void MapPoint::Replace(MapPoint* pMP)
{
if(pMP->mnId==this->mnId)
return;
map<KeyFrame*,size_t> obs;
{
boost::mutex::scoped_lock lock1(mMutexFeatures);
boost::mutex::scoped_lock lock2(mMutexPos);
obs=mObservations;
mObservations.clear();
mbBad=true;
}
for(map<KeyFrame*,size_t>::iterator mit=obs.begin(), mend=obs.end(); mit!=mend; mit++)
{
// Replace measurement in keyframe
KeyFrame* pKF = mit->first;
if(!pMP->IsInKeyFrame(pKF))
{
pKF->ReplaceMapPointMatch(mit->second, pMP);
pMP->AddObservation(pKF,mit->second);
}
else
{
pKF->EraseMapPointMatch(mit->second);
}
}
pMP->ComputeDistinctiveDescriptors();
mpMap->EraseMapPoint(this);
}
void MapPoint::SetBadFlag()
{
map<KeyFrame*,size_t> obs;
{
boost::mutex::scoped_lock lock1(mMutexFeatures);
boost::mutex::scoped_lock lock2(mMutexPos);
mbBad=true;
obs = mObservations;
mObservations.clear();
}
for(map<KeyFrame*,size_t>::iterator mit=obs.begin(), mend=obs.end(); mit!=mend; mit++)
{
KeyFrame* pKF = mit->first;
pKF->EraseMapPointMatch(mit->second);
}
mpMap->EraseMapPoint(this);
}