Map.cc

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// Copyright 2008 Isis Innovation Limited
#include "ptam/Map.h"
#include "ptam/MapPoint.h"

Map::Map()
{
  Reset();
}

void Map::Reset()
{
  vpPoints.clear();
  bGood = false;
  EmptyTrash();
}

void Map::MoveBadPointsToTrash()
{
  int nBad = 0;
  for(int i = vpPoints.size()-1; i>=0; i--)
  {
    if(vpPoints[i]->bBad)
    {
      vpPointsTrash.push_back(vpPoints[i]);
      vpPoints.erase(vpPoints.begin() + i);
      nBad++;
    }
  };
};

void Map::EmptyTrash()
{
  vpPointsTrash.clear();
};