DataSet DataSet::create(const H5::CommonFG &parent,
const std::string &name,
const H5::DataType &fileType,
const NDSize &size,
const NDSize &maxsize,
const NDSize &chunks,
bool max_size_unlimited,
bool guess_chunks)
{
H5::DataSpace space;
if (size) {
if (maxsize) {
space = DataSpace::create(size, maxsize);
} else {
space = DataSpace::create(size, max_size_unlimited);
}
}
H5::DSetCreatPropList plcreate = H5::DSetCreatPropList::DEFAULT;
if (chunks) {
int rank = static_cast<int>(chunks.size());
plcreate.setChunk(rank, chunks.data());
} else if (guess_chunks) {
NDSize guessedChunks = DataSet::guessChunking(size, fileType.getSize());
plcreate.setChunk(static_cast<int>(guessedChunks.size()), guessedChunks.data());
}
H5::DataSet dset = parent.createDataSet(name, fileType, space);
return DataSet(dset);
}
void TImgWriteBuffer::write(const std::string& fname, const std::string& group, const std::string& img) {
H5::H5File* h5file = H5Utils::openFile(fname);
H5::Group* h5group = H5Utils::openGroup(h5file, group);
// Dataset properties: optimized for reading/writing entire buffer at once
int rank = 3;
hsize_t dim[3] = {length_, rect_.N_bins[0], rect_.N_bins[1]};
hsize_t chunk_dim[3] = {length_, rect_.N_bins[0], rect_.N_bins[1]};
if(length_ > 1000) {
float div = ceil((float)length_ / 1000.);
chunk_dim[0] = (int)ceil(length_ / div);
std::cerr << "! Changing chunk length to " << chunk_dim[0] << " stars." << std::endl;
}
H5::DataSpace dspace(rank, &(dim[0]));
H5::DSetCreatPropList plist;
plist.setDeflate(9); // gzip compression level
plist.setChunk(rank, &(chunk_dim[0]));
float fillvalue = 0;
plist.setFillValue(H5::PredType::NATIVE_FLOAT, &fillvalue);
H5::DataSet* dataset = new H5::DataSet(h5group->createDataSet(img, H5::PredType::NATIVE_FLOAT, dspace, plist));
dataset->write(buf, H5::PredType::NATIVE_FLOAT);
/*
* Attributes
*/
hsize_t att_dim = 2;
H5::DataSpace att_dspace(1, &att_dim);
H5::PredType att_dtype = H5::PredType::NATIVE_UINT32;
H5::Attribute att_N = dataset->createAttribute("nPix", att_dtype, att_dspace);
att_N.write(att_dtype, &(rect_.N_bins));
att_dtype = H5::PredType::NATIVE_DOUBLE;
H5::Attribute att_min = dataset->createAttribute("min", att_dtype, att_dspace);
att_min.write(att_dtype, &(rect_.min));
att_dtype = H5::PredType::NATIVE_DOUBLE;
H5::Attribute att_max = dataset->createAttribute("max", att_dtype, att_dspace);
att_max.write(att_dtype, &(rect_.max));
delete dataset;
delete h5group;
delete h5file;
}
void File::create( uint64_t N, bool bDouble ) {
hsize_t chunkSize[2],dataSize[2], maxSize[2];
maxSize[0] = H5S_UNLIMITED;
chunkSize[0] = 16;
dataSize[0] = m_classes.size();
H5::DataSpace spaceDisk(1,dataSize,maxSize);
H5::DSetCreatPropList propDisk;
propDisk.setChunk(1,chunkSize);
propDisk.setFletcher32();
H5::Group darkGroup(createGroup( "dark" ));
H5::DataSet classesDataSet(
darkGroup.createDataSet("classes", m_classType,
spaceDisk,propDisk) );
H5::Group parmGroup(createGroup( "parameters" ));
maxSize[0] = H5S_UNLIMITED;
maxSize[1] = 3;
chunkSize[0] = CHUNK_SIZE;
chunkSize[1] = 1;
dataSize[0] = N;
dataSize[1] = 3;
H5::DataSpace spaceDisk2(2,dataSize,maxSize);
H5::DSetCreatPropList propDisk2;
//propDisk.setLayout(H5D_CHUNKED);
propDisk2.setChunk(2,chunkSize);
propDisk2.setFletcher32();
H5::DataSet positionDataSet(
darkGroup.createDataSet(
"position",
bDouble ? H5::PredType::NATIVE_DOUBLE : H5::PredType::NATIVE_FLOAT,
spaceDisk2,propDisk2) );
H5::DataSet velocityDataSet(
darkGroup.createDataSet(
"velocity",
bDouble ? H5::PredType::NATIVE_DOUBLE : H5::PredType::NATIVE_FLOAT,
spaceDisk2,propDisk2) );
}
int main()
{
std::string fname = "testhdf5file.h5";
H5::H5File f( fname, H5F_ACC_TRUNC );
std::string dsetname = "dset1";
const hsize_t nranks = 2;
const hsize_t ncols = 20;
const hsize_t nrows = 0; //start with zero rows.
