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我正在尝试使用 boost 保存由 ORB-SLAM 构建的地图，该代码在 linux 中运行良好，但是当我将其移动到 Windows 时，我在加载数据时遇到了异常。下面是我的部分代码，这是一个大项目，所以我只展示相关代码。

.h 中的一些代码

    friend class boost::serialization::access;

    template<class Archive>
    void serialize(Archive & ar, const unsigned int version)
    {
        boost::serialization::split_member(ar, *this, version);
    }

    template<class Archive>
    void save(Archive & ar, const unsigned int version) const;


    template<class Archive>
    void load(Archive & ar, const unsigned int version);

CPP简介

        template<class Archive>
        void Map::load(Archive & ar, const unsigned int version)
        {
        unsigned int test_data;

        int nItems;
        ar & nItems;
        cout << "{INFO}mspMapPoints size = " << nItems << endl;

        for (int i = 0; i < nItems; ++i) {

            MapPoint* pMapPoint = new MapPoint();
            ar & *pMapPoint;
            mspMapPoints.insert(pMapPoint);
        }

        ar & nItems;
        cout << "{INFO}mspKeyFrames size = " << nItems << endl;

        for (int i = 0; i < nItems; ++i) {

            KeyFrame* pKeyFrame = new KeyFrame;
            ar & *pKeyFrame;
            mspKeyFrames.insert(pKeyFrame);
        }     


        ar & nItems;
        cout << "{INFO}mvpKeyFrameOrigins size = " << nItems << endl;

        for (int i = 0; i < nItems; ++i) {             

            KeyFrame* pKeyFrame = new KeyFrame;
            ar & *pKeyFrame;
            /* TODO : VerifyHere*/
            mvpKeyFrameOrigins.push_back(*mspKeyFrames.begin());
        }     

        ar & const_cast<long unsigned int &> (mnMaxKFid);

        ar & test_data;
        if (test_data == TEST_DATA)
            cout <<">>Map Loading Validated as True" << endl;
        else
            cout <<"ERROR Map Loading Validated as False: Got -" << test_data << " :( Check Load Save sequence" << endl;

    }

调用函数如下：

void System::LoadMap(const string &filename)
{
    {
        std::ifstream is(filename,std::ios::binary);


        boost::archive::binary_iarchive ia(is, boost::archive::no_header);
        //ia >> mpKeyFrameDatabase;
        ia >> mpMap;

    }

    cout << endl << filename <<" : Map Loaded!" << endl;


}
void System::SaveMap(const string &filename)
{
    std::ofstream os(filename,std::ios::binary);
    {
        boost::archive::binary_oarchive oa(os, boost::archive::no_header);
        //oa << mpKeyFrameDatabase;
        oa << mpMap;
    }
    cout << endl << "Map saved to " << filename << endl;

}

在 Linux 中保存和加载都可以，但是加载只会抛出 boost::archive::archive_exception 问题，没有告诉我任何细节。

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1 回答 1

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您应该只显示相关代码。特别是，它应该显示您的存档选择。此外，您从未告诉我们 /what/ 不起作用，但我的猜测是您正在加载保存在 Windows 端的 linux 端的存档？

二进制存档格式不可移植。因此，请务必避免这种情况或使用尝试便携的 dropin 替代品：https ://github.com/mika-fischer/eos-portable-archive

于 2018-09-18T11:26:57.000 回答