stuff

Soldann · Jul 25, 2022 · bf03fcc · bf03fcc
1 parent d6bcba3
commit bf03fcc
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Showing 5 changed files with 18 additions and 18 deletions.
diff --git a/include/Atlas.h b/include/Atlas.h
@@ -25,6 +25,8 @@
 #include <boost/serialization/vector.hpp>
 #include <mutex>
 #include <set>
+#include <map>
+#include <vector>
 
 #include "GeometricCamera.h"
 #include "KannalaBrandt8.h"
@@ -101,7 +103,7 @@ class Atlas {
   std::vector<MapPoint*> GetAllMapPoints();
   std::vector<MapPoint*> GetReferenceMapPoints();
 
-  vector<Map*> GetAllMaps();
+  std::vector<Map*> GetAllMaps();
 
   int CountMaps();
 
@@ -123,7 +125,7 @@ class Atlas {
   void PreSave();
   void PostLoad();
 
-  map<long unsigned int, KeyFrame*> GetAtlasKeyframes();
+  std::map<long unsigned int, KeyFrame*> GetAtlasKeyframes();
 
   void SetKeyFrameDababase(KeyFrameDatabase* pKFDB);
   KeyFrameDatabase* GetKeyFrameDatabase();

diff --git a/include/Frame.h b/include/Frame.h
@@ -17,8 +17,7 @@
 */
 
 
-#ifndef FRAME_H
-#define FRAME_H
+#pragma once
 
 #include<vector>
 
@@ -370,5 +369,3 @@ class Frame
 };
 
 }// namespace ORB_SLAM
-
-#endif // FRAME_H
diff --git a/include/Tracking.h b/include/Tracking.h
@@ -66,11 +66,11 @@ class Tracking {
   // matching.
   Sophus::SE3f GrabImageStereo(const cv::Mat& imRectLeft,
                                const cv::Mat& imRectRight,
-                               const double& timestamp, string filename);
+                               const double& timestamp, const string &filename);
   Sophus::SE3f GrabImageRGBD(const cv::Mat& imRGB, const cv::Mat& imD,
-                             const double& timestamp, string filename);
+                             const double& timestamp, const string &filename);
   Sophus::SE3f GrabImageMonocular(const cv::Mat& im, const double& timestamp,
-                                  string filename);
+                                  const string &filename);
 
   void GrabImuData(const IMU::Point& imuMeasurement);
 

diff --git a/src/System.cc b/src/System.cc
@@ -22,6 +22,7 @@
 #include "System.h"
 
 #include <openssl/md5.h>
+#include <opencv2/opencv.hpp>
 #include <pangolin/pangolin.h>
 
 #include "ImprovedTypes.hpp"
@@ -252,19 +253,19 @@ Sophus::SE3f System::TrackStereo(const cv::Mat& imLeft, const cv::Mat& imRight,
 
   cv::Mat imLeftToFeed, imRightToFeed;
   if (settings_ && settings_->needToRectify()) {
-    cv::Mat M1l = settings_->M1l();
-    cv::Mat M2l = settings_->M2l();
-    cv::Mat M1r = settings_->M1r();
-    cv::Mat M2r = settings_->M2r();
+    const cv::Mat &M1l = settings_->M1l();
+    const cv::Mat &M2l = settings_->M2l();
+    const cv::Mat &M1r = settings_->M1r();
+    const cv::Mat &M2r = settings_->M2r();
 
     cv::remap(imLeft, imLeftToFeed, M1l, M2l, cv::INTER_LINEAR);
     cv::remap(imRight, imRightToFeed, M1r, M2r, cv::INTER_LINEAR);
   } else if (settings_ && settings_->needToResize()) {
     cv::resize(imLeft, imLeftToFeed, settings_->newImSize());
     cv::resize(imRight, imRightToFeed, settings_->newImSize());
   } else {
-    imLeftToFeed = imLeft.clone();
-    imRightToFeed = imRight.clone();
+    imLeftToFeed = imLeft;
+    imRightToFeed = imRight;
   }
 
   // Check mode change

diff --git a/src/Tracking.cc b/src/Tracking.cc
@@ -1363,7 +1363,7 @@ void Tracking::SetLoopClosing(LoopClosing* pLoopClosing) {
 Sophus::SE3f Tracking::GrabImageStereo(const cv::Mat& imRectLeft,
                                        const cv::Mat& imRectRight,
                                        const double& timestamp,
-                                       string filename) {
+                                       const string &filename) {
   // cout << "GrabImageStereo" << endl;
 
   mImGray = imRectLeft;
@@ -1428,7 +1428,7 @@ Sophus::SE3f Tracking::GrabImageStereo(const cv::Mat& imRectLeft,
 }
 
 Sophus::SE3f Tracking::GrabImageRGBD(const cv::Mat& imRGB, const cv::Mat& imD,
-                                     const double& timestamp, string filename) {
+                                     const double& timestamp, const string &filename) {
   mImGray = imRGB;
   cv::Mat imDepth = imD;
 
@@ -1470,7 +1470,7 @@ Sophus::SE3f Tracking::GrabImageRGBD(const cv::Mat& imRGB, const cv::Mat& imD,
 
 Sophus::SE3f Tracking::GrabImageMonocular(const cv::Mat& im,
                                           const double& timestamp,
-                                          string filename) {
+                                          const string &filename) {
   mImGray = im;
   if (mImGray.channels() == 3) {
     if (mbRGB)