hsize_t dims[nranks] = {nrows, ncols};
hsize_t max_dims[nranks] = {H5S_UNLIMITED, ncols};
H5::DataSpace dataspace( nranks, dims, max_dims );
H5::DSetCreatPropList prop; //could set properties, but whatever.
const hsize_t nrows_chunk = 100; //Need to mess with CACHE size too!
hsize_t chunk_dims[ndims] = { nrows_chunk, ncols};
prop.setChunk(ndims, chunk_dims);
//Create the dataset
H5::DataSet ds = f.createDataSet( dsetname, H5::PredType::NATIVE_DOUBLE,
dataspace, prop);
std::vector<double> rowtowrite( ncols, 5.0 );
for(size_t t=0; t<10000000; ++t)
{
writerow( ds, rowtowrite );
std::vector<double> lastrow( ncols, 0.0 );
lastrow = readlastrow( ds );
if( lastrow[0] != 5.0 )
{
fprintf(stderr, "ERROR IN READING...\n");
exit(1);
}
}
return 0;
}
void BufferedHDF2DArray<T>::Create(H5::CommonFG *_container, string _datasetName, unsigned int _rowLength) {
container = _container;
datasetName = _datasetName;
rowLength = (unsigned int)_rowLength;
//
// Make life easy if the buffer is too small to fit a row --
// resize it so that rows may be copied and written out in an
// atomic unit.
//
if (this->bufferSize < rowLength) {
// When the buffer size is greater than 0, the write buffer
// should exist.
if (this->bufferSize > 0) {
assert(this->writeBuffer != NULL);
delete[] this->writeBuffer;
}
this->writeBuffer = new T[rowLength];
this->bufferSize = rowLength;
}
hsize_t dataSize[2] = {0, hsize_t(rowLength)};
hsize_t maxDataSize[2] = {H5S_UNLIMITED, hsize_t(rowLength)};
H5::DataSpace fileSpace(2, dataSize, maxDataSize);
H5::DSetCreatPropList cparms;
/*
* For some reason, chunking must be enabled when creating a dataset
* that has an unlimited dimension. Of course, this is not
* mentioned in the hdf5 c++ documentation, because that
* docuemntation was written for people who enjoy learning how to
* use an API by reading comments in source code.
*/
hsize_t chunkDims[2] = {16384, hsize_t(rowLength)};
cparms.setChunk( 2, chunkDims );
TypedCreate(fileSpace, cparms);
fileSpace.close();
//
// Set some flags that indicate this dataset is ready for writing.
//
fileDataSpaceInitialized = true;
isInitialized = true;
}
void TChainWriteBuffer::write(const std::string& fname, const std::string& group, const std::string& chain, const std::string& meta) {
H5::H5File* h5file = H5Utils::openFile(fname);
H5::Group* h5group = H5Utils::openGroup(h5file, group);
// Dataset properties: optimized for reading/writing entire buffer at once
int rank = 3;
hsize_t dim[3] = {length_, nSamples_+2, nDim_};
H5::DataSpace dspace(rank, &(dim[0]));
H5::DSetCreatPropList plist;
plist.setDeflate(9); // gzip compression level
plist.setChunk(rank, &(dim[0]));
float fillvalue = 0;
plist.setFillValue(H5::PredType::NATIVE_FLOAT, &fillvalue);
H5::DataSet* dataset = NULL;
try {
dataset = new H5::DataSet(h5group->createDataSet(chain, H5::PredType::NATIVE_FLOAT, dspace, plist));
} catch(H5::GroupIException &group_exception) {
std::cerr << "Could not create dataset for chain." << std::endl;
std::cerr << "Dataset '" << group << "/" << chain << "' most likely already exists." << std::endl;
throw;
}
dataset->write(buf, H5::PredType::NATIVE_FLOAT);
if(meta == "") { // Store metadata as attributes
bool *converged = new bool[length_];
float *lnZ = new float[length_];
for(unsigned int i=0; i<length_; i++) {
converged[i] = metadata[i].converged;
lnZ[i] = metadata[i].lnZ;
}
// Allow large attributes to be stored in dense storage, versus compact (which has 64 kB limit)
