bool Save_Cereal(
const SfM_Data & data,
const std::string & filename,
ESfM_Data flags_part)
{
// List which part of the file must be considered
const bool b_views = (flags_part & VIEWS) == VIEWS;
const bool b_intrinsics = (flags_part & INTRINSICS) == INTRINSICS;
const bool b_extrinsics = (flags_part & EXTRINSICS) == EXTRINSICS;
const bool b_structure = (flags_part & STRUCTURE) == STRUCTURE;
const bool b_control_point = (flags_part & CONTROL_POINTS) == CONTROL_POINTS;
//Create the stream and check it is ok
std::ofstream stream(filename.c_str(), std::ios::binary | std::ios::out);
if (!stream.is_open())
return false;
// Data serialization
{
archiveType archive(stream);
// since OpenMVG 0.9, the sfm_data version 0.2 is introduced
// - it adds control_points storage
const std::string version = "0.2";
archive(cereal::make_nvp("sfm_data_version", version));
archive(cereal::make_nvp("root_path", data.s_root_path));
if (b_views)
archive(cereal::make_nvp("views", data.views));
else
archive(cereal::make_nvp("views", Views()));
if (b_intrinsics)
archive(cereal::make_nvp("intrinsics", data.intrinsics));
else
archive(cereal::make_nvp("intrinsics", Intrinsics()));
if (b_extrinsics)
archive(cereal::make_nvp("extrinsics", data.poses));
else
archive(cereal::make_nvp("extrinsics", Poses()));
// Structure -> See for export in another file
if (b_structure)
archive(cereal::make_nvp("structure", data.structure));
else
archive(cereal::make_nvp("structure", Landmarks()));
if (version != "0.1") // fast check to assert we are at least using version 0.2
{
if (b_control_point)
archive(cereal::make_nvp("control_points", data.control_points));
else
archive(cereal::make_nvp("control_points", Landmarks()));
}
}
stream.close();
return true;
}
bool Save_Cereal(
const SfM_Data & data,
const std::string & filename,
ESfM_Data flags_part)
{
// List which part of the file must be considered
const bool b_views = (flags_part & VIEWS) == VIEWS;
const bool b_intrinsics = (flags_part & INTRINSICS) == INTRINSICS;
const bool b_extrinsics = (flags_part & EXTRINSICS) == EXTRINSICS;
const bool b_structure = (flags_part & STRUCTURE) == STRUCTURE;
//Create the stream and check it is ok
std::ofstream stream(filename.c_str());
if (!stream.is_open())
return false;
// Data serialization
{
archiveType archive(stream);
const std::string version = "0.1";
archive(cereal::make_nvp("sfm_data_version", version));
archive(cereal::make_nvp("root_path", data.s_root_path));
if (b_views)
archive(cereal::make_nvp("views", data.views));
else
archive(cereal::make_nvp("views", Views()));
if (b_intrinsics)
archive(cereal::make_nvp("intrinsics", data.intrinsics));
else
archive(cereal::make_nvp("intrinsics", Intrinsics()));
if (b_extrinsics)
archive(cereal::make_nvp("extrinsics", data.poses));
else
archive(cereal::make_nvp("extrinsics", Poses()));
// Structure -> See for export in another file
if (b_structure)
archive(cereal::make_nvp("structure", data.structure));
else
archive(cereal::make_nvp("structure", Landmarks()));
}
return true;
}
bool Hdf5Dataset::getMultimap(MultiMap &mMap)
{
hsize_t dims_out[2], count[2], offset[2];
hid_t dataspace = H5Dget_space(this->poses_dataset_); /* dataspace handle */
int rank = H5Sget_simple_extent_ndims(dataspace);
herr_t status_n = H5Sget_simple_extent_dims(dataspace, dims_out, NULL);
herr_t status;
int chunk_size, chunk_itr;
if (dims_out[0] % 10)
{
chunk_itr = 11;
}
else
{
chunk_itr = 10;
}
chunk_size = (dims_out[0] / 10);
offset[0] = 0;
for (int it = 0; it < chunk_itr; it++)
{
offset[1] = 0;
if ((dims_out[0] - (chunk_size * it)) / chunk_size != 0)
{
count[0] = chunk_size;
offset[0] = chunk_size * it;
}
else
{
count[0] = (dims_out[0] - (chunk_size * it));
offset[0] = count[0];
}
count[1] = 10;
double data_out[count[0]][count[1]];
status = H5Sselect_hyperslab(dataspace, H5S_SELECT_SET, offset, NULL, count, NULL);
hsize_t dimsm[2];
dimsm[0] = count[0];
dimsm[1] = count[1];
hid_t memspace;
memspace = H5Screate_simple(RANK_OUT, dimsm, NULL);
status = H5Dread(this->poses_dataset_, H5T_NATIVE_DOUBLE, memspace, dataspace, H5P_DEFAULT, data_out);
for(int i=0; i<count[0]; i++)
{
std::vector<double> sphere_center(3);
std::vector<double> Poses(7);
for(int j=0; j<3;j++)
{
sphere_center[j] = data_out[i][j];
}
for(int k=3;k<10; k++)
{
Poses[k-3] = data_out[i][k];
}
mMap.insert(std::make_pair(sphere_center, Poses));
}
}
return 0;
}
