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Fix mapping & map update & bootstrap #9

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Merged
merged 1 commit into from
Nov 10, 2023
Merged

Fix mapping & map update & bootstrap #9

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4 changes: 3 additions & 1 deletion ILoopCorrector_grpcProxy.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ SolAR::FrameworkReturnCode ILoopCorrector_grpcProxy::correct(SRef<SolAR::datast
}


SolAR::FrameworkReturnCode ILoopCorrector_grpcProxy::correct(SRef<SolAR::datastructure::Keyframe> const queryKeyframe, SRef<SolAR::datastructure::Keyframe> const detectedLoopKeyframe, SolAR::datastructure::Transform3Df const& S_wl_wc, std::vector<std::pair<uint32_t,uint32_t>> const& duplicatedPointsIndices, std::vector<uint32_t>& correctedKeyframeIds)
SolAR::FrameworkReturnCode ILoopCorrector_grpcProxy::correct(SRef<SolAR::datastructure::Keyframe> const queryKeyframe, SRef<SolAR::datastructure::Keyframe> const detectedLoopKeyframe, SolAR::datastructure::Transform3Df const& S_wl_wc, std::vector<std::pair<uint32_t,uint32_t>> const& duplicatedPointsIndices, std::vector<uint32_t>& correctedKeyframeIds, std::vector<uint32_t>& correctedCloudpointIds)
{
::grpc::ClientContext context;
::grpcILoopCorrector::correct_grpc1Request reqIn;
Expand All @@ -90,6 +90,7 @@ SolAR::FrameworkReturnCode ILoopCorrector_grpcProxy::correct(SRef<SolAR::datast
reqIn.set_s_wl_wc(xpcf::serialize<SolAR::datastructure::Transform3Df>(S_wl_wc));
reqIn.set_duplicatedpointsindices(xpcf::serialize<std::vector<std::pair<uint32_t,uint32_t>>>(duplicatedPointsIndices));
reqIn.set_correctedkeyframeids(xpcf::serialize<std::vector<uint32_t>>(correctedKeyframeIds));
reqIn.set_correctedcloudpointids(xpcf::serialize<std::vector<uint32_t>>(correctedCloudpointIds));
#ifdef ENABLE_PROXY_TIMERS
boost::posix_time::ptime start = boost::posix_time::microsec_clock::universal_time();
std::cout << "====> ILoopCorrector_grpcProxy::correct request sent at " << to_simple_string(start) << std::endl;
Expand All @@ -106,6 +107,7 @@ SolAR::FrameworkReturnCode ILoopCorrector_grpcProxy::correct(SRef<SolAR::datast
}

correctedKeyframeIds = xpcf::deserialize<std::vector<uint32_t>>(respOut.correctedkeyframeids());
correctedCloudpointIds = xpcf::deserialize<std::vector<uint32_t>>(respOut.correctedcloudpointids());
return static_cast<SolAR::FrameworkReturnCode>(respOut.xpcfgrpcreturnvalue());
}

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2 changes: 1 addition & 1 deletion ILoopCorrector_grpcProxy.h
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Expand Up @@ -23,7 +23,7 @@ class ILoopCorrector_grpcProxy: public org::bcom::xpcf::ConfigurableBase, virtu
org::bcom::xpcf::XPCFErrorCode onConfigured() override;

SolAR::FrameworkReturnCode correct(SRef<SolAR::datastructure::Keyframe> const queryKeyframe, SRef<SolAR::datastructure::Keyframe> const detectedLoopKeyframe, SolAR::datastructure::Transform3Df const& S_wl_wc, std::vector<std::pair<uint32_t,uint32_t>> const& duplicatedPointsIndices) override;
SolAR::FrameworkReturnCode correct(SRef<SolAR::datastructure::Keyframe> const queryKeyframe, SRef<SolAR::datastructure::Keyframe> const detectedLoopKeyframe, SolAR::datastructure::Transform3Df const& S_wl_wc, std::vector<std::pair<uint32_t,uint32_t>> const& duplicatedPointsIndices, std::vector<uint32_t>& correctedKeyframeIds) override;
SolAR::FrameworkReturnCode correct(SRef<SolAR::datastructure::Keyframe> const queryKeyframe, SRef<SolAR::datastructure::Keyframe> const detectedLoopKeyframe, SolAR::datastructure::Transform3Df const& S_wl_wc, std::vector<std::pair<uint32_t,uint32_t>> const& duplicatedPointsIndices, std::vector<uint32_t>& correctedKeyframeIds, std::vector<uint32_t>& correctedCloudpointIds) override;


private:
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4 changes: 3 additions & 1 deletion ILoopCorrector_grpcServer.cpp
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Expand Up @@ -82,8 +82,10 @@ ::grpc::Status ILoopCorrector_grpcServer::grpcILoopCorrectorServiceImpl::correct
SolAR::datastructure::Transform3Df S_wl_wc = xpcf::deserialize<SolAR::datastructure::Transform3Df>(request->s_wl_wc());
std::vector<std::pair<uint32_t,uint32_t>> duplicatedPointsIndices = xpcf::deserialize<std::vector<std::pair<uint32_t,uint32_t>>>(request->duplicatedpointsindices());
std::vector<uint32_t> correctedKeyframeIds = xpcf::deserialize<std::vector<uint32_t>>(request->correctedkeyframeids());
SolAR::FrameworkReturnCode returnValue = m_xpcfComponent->correct(queryKeyframe, detectedLoopKeyframe, S_wl_wc, duplicatedPointsIndices, correctedKeyframeIds);
std::vector<uint32_t> correctedCloudpointIds = xpcf::deserialize<std::vector<uint32_t>>(request->correctedcloudpointids());
SolAR::FrameworkReturnCode returnValue = m_xpcfComponent->correct(queryKeyframe, detectedLoopKeyframe, S_wl_wc, duplicatedPointsIndices, correctedKeyframeIds, correctedCloudpointIds);
response->set_correctedkeyframeids(xpcf::serialize<std::vector<uint32_t>>(correctedKeyframeIds));
response->set_correctedcloudpointids(xpcf::serialize<std::vector<uint32_t>>(correctedCloudpointIds));
response->set_xpcfgrpcreturnvalue(static_cast<int32_t>(returnValue));
#ifdef ENABLE_SERVER_TIMERS
boost::posix_time::ptime end = boost::posix_time::microsec_clock::universal_time();
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