//if(length_ > 5) {
// hid_t dID = dataset->getCreatePlist().getId();
// herr_t res = H5Pset_attr_phase_change(dID, 0, 0);
// std::cerr << res << std::endl;
// if(res < 0) {
// std::cerr << "Failed to specify dense storage." << std::endl;
// }
//}
H5::DataSpace convSpace(1, &(dim[0]));
H5::Attribute convAtt = dataset->createAttribute("converged", H5::PredType::NATIVE_CHAR, convSpace);
convAtt.write(H5::PredType::NATIVE_CHAR, reinterpret_cast<char*>(converged));
H5::DataSpace lnZSpace(1, &(dim[0]));
H5::Attribute lnZAtt = dataset->createAttribute("ln(Z)", H5::PredType::NATIVE_FLOAT, lnZSpace);
lnZAtt.write(H5::PredType::NATIVE_FLOAT, lnZ);
delete[] converged;
delete[] lnZ;
} else { // Store metadata as separate dataset
H5::CompType metaType(sizeof(TChainMetadata));
metaType.insertMember("converged", HOFFSET(TChainMetadata, converged), H5::PredType::NATIVE_CHAR);
metaType.insertMember("ln(Z)", HOFFSET(TChainMetadata, lnZ), H5::PredType::NATIVE_FLOAT);
rank = 1;
H5::DataSpace metaSpace(rank, &(dim[0]));
H5::DSetCreatPropList metaProp;
TChainMetadata emptyMetadata = {0, 0};
metaProp.setFillValue(metaType, &emptyMetadata);
metaProp.setDeflate(9);
metaProp.setChunk(rank, &(dim[0]));
H5::DataSet* metaDataset = new H5::DataSet(h5group->createDataSet(meta, metaType, metaSpace, metaProp));
metaDataset->write(metadata.data(), metaType);
delete metaDataset;
metaDataset = NULL;
}
delete dataset;
delete h5group;
delete h5file;
//std::cerr << "Cleaned up." << std::endl;
}
bool save_mat_image(cv::Mat& img, TRect& rect, std::string fname, std::string group_name,
std::string dset_name, std::string dim1, std::string dim2, int compression) {
assert((img.dims == 2) && (img.rows == rect.N_bins[0]) && (img.cols == rect.N_bins[1]));
if((compression<0) || (compression > 9)) {
std::cerr << "! Invalid gzip compression level: " << compression << std::endl;
return false;
}
H5::Exception::dontPrint();
H5::H5File *file = H5Utils::openFile(fname);
if(file == NULL) { return false; }
H5::Group *group = H5Utils::openGroup(file, group_name);
if(group == NULL) {
delete file;
return false;
}
/*
* Image Data
*/
// Creation property list
H5::DSetCreatPropList plist;
int rank = 2;
hsize_t dim[2] = {rect.N_bins[0], rect.N_bins[1]};
plist.setDeflate(compression); // gzip compression level
float fillvalue = 0;
plist.setFillValue(H5::PredType::NATIVE_FLOAT, &fillvalue);
plist.setChunk(rank, &(dim[0]));
H5::DataSpace dspace(rank, &(dim[0]));
H5::DataSet* dataset;
try {
dataset = new H5::DataSet(group->createDataSet(dset_name, H5::PredType::NATIVE_FLOAT, dspace, plist));
} catch(H5::FileIException create_dset_err) {
std::cerr << "Unable to create dataset '" << dset_name << "'." << std::endl;
delete group;
delete file;
return false;
}
float *buf = new float[rect.N_bins[0]*rect.N_bins[1]];
for(size_t j=0; j<rect.N_bins[0]; j++) {
for(size_t k=0; k<rect.N_bins[1]; k++) {
buf[rect.N_bins[1]*j + k] = img.at<double>(j,k);
/*float tmp = img.at<double>(j,k);
if(tmp > 0.) {
std::cerr << j << ", " << k << " --> " << j + rect.N_bins[0]*k << " --> " << tmp << std::endl;
}*/
}
}
dataset->write(buf, H5::PredType::NATIVE_FLOAT);
/*
* Attributes
*/
hsize_t att_dim = 2;
H5::DataSpace att_dspace(1, &att_dim);
H5::PredType att_dtype = H5::PredType::NATIVE_UINT32;
H5::Attribute att_N = dataset->createAttribute("N_pix", att_dtype, att_dspace);
att_N.write(att_dtype, &(rect.N_bins));
att_dtype = H5::PredType::NATIVE_DOUBLE;
