Merge pull request #9 from SolarFramework/fix/mapping

Fix mapping & map update & bootstrap

Author: yzhou-bcom

ILoopCorrector_grpcProxy.cpp

@@ -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;
@@ -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;
@@ -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());
 }
 

ILoopCorrector_grpcProxy.h

@@ -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:

ILoopCorrector_grpcServer.cpp

@@ -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();