1 // Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
2 // All rights reserved.
3 //
4 // Redistribution and use in source and binary forms, with or without
5 // modification, are permitted provided that the following conditions are met:
6 //
7 // * Redistributions of source code must retain the above copyright
8 // notice, this list of conditions and the following disclaimer.
9 //
10 // * Redistributions in binary form must reproduce the above copyright
11 // notice, this list of conditions and the following disclaimer in the
12 // documentation and/or other materials provided with the distribution.
13 //
14 // * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
15 // its contributors may be used to endorse or promote products derived
16 // from this software without specific prior written permission.
17 //
18 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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29 //
30 // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
31
32 #include "mvs/consistency_graph.h"
33
34 #include <fstream>
35 #include <numeric>
36
37 #include "util/logging.h"
38 #include "util/misc.h"
39
40 namespace colmap {
41 namespace mvs {
42
43 const int ConsistencyGraph::kNoConsistentImageIds = -1;
44
ConsistencyGraph()45 ConsistencyGraph::ConsistencyGraph() {}
46
ConsistencyGraph(const size_t width,const size_t height,const std::vector<int> & data)47 ConsistencyGraph::ConsistencyGraph(const size_t width, const size_t height,
48 const std::vector<int>& data)
49 : data_(data) {
50 InitializeMap(width, height);
51 }
52
GetNumBytes() const53 size_t ConsistencyGraph::GetNumBytes() const {
54 return (data_.size() + map_.size()) * sizeof(int);
55 }
56
GetImageIdxs(const int row,const int col,int * num_images,const int ** image_idxs) const57 void ConsistencyGraph::GetImageIdxs(const int row, const int col,
58 int* num_images,
59 const int** image_idxs) const {
60 const int index = map_(row, col);
61 if (index == kNoConsistentImageIds) {
62 *num_images = 0;
63 *image_idxs = nullptr;
64 } else {
65 *num_images = data_.at(index);
66 *image_idxs = &data_.at(index + 1);
67 }
68 }
69
Read(const std::string & path)70 void ConsistencyGraph::Read(const std::string& path) {
71 std::fstream text_file(path, std::ios::in | std::ios::binary);
72 CHECK(text_file.is_open()) << path;
73
74 size_t width = 0;
75 size_t height = 0;
76 size_t depth = 0;
77 char unused_char;
78
79 text_file >> width >> unused_char >> height >> unused_char >> depth >>
80 unused_char;
81 const std::streampos pos = text_file.tellg();
82 text_file.close();
83
84 CHECK_GT(