H5::Attribute att_min = dataset->createAttribute("min", att_dtype, att_dspace);
att_min.write(att_dtype, &(rect.min));
att_dtype = H5::PredType::NATIVE_DOUBLE;
H5::Attribute att_max = dataset->createAttribute("max", att_dtype, att_dspace);
att_max.write(att_dtype, &(rect.max));
att_dim = 1;
H5::StrType vls_type(0, H5T_VARIABLE);
H5::DataSpace att_space_str(H5S_SCALAR);
H5::Attribute att_name_1 = dataset->createAttribute("dim_name_1", vls_type, att_space_str);
att_name_1.write(vls_type, dim1);
H5::Attribute att_name_2 = dataset->createAttribute("dim_name_2", vls_type, att_space_str);
att_name_2.write(vls_type, dim2);
file->close();
delete[] buf;
delete dataset;
delete group;
delete file;
return true;
}
bool TStellarData::save(const std::string& fname, const std::string& group, const std::string &dset, int compression) {
if((compression < 0) || (compression > 9)) {
std::cerr << "! Invalid gzip compression level: " << compression << std::endl;
return false;
}
hsize_t nstars = star.size();
if(nstars == 0) {
std::cerr << "! No stars to write." << std::endl;
return false;
}
H5::Exception::dontPrint();
H5::H5File *file = H5Utils::openFile(fname);
if(file == NULL) { return false; }
H5::Group *gp = H5Utils::openGroup(file, group);
if(gp == NULL) {
delete file;
return false;
}
/*
* Photometry
*/
// Datatype
hsize_t nbands = NBANDS;
H5::ArrayType f4arr(H5::PredType::NATIVE_FLOAT, 1, &nbands);
H5::ArrayType u4arr(H5::PredType::NATIVE_FLOAT, 1, &nbands);
H5::CompType dtype(sizeof(TFileData));
dtype.insertMember("obj_id", HOFFSET(TFileData, obj_id), H5::PredType::NATIVE_UINT64);
dtype.insertMember("l", HOFFSET(TFileData, l), H5::PredType::NATIVE_DOUBLE);
dtype.insertMember("b", HOFFSET(TFileData, b), H5::PredType::NATIVE_DOUBLE);
dtype.insertMember("mag", HOFFSET(TFileData, mag), f4arr);
dtype.insertMember("err", HOFFSET(TFileData, err), f4arr);
dtype.insertMember("maglimit", HOFFSET(TFileData, maglimit), f4arr);
dtype.insertMember("nDet", HOFFSET(TFileData, N_det), u4arr);
dtype.insertMember("EBV", HOFFSET(TFileData, EBV), H5::PredType::NATIVE_FLOAT);
// Dataspace
hsize_t dim = nstars;
H5::DataSpace dspace(1, &dim);
// Property List
H5::DSetCreatPropList plist;
plist.setChunk(1, &nstars);
plist.setDeflate(compression);
// Dataset
H5::DataSet dataset = gp->createDataSet(dset, dtype, dspace, plist);
// Write dataset
TFileData* data = new TFileData[nstars];
for(size_t i=0; i<nstars; i++) {
data[i].obj_id = star[i].obj_id;
data[i].l = star[i].l;
data[i].b = star[i].b;
for(size_t k=0; k<NBANDS; k++) {
data[i].mag[k] = star[i].m[k];
data[i].err[k] = star[i].err[k];
data[i].maglimit[k] = star[i].maglimit[k];
}
data[i].EBV = star[i].EBV;
}
dataset.write(data, dtype);
/*
* Attributes
*/
dim = 1;
H5::DataSpace att_dspace(1, &dim);
H5::PredType att_dtype = H5::PredType::NATIVE_UINT64;
H5::Attribute att_healpix_index = dataset.createAttribute("healpix_index", att_dtype, att_dspace);
att_healpix_index.write(att_dtype, &healpix_index);
att_dtype = H5::PredType::NATIVE_UINT32;
H5::Attribute att_nside = dataset.createAttribute("nside", att_dtype, att_dspace);
att_nside.write(att_dtype, &nside);
att_dtype = H5::PredType::NATIVE_UCHAR;
H5::Attribute att_nested = dataset.createAttribute("nested", att_dtype, att_dspace);
att_nested.write(att_dtype, &nested);
att_dtype = H5::PredType::NATIVE_DOUBLE;
H5::Attribute att_l = dataset.createAttribute("l", att_dtype, att_dspace);
att_l.write(att_dtype, &l);
att_dtype = H5::PredType::NATIVE_DOUBLE;
