Load two maps from the same script

[ThibaudM]

Hello SolAR team,

Is there a way to load two maps from the same script?

The XPCF ComponentManager is a singleton (https://github.com/SolarFramework/Sample-Relocalization/blob/master/Mono/main.cpp#L50, https://github.com/b-com-software-basis/xpcf/blob/master/src/ComponentManager.cpp#L65-L69), so the config/components of the first map will be overridden by those of the second map.

Is there a way to create a workaround with the existing code?

[duongnamduong]

Hi Thibaud,

For this sample, we use only one map for relocalization, so in the configuration file the scope singleton is set. This is for the purpose that other components injecting the map will share the same instance of this map.
However, if you want to load two maps, you can bind to these maps with different names and remove the scope singleton in the configuration file. Please find an example we load two maps to perform the map fusion here:
https://github.com/SolarFramework/Sample-Mapping/blob/master/MapFusion/SolARSample_Mapping_FloatingMapFusion_Mono/main.cpp#L85-L86
https://github.com/SolarFramework/Sample-Mapping/blob/master/MapFusion/SolARSample_Mapping_FloatingMapFusion_Mono/SolARSample_Mapping_FloatingMapFusion_Mono_conf.xml#L221-L222

[ThibaudM]

Thank you @duongnamduong for your answer.
If I am right with this process, I have to store the two map configurations in the same file, am I right?

In order to keep in mind the process scaling and automation, I would like to keep the two (or more) maps configurations in two different files. Is it possible?

[duongnamduong]

You're right for the first way!
In the second way, you have two configuration files, each one contains a map configuration. To load two maps, you can try the following code:
SRef<xpcf::IComponentManager> xpcfComponentManager = xpcf::getComponentManagerInstance();
xpcfComponentManager->load("the first configuration file")
auto map1 = xpcfComponentManager->resolve<solver::map::IMapper>();
xpcfComponentManager->load("the second configuration file")
auto map2 = xpcfComponentManager->resolve<solver::map::IMapper>();
Let me know if this can answer your question or not?

[ThibaudM]

That is what I tried first, but the second map overrides the first map. Let see the following example:

string config1 = "file1.xml";
string config2 = "file2.xml";

SRef<xpcf::IComponentManager> xpcfComponentManager = xpcf::getComponentManagerInstance();

xpcfComponentManager->load(config1.c_str());
auto map1 = xpcfComponentManager->resolve<solver::map::IMapper>();
map1->loadFromFile();
SRef<storage::IPointCloudManager> pointCloudManager1;
map1->getPointCloudManager(pointCloudManager1);
cout << "DebugSolar: Number of point cloud: " << pointCloudManager1->getNbPoints() << endl;

xpcfComponentManager->load(config2.c_str());
auto map2 = xpcfComponentManager->resolve<solver::map::IMapper>();
map2->loadFromFile();
SRef<storage::IPointCloudManager> pointCloudManager2;
map2->getPointCloudManager(pointCloudManager2);
cout << "DebugSolar: Number of point cloud: " << pointCloudManager2->getNbPoints() << endl;

The output is:

DebugSolar: Number of point cloud: 25217
DebugSolar: Number of point cloud: 25217

And if I switch the order I load the files, I obtain:

DebugSolar: Number of point cloud: 19112
DebugSolar: Number of point cloud: 19112

[duongnamduong]

Okay. I understand your problem. Because just one instance of xpcfComponentManager is created and all map components (mapper, point cloud manager,...) are set to singleton in the two configuration files, two mappers all point to a single map. To solve this issue, the first option, you have to remove scope singleton of all map components into the configuration files.
The second option, I ask @Firefly35 to know that does xpcf allow us to create two different instances in a same main file?

[ThibaudM]

Finally, I had a call with @Firefly35, and it is not possible to handle multiple maps in multiple configuration files. However, the feature (adding scopes) is in the roadmap.

I let you chose to close (or not) the issue.