colmap源码中 ConsistentGraph的部分
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#include "mvs/consistency_graph.h"
#include <fstream>
#include <numeric>
#include "util/logging.h"
#include "util/misc.h"
namespace colmap {
namespace mvs {
const int ConsistencyGraph::kNoConsistentImageIds = -1;
ConsistencyGraph::ConsistencyGraph() {}
ConsistencyGraph::ConsistencyGraph(const size_t width, const size_t height,
const std::vector<int>& data)
: data_(data) {
InitializeMap(width, height);
}
size_t ConsistencyGraph::GetNumBytes() const {
return (data_.size() + map_.size()) * sizeof(int);
}
void ConsistencyGraph::GetImageIdxs(const int row, const int col,
int* num_images,
const int** image_idxs) const {
const int index = map_(row, col);
if (index == kNoConsistentImageIds) {
*num_images = 0;
*image_idxs = nullptr;
} else {
*num_images = data_.at(index);
*image_idxs = &data_.at(index + 1);
}
}
void ConsistencyGraph::Read(const std::string& path) {
std::fstream text_file(path, std::ios::in | std::ios::binary);
CHECK(text_file.is_open()) << path;
size_t width = 0;
size_t height = 0;
size_t depth = 0;
char unused_char;
text_file >> width >> unused_char >> height >> unused_char >> depth >>
unused_char;
const std::streampos pos = text_file.tellg();
text_file.close();
CHECK_GT(width, 0);
CHECK_GT(height, 0);
CHECK_GT(depth, 0);
std::fstream binary_file(path, std::ios::in | std::ios::binary);
CHECK(binary_file.is_open()) << path;
binary_file.seekg(0, std::ios::end);
const size_t num_bytes = binary_file.tellg() - pos;
data_.resize(num_bytes / sizeof(int));
binary_file.seekg(pos);
ReadBinaryLittleEndian<int>(&binary_file, &data_);
binary_file.close();
InitializeMap(width, height);
}
void ConsistencyGraph::Write(const std::string& path) const {
std::fstream text_file(path, std::ios::out);
CHECK(text_file.is_open()) << path;
text_file << map_.cols() << "&" << map_.rows() << "&" << 1 << "&";
text_file.close();
std::fstream binary_file(path,
std::ios::out | std::ios::binary | std::ios::app);
CHECK(binary_file.is_open()) << path;
WriteBinaryLittleEndian<int>(&binary_file, data_);
binary_file.close();
}
void ConsistencyGraph::InitializeMap(const size_t width, const size_t height) {
map_.resize(height, width);
map_.setConstant(kNoConsistentImageIds);
for (size_t i = 0; i < data_.size();) {
const int num_images = data_.at(i + 2);
if (num_images > 0) {
const int col = data_.at(i);
const int row = data_.at(i + 1);
map_(row, col) = i + 2;
}
i += 3 + num_images;
}
}
} // namespace mvs
} // namespace colmap
首先是ConsistencyGraph 其中初始化了整个map
void ConsistencyGraph::InitializeMap(const size_t width, const size_t height) {
map_.resize(height, width);
map_.setConstant(kNoConsistentImageIds);
for (size_t i = 0; i < data_.size();) {
const int num_images = data_.at(i + 2);
if (num_images > 0) {
const int col = data_.at(i);
const int row = data_.at(i + 1);
map_(row, col) = i + 2;
}
i += 3 + num_images;
}
}
注意 data中数据是用线性的表示方式来进行存储的就好了,然后把线性的数据初始化到map中间。
接下来的GetImageIdxs 是根据纵横坐标拿到图像的座标:
void ConsistencyGraph::GetImageIdxs(const int row, const int col,
int* num_images,
const int** image_idxs) const {
const int index = map_(row, col);
if (index == kNoConsistentImageIds) {
*num_images = 0;
*image_idxs = nullptr;
} else {
*num_images = data_.at(index);
*image_idxs = &data_.at(index + 1);
}
}
接下来是 Read: 从txt文件中读取数据到data
void ConsistencyGraph::Read(const std::string& path) {
//原型是 void open(const char* filename,int mode,int access);
// 三个参数分别代表的是 文件名,读取模式,打开文件的属性
std::fstream text_file(path, std::ios::in | std::ios::binary);
CHECK(text_file.is_open()) << path;
size_t width = 0;
size_t height = 0;
size_t depth = 0;
char unused_char;
// text_file << 向文件写入
// text_file >> 输出
text_file >> width >> unused_char >> height >> unused_char >> depth >>
unused_char;
// 在输入流中获取指针位置
const std::streampos pos = text_file.tellg();
text_file.close();
CHECK_GT(width, 0);
CHECK_GT(height, 0);
CHECK_GT(depth, 0);
std::fstream binary_file(path, std::ios::in | std::ios::binary);
CHECK(binary_file.is_open()) << path;
// 函数seekg()用于输入流,并且它将重新设置"get"指针到当前流的从参数1 偏移参数2 个字节的位置上
binary_file.seekg(0, std::ios::end);
const size_t num_bytes = binary_file.tellg() - pos;
data_.resize(num_bytes / sizeof(int));
binary_file.seekg(pos);
// 小端存储数据
ReadBinaryLittleEndian<int>(&binary_file, &data_);
binary_file.close();
InitializeMap(width, height);
}
接下来是write: 把data写入到txt文件中
void ConsistencyGraph::Write(const std::string& path) const {
std::fstream text_file(path, std::ios::out);
CHECK(text_file.is_open()) << path;
//第一行往往是文件信息
text_file << map_.cols() << "&" << map_.rows() << "&" << 1 << "&";
text_file.close();
std::fstream binary_file(path,
std::ios::out | std::ios::binary | std::ios::app);
CHECK(binary_file.is_open()) << path;
WriteBinaryLittleEndian<int>(&binary_file, data_);
binary_file.close();
}