H5::Attribute att_b = dataset.createAttribute("b", att_dtype, att_dspace);
att_b.write(att_dtype, &b);
att_dtype = H5::PredType::NATIVE_DOUBLE;
H5::Attribute att_EBV = dataset.createAttribute("EBV", att_dtype, att_dspace);
att_EBV.write(att_dtype, &EBV);
file->close();
delete[] data;
delete gp;
delete file;
return true;
}
// Bundle management
void Bundle2::save(const boost::filesystem::path& fileName) const {
// Creating HDF5 file
H5::H5File bundleFile(fileName.string(), H5F_ACC_TRUNC);
storeParameters(bundleFile);
H5::DataSpace scalar;
// Saving POI
H5::Group poiGroup = bundleFile.createGroup("/POI");
H5::Attribute attr = poiGroup.createAttribute("count", H5::PredType::STD_U64LE, scalar);
hsize_t count = poi_.size();
attr.write(H5::PredType::NATIVE_HSIZE, &count);
attr.close();
for(size_t frame = 0; frame < poi_.size(); ++frame) {
const std::string frameGroupName = boost::str(boost::format("Frame %1$04d") % frame);
H5::Group frameGroup = poiGroup.createGroup(frameGroupName);
count = poi_[frame].size();
attr = frameGroup.createAttribute("count", H5::PredType::STD_U64LE, scalar);
attr.write(H5::PredType::NATIVE_HSIZE, &count);
attr.close();
for(size_t camera = 0; camera < poi_[frame].size(); ++camera)
poi_[frame][camera].save(frameGroup, camera);
frameGroup.close();
}
poiGroup.close();
// Saving key frames
H5::Group bundleGroup = bundleFile.createGroup("/Bundle");
H5::Group framesGroup = bundleGroup.createGroup("Frames");
count = frames_.size();
attr = framesGroup.createAttribute("count", H5::PredType::STD_U64LE, scalar);
attr.write(H5::PredType::NATIVE_HSIZE, &count);
attr.close();
for(deque<Frame*>::const_iterator it = frames_.begin(); it != frames_.end(); it++) {
(*it)->save(framesGroup);
}
framesGroup.close();
// Saving tracks
const hsize_t chunkDim[] = { 2, 1 };
H5::DSetCreatPropList propList;
propList.setLayout(H5D_CHUNKED);
propList.setChunk(2, chunkDim);
propList.setDeflate(9);
H5::VarLenType tracksDatasetType(&H5::PredType::STD_U64LE);
hsize_t tracksDim[] = { tracks_.size(), 2 };
hsize_t tracksMaxDim[] = { H5S_UNLIMITED, 2 };
H5::DataSpace tracksDataspace(2, tracksDim, tracksMaxDim);
H5::DataSet tracksDataset = bundleGroup.createDataSet("Tracks", tracksDatasetType, tracksDataspace, propList);
for(size_t i = 0; i < tracks_.size(); ++i)
tracks_[i]->save(tracksDataset, i);
tracksDataset.close();
tracksDataspace.close();
tracksDatasetType.close();
propList.close();
bundleGroup.close();
scalar.close();
bundleFile.close();
}
void Bundle2::initGeometryStream_() {
// Creating group Geometry
H5::Group geometryGroup = streamFile_->createGroup("/Geometry");
// Saving poses
const hsize_t posesChunkDim[] = { 3, 12 };
H5::DSetCreatPropList posesPropList;
posesPropList.setLayout(H5D_CHUNKED);
posesPropList.setChunk(2, posesChunkDim);
posesPropList.setDeflate(9);
const hsize_t posesMaxDim[] = { H5S_UNLIMITED, 12 };
const hsize_t posesCurDim[] = { frames_.size(), 12 };
H5::DataSpace posesDS(2, posesCurDim, posesMaxDim);
H5::DataSet posesDataSet = geometryGroup.createDataSet("Poses", H5::PredType::IEEE_F64LE, posesDS, posesPropList);
double* posesData = (double*)malloc(frames_.size()*12*sizeof(double));
size_t i = 0;
for(deque<Frame*>::const_iterator it = frames_.begin(); it != frames_.end(); it++) {
posesData[i*12] = (*it)->pose()->t().x();
posesData[i*12 + 1] = (*it)->pose()->t().y();
posesData[i*12 + 2] = (*it)->pose()->t().z();
core::Matrix<double> R = (*it)->pose()->R();
posesData[i*12 + 3] = R[0][0];
