{

mapfile = filename;

FileStorage fs(mapfile, FileStorage::READ);

assert(fs.isOpened());

FileNode nodeKFs = fs["KeyFrames"];

FileNodeIterator it = nodeKFs.begin(), itend = nodeKFs.end();

size_pose = nodeKFs.size();

Poses.clear();

Poses.reserve(size_pose);

for(; it != itend; it++) {

FileNode nodeKF = *it;

Mat pose;

nodeKF["Pose"] >> pose;

Poses.push_back(pose);

}

FileNode nodeMPs = fs["MapPoints"];

it = nodeMPs.begin(), itend = nodeMPs.end();

size_point = nodeMPs.size();

Points.clear();

Points.reserve(size_point);

for(; it != itend; it++) {

FileNode nodeMP = *it;

Point3f pos;

nodeMP["Pos"] >> pos;

Points.push_back(pos);

}

fs.release();

return true;