE_LOAD
 #include "BoostArchiver.h"
-#endif
+
 namespace ORB_SLAM2
 {
 
@@ -117,7 +116,7 @@ class KeyFrame
     static bool lId(KeyFrame* pKF1, KeyFrame* pKF2){
         return pKF1->mnId<pKF2->mnId;
     }
-#ifdef FUNC_MAP_SAVE_LOAD
+
 public:
     // for serialization
     KeyFrame(); // Default constructor for serialization, need to deal with const member
@@ -127,7 +126,6 @@ class KeyFrame
     friend class boost::serialization::access;
     template<class Archive>
     void serialize(Archive &ar, const unsigned int version);
-#endif
 
     // The following variables are accesed from only 1 thread or never change (no mutex needed).
 public:

diff --git a/include/KeyFrameDatabase.h b/include/KeyFrameDatabase.h
@@ -30,9 +30,7 @@
 #include "ORBVocabulary.h"
 
 #include<mutex>
-#ifdef FUNC_MAP_SAVE_LOAD
 #include "BoostArchiver.h"
-#endif
 
 namespace ORB_SLAM2
 {
@@ -58,7 +56,7 @@ class KeyFrameDatabase
 
    // Relocalization
    std::vector<KeyFrame*> DetectRelocalizationCandidates(Frame* F);
-#ifdef FUNC_MAP_SAVE_LOAD
+
 public:
    // for serialization
    KeyFrameDatabase() {}
@@ -68,7 +66,7 @@ class KeyFrameDatabase
    friend class boost::serialization::access;
    template<class Archive>
    void serialize(Archive &ar, const unsigned int version);
-#endif
+
 protected:
 
   // Associated vocabulary

diff --git a/include/Map.h b/include/Map.h
@@ -27,9 +27,8 @@
 
 #include <mutex>
 
-#ifdef FUNC_MAP_SAVE_LOAD
 #include "BoostArchiver.h"
-#endif
+
 
 namespace ORB_SLAM2
 {
@@ -68,13 +67,13 @@ class Map
     // This avoid that two points are created simultaneously in separate threads (id conflict)
     std::mutex mMutexPointCreation;
 
-#ifdef FUNC_MAP_SAVE_LOAD
+
 private:
     // serialize is recommended to be private
     friend class boost::serialization::access;
     template<class Archive>
     void serialize(Archive &ar, const unsigned int version);
-#endif
+
 protected:
     std::set<MapPoint*> mspMapPoints;
     std::set<KeyFrame*> mspKeyFrames;

diff --git a/include/MapPoint.h b/include/MapPoint.h
@@ -27,9 +27,7 @@
 
 #include<opencv2/core/core.hpp>
 #include<mutex>
-#ifdef FUNC_MAP_SAVE_LOAD
 #include "BoostArchiver.h"
-#endif
 
 namespace ORB_SLAM2
 {
@@ -84,7 +82,6 @@ class MapPoint
     int PredictScale(const float &currentDist, KeyFrame*pKF);
     int PredictScale(const float &currentDist, Frame* pF);
 
-#ifdef FUNC_MAP_SAVE_LOAD
 public:
     // for serialization
     MapPoint();
@@ -93,7 +90,6 @@ class MapPoint
     friend class boost::serialization::access;
     template<class Archive>
     void serialize(Archive &ar, const unsigned int version);
-#endif
 
 public:
     long unsigned int mnId;

diff --git a/include/System.h b/include/System.h
@@ -36,11 +36,10 @@
 #include "ORBVocabulary.h"
 #include "Viewer.h"
 
-#ifdef FUNC_MAP_SAVE_LOAD
 #include "BoostArchiver.h"
 // for map file io
 #include <fstream>
-#endif
+
 namespace ORB_SLAM2
 {
 
@@ -64,11 +63,7 @@ class System
 public:
 
     // Initialize the SLAM system. It launches the Local Mapping, Loop Closing and Viewer threads.
-#ifdef FUNC_MAP_SAVE_LOAD
     System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor, const bool bUseViewer = true, bool is_save_map_=false);
-#else
-    System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor, const bool bUseViewer = true);
-#endif
 
     // Proccess the given stereo frame. Images must be synchronized and rectified.
     // Input images: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale.
@@ -125,12 +120,11 @@ class System
     int GetTrackingState();
     std::vector<MapPoint*> GetTrackedMapPoints();
     std::vector<cv::KeyPoint> GetTrackedKeyPointsUn();
-#ifdef FUNC_MAP_SAVE_LOAD
+
 private:
     // Save/Load functions
     void SaveMap(const string &filename);
     bool LoadMap(const string &filename);
-#endif
 
 private:
 
@@ -145,10 +139,10 @@ class System
 
     // Map structure that stores the pointers to all KeyFrames and MapPoints.
     Map* mpMap;
-#ifdef FUNC_MAP_SAVE_LOAD
+
     string mapfile;
     bool is_save_map;
-#endif
+
     // Tracker. It receives a frame and computes the associated camera pose.
     // It also decides when to insert a new keyframe, create some new MapPoints and
     // performs relocalization if tracking fails.