posesData[i*12 + 4] = R[1][0];
posesData[i*12 + 5] = R[2][0];
posesData[i*12 + 6] = R[0][1];
posesData[i*12 + 7] = R[1][1];
posesData[i*12 + 8] = R[2][1];
posesData[i*12 + 9] = R[0][2];
posesData[i*12 + 10] = R[1][2];
posesData[i*12 + 11] = R[2][2];
++i;
}
posesDataSet.write((const void*)posesData, H5::PredType::NATIVE_DOUBLE, H5::DataSpace::ALL, H5::DataSpace::ALL);
free((void*)posesData);
posesDataSet.close();
posesDS.close();
// Creating points dataset
const hsize_t pointsChunkDim[] = {10, 3};
H5::DSetCreatPropList pointsPropList;
pointsPropList.setLayout(H5D_CHUNKED);
pointsPropList.setChunk(2, pointsChunkDim);
pointsPropList.setDeflate(9);
const hsize_t pointsMaxDim[] = { H5S_UNLIMITED, 3 };
const hsize_t pointsCurDim[] = { 0, 3 };
H5::DataSpace pointsDS(2, pointsCurDim, pointsMaxDim);
H5::DataSet pointsDataSet = geometryGroup.createDataSet("Points", H5::PredType::IEEE_F64LE, pointsDS, pointsPropList);
pointsDataSet.close();
pointsDS.close();
// Creating inliers dataset
const hsize_t inliersChunkDim[] = { 3 };
H5::DSetCreatPropList inliersPropList;
inliersPropList.setLayout(H5D_CHUNKED);
inliersPropList.setChunk(1, inliersChunkDim);
inliersPropList.setDeflate(9);
const hsize_t inliersMaxDim[] = { H5S_UNLIMITED };
const hsize_t inliersCurDim[] = { frames_.size() };
H5::DataSpace inliersDS(1, inliersCurDim, inliersMaxDim);
H5::VarLenType inliersType(&H5::PredType::STD_U8LE);
H5::DataSet inliersDataSet = geometryGroup.createDataSet("Inliers", inliersType, inliersDS, inliersPropList);
inliersDataSet.close();
inliersType.close();
inliersDS.close();
// Creating curve dataset
const hsize_t chunkDim[] = { 5 };
H5::DSetCreatPropList propList;
propList.setLayout(H5D_CHUNKED);
propList.setChunk(1, chunkDim);
propList.setDeflate(9);
H5::VarLenType curveDatasetType(&H5::PredType::STD_U64LE);
hsize_t curvesDim[] = { 0 };
hsize_t curvesMaxDim[] = { H5S_UNLIMITED };
H5::DataSpace curvesDataspace(1, curvesDim, curvesMaxDim);
H5::DataSet curvesDataset = geometryGroup.createDataSet("Curves", curveDatasetType, curvesDataspace, propList);
curvesDataset.close();
curvesDataspace.close();
curveDatasetType.close();
propList.close();
geometryGroup.close();
}
void Bundle2::initFrameStream_() {
H5::DataSpace scalar;
// Creating datasets for each frame
H5::Group bundleGroup = streamFile_->createGroup("/Bundle");
H5::Group framesGroup = bundleGroup.createGroup("Frames");
hsize_t count = frames_.size();
H5::Attribute attr = framesGroup.createAttribute("count", H5::PredType::STD_U64LE, scalar);
attr.write(H5::PredType::NATIVE_HSIZE, &count);
attr.close();
// Defining frame dataset property
hsize_t chunkDim[] = { 1, 2, 10 };
H5::DSetCreatPropList propList;
propList.setLayout(H5D_CHUNKED);
propList.setChunk(3, chunkDim);
propList.setDeflate(9);
// Definig dataset dataspace
hsize_t max_dim[] = { numCameras_, 2, H5S_UNLIMITED };
hsize_t dim[] = { numCameras_, 2, 0 };
H5::DataSpace ds(3, dim, max_dim);
for(deque<Frame*>::const_iterator it = frames_.begin(); it != frames_.end(); it++) {
const std::string datasetName = boost::str(boost::format("Frame %1$04d") % (*it)->number());
// Creating dataset
H5::DataSet frameData = framesGroup.createDataSet(datasetName, H5::PredType::IEEE_F32LE, ds, propList);
// Writing global number
attr = frameData.createAttribute("globalNumber", H5::PredType::STD_U64LE, scalar);
count = (*it)->globalNumber();
attr.write(H5::PredType::NATIVE_HSIZE, &count);
attr.close();
// Clean up!
frameData.close();
}
// Clean up!
ds.close();
propList.close();
// Creating tracks dataset
hsize_t chunkDim2[] = { 2, 10 };
propList = H5::DSetCreatPropList();
propList.setLayout(H5D_CHUNKED);
propList.setChunk(2, chunkDim);
propList.setDeflate(9);
H5::VarLenType tracksDatasetType(&H5::PredType::STD_U64LE);
hsize_t tracksDim[] = { 0, 2 };
hsize_t tracksMaxDim[] = { H5S_UNLIMITED, 2 };
H5::DataSpace tracksDataspace(2, tracksDim, tracksMaxDim);
H5::DataSet tracksDataset = bundleGroup.createDataSet("Tracks", tracksDatasetType, tracksDataspace, propList);
tracksDataset.close();
tracksDataspace.close();
tracksDatasetType.close();
propList.close();
framesGroup.close();
bundleGroup.close();
scalar.close();
}
void Bundle2::saveGeometry(const boost::filesystem::path& fileName) const {
H5::H5File bundleFile;
bundleFile.openFile(fileName.string(), H5F_ACC_RDWR);
H5::Group rootGroup = bundleFile.openGroup("/");
// If the group "Geometry" exists, delete it!
if(checkGeometry_(bundleFile)) {
rootGroup.unlink("Geometry");
}
// Creating group Geometry
H5::Group geometryGroup = rootGroup.createGroup("Geometry");
// Saving poses
const hsize_t posesChunkDim[] = { 3, 12 };
H5::DSetCreatPropList posesPropList;
posesPropList.setLayout(H5D_CHUNKED);
posesPropList.setChunk(2, posesChunkDim);
posesPropList.setDeflate(9);
const hsize_t posesMaxDim[] = { H5S_UNLIMITED, 12 };
const hsize_t posesCurDim[] = { frames_.size(), 12 };
H5::DataSpace posesDS(2, posesCurDim, posesMaxDim);
H5::DataSet posesDataSet = geometryGroup.createDataSet("Poses", H5::PredType::IEEE_F64LE, posesDS, posesPropList);
double* posesData = (double*)malloc(frames_.size()*12*sizeof(double));
size_t i = 0;
for(deque<Frame*>::const_iterator it = frames_.begin(); it != frames_.end(); it++) {
posesData[i*12] = (*it)->pose()->t().x();
posesData[i*12 + 1] = (*it)->pose()->t().y();
posesData[i*12 + 2] = (*it)->pose()->t().z();
core::Matrix<double> R = (*it)->pose()->R();
posesData[i*12 + 3] = R[0][0];
posesData[i*12 + 4] = R[1][0];
posesData[i*12 + 5] = R[2][0];
posesData[i*12 + 6] = R[0][1];
posesData[i*12 + 7] = R[1][1];
posesData[i*12 + 8] = R[2][1];
posesData[i*12 + 9] = R[0][2];
posesData[i*12 + 10] = R[1][2];
posesData[i*12 + 11] = R[2][2];
++i;
}
posesDataSet.write((const void*)posesData, H5::PredType::NATIVE_DOUBLE, H5::DataSpace::ALL, H5::DataSpace::ALL);
free((void*)posesData);
posesDataSet.close();
posesDS.close();
// Saving points
const hsize_t pointsChunkDim[] = {10, 3};
H5::DSetCreatPropList pointsPropList;
pointsPropList.setLayout(H5D_CHUNKED);
pointsPropList.setChunk(2, pointsChunkDim);
pointsPropList.setDeflate(9);
const hsize_t pointsMaxDim[] = { H5S_UNLIMITED, 3 };
const hsize_t pointsCurDim[] = { tracks_.size(), 3 };
H5::DataSpace pointsDS(2, pointsCurDim, pointsMaxDim);
H5::DataSet pointsDataSet = geometryGroup.createDataSet("Points", H5::PredType::IEEE_F64LE, pointsDS, pointsPropList);
double* pointsData = (double*)malloc(tracks_.size()*3*sizeof(double));
i = 0;
for(deque<Track*>::const_iterator it = tracks_.begin(); it != tracks_.end(); it++) {
pointsData[i*3] = (*it)->point()->coords().x();
pointsData[i*3 + 1] = (*it)->point()->coords().y();
pointsData[i*3 + 2] = (*it)->point()->coords().z();
++i;
}
pointsDataSet.write((const void*)pointsData, H5::PredType::NATIVE_DOUBLE, H5::DataSpace::ALL, H5::DataSpace::ALL);
free((void*)pointsData);
pointsDataSet.close();
pointsDS.close();
// Saving inlier information
const hsize_t inliersChunkDim[] = { 3 };
H5::DSetCreatPropList inliersPropList;
inliersPropList.setLayout(H5D_CHUNKED);
inliersPropList.setChunk(1, inliersChunkDim);
inliersPropList.setDeflate(9);
const hsize_t inliersMaxDim[] = { H5S_UNLIMITED };
const hsize_t inliersCurDim[] = { frames_.size() };
H5::DataSpace inliersDS(1, inliersCurDim, inliersMaxDim);
H5::VarLenType inliersType(&H5::PredType::STD_U8LE);
H5::DataSet inliersDataSet = geometryGroup.createDataSet("Inliers", inliersType, inliersDS, inliersPropList);
i = 0;
for(deque<Frame*>::const_iterator it = frames_.begin(); it != frames_.end(); it++) {
hvl_t inliersLine;
size_t inliersLineSize = 0;
for(size_t j = 0; j < (*it)->size(); ++j) {
View& v = (**it)[j];
for(unsigned int cam = 0; cam < v.numCameras(); ++cam) {
if(v.inCamera(cam)) ++inliersLineSize;
}
}
inliersLine.len = inliersLineSize;
inliersLine.p = malloc(inliersLineSize*sizeof(unsigned char));
size_t k = 0;
for(size_t j = 0; j < (*it)->size(); ++j) {
View& v = (**it)[j];
for(unsigned int cam = 0; cam < v.numCameras(); ++cam) {
if(v.inCamera(cam)) {
((unsigned char*)(inliersLine.p))[k] = v.ray(cam).inlier()?1:0;
++k;
}
}
}
const hsize_t dsOffset[] = { i };
const hsize_t dsCount[] = { 1 };
H5::DataSpace inliersCurDS = inliersDataSet.getSpace();
inliersCurDS.selectHyperslab(H5S_SELECT_SET, dsCount, dsOffset);
const hsize_t memDim[] = { 1 };
H5::DataSpace memDS(1, memDim, memDim);
H5::VarLenType memType(&H5::PredType::NATIVE_UCHAR);
inliersDataSet.write((const void*)&inliersLine, memType, memDS, inliersCurDS);
memType.close();
memDS.close();
inliersCurDS.close();
free(inliersLine.p);
++i;
}
inliersDataSet.close();
inliersType.close();
inliersDS.close();
// Saving curves
if(!curves_.empty()) {
const hsize_t chunkDim[] = { 5 };
H5::DSetCreatPropList propList;
propList.setLayout(H5D_CHUNKED);
propList.setChunk(1, chunkDim);
propList.setDeflate(9);
H5::VarLenType curveDatasetType(&H5::PredType::STD_U64LE);
hsize_t curvesDim[] = { curves_.size() };
hsize_t curvesMaxDim[] = { H5S_UNLIMITED };
H5::DataSpace curvesDataspace(1, curvesDim, curvesMaxDim);
H5::DataSet curvesDataset = geometryGroup.createDataSet("Curves", curveDatasetType, curvesDataspace, propList);
for(size_t i = 0; i < curves_.size(); ++i) {
hvl_t curveLine;
curveLine.len = curves_[i].size();
curveLine.p = malloc(curves_[i].size()*sizeof(size_t));
for(size_t j = 0; j < curves_[i].size(); ++j) ((size_t*)(curveLine.p))[j] = curves_[i].track(j);
const hsize_t dsOffset[] = { i };
const hsize_t dsCount[] = { 1 };
H5::DataSpace curDS = curvesDataset.getSpace();
curDS.selectHyperslab(H5S_SELECT_SET, dsCount, dsOffset);
const hsize_t memDim[] = { 1 };
H5::DataSpace memDS(1, memDim, memDim);
H5::VarLenType memType(&H5::PredType::NATIVE_HSIZE);
curvesDataset.write((const void*)&curveLine, memType, memDS, curDS);
memType.close();
memDS.close();
curDS.close();
free(curveLine.p);
}
curvesDataset.close();
curvesDataspace.close();
curveDatasetType.close();
propList.close();
}
geometryGroup.close();
rootGroup.close();
bundleFile.close();
}