diff --git a/include/Tracking.h b/include/Tracking.h
@@ -54,13 +54,9 @@ class Tracking
 {  
 
 public:
-#ifdef FUNC_MAP_SAVE_LOAD
+
     Tracking(System* pSys, ORBVocabulary* pVoc, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Map* pMap,
              KeyFrameDatabase* pKFDB, const string &strSettingPath, const int sensor, bool bReuseMap=false);
-#else
-    Tracking(System* pSys, ORBVocabulary* pVoc, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Map* pMap,
-             KeyFrameDatabase* pKFDB, const string &strSettingPath, const int sensor);
-#endif
 
     // Preprocess the input and call Track(). Extract features and performs stereo matching.
     cv::Mat GrabImageStereo(const cv::Mat &imRectLeft,const cv::Mat &imRectRight, const double &timestamp);

diff --git a/include/Viewer.h b/include/Viewer.h
@@ -40,11 +40,9 @@ class System;
 class Viewer
 {
 public:
-#ifdef FUNC_MAP_SAVE_LOAD
+
     Viewer(System* pSystem, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Tracking *pTracking, const string &strSettingPath, bool mbReuseMap);
-#else
-    Viewer(System* pSystem, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Tracking *pTracking, const string &strSettingPath);
-#endif
+
 
     // Main thread function. Draw points, keyframes, the current camera pose and the last processed
     // frame. Drawing is refreshed according to the camera fps. We use Pangolin.
@@ -83,9 +81,8 @@ class Viewer
 
     bool mbStopped;
     bool mbStopRequested;
-#ifdef FUNC_MAP_SAVE_LOAD
     bool mbReuseMap;
-#endif
+
     std::mutex mMutexStop;
 
 };

diff --git a/src/KeyFrame.cc b/src/KeyFrame.cc
@@ -661,7 +661,7 @@ float KeyFrame::ComputeSceneMedianDepth(const int q)
 
     return vDepths[(vDepths.size()-1)/q];
 }
-#ifdef FUNC_MAP_SAVE_LOAD
+
 // Default serializing Constructor
 KeyFrame::KeyFrame():
     mnFrameId(0),  mTimeStamp(0.0), mnGridCols(FRAME_GRID_COLS), mnGridRows(FRAME_GRID_ROWS),
@@ -745,5 +745,5 @@ void KeyFrame::serialize(Archive &ar, const unsigned int version)
 }
 template void KeyFrame::serialize(boost::archive::binary_iarchive&, const unsigned int);
 template void KeyFrame::serialize(boost::archive::binary_oarchive&, const unsigned int);
-#endif
+
 } //namespace ORB_SLAM
diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc
@@ -308,7 +308,6 @@ vector<KeyFrame*> KeyFrameDatabase::DetectRelocalizationCandidates(Frame *F)
     return vpRelocCandidates;
 }
 
-#ifdef FUNC_MAP_SAVE_LOAD
 template<class Archive>
 void KeyFrameDatabase::serialize(Archive &ar, const unsigned int version)
 {
@@ -319,5 +318,5 @@ void KeyFrameDatabase::serialize(Archive &ar, const unsigned int version)
 }
 template void KeyFrameDatabase::serialize(boost::archive::binary_iarchive&, const unsigned int);
 template void KeyFrameDatabase::serialize(boost::archive::binary_oarchive&, const unsigned int);
-#endif
+
 } //namespace ORB_SLAM
diff --git a/src/Map.cc b/src/Map.cc
@@ -129,7 +129,7 @@ void Map::clear()
     mvpReferenceMapPoints.clear();
     mvpKeyFrameOrigins.clear();
 }
-#ifdef FUNC_MAP_SAVE_LOAD
+
 template<class Archive>
 void Map::serialize(Archive &ar, const unsigned int version)
 {
@@ -142,5 +142,5 @@ void Map::serialize(Archive &ar, const unsigned int version)
 }
 template void Map::serialize(boost::archive::binary_iarchive&, const unsigned int);
 template void Map::serialize(boost::archive::binary_oarchive&, const unsigned int);
-#endif
+
 } //namespace ORB_SLAM
diff --git a/src/MapPoint.cc b/src/MapPoint.cc
@@ -416,7 +416,6 @@ int MapPoint::PredictScale(const float &currentDist, Frame* pF)
     return nScale;
 }
 
-#ifdef FUNC_MAP_SAVE_LOAD
 MapPoint::MapPoint():
     nObs(0), mnTrackReferenceForFrame(0),
     mnLastFrameSeen(0), mnBALocalForKF(0), mnFuseCandidateForKF(0), mnLoopPointForKF(0), mnCorrectedByKF(0),
@@ -454,6 +453,6 @@ void MapPoint::serialize(Archive &ar, const unsigned int version)
 }
 template void MapPoint::serialize(boost::archive::binary_iarchive&, const unsigned int);
 template void MapPoint::serialize(boost::archive::binary_oarchive&, const unsigned int);
-#endif
+
 
 } //namespace ORB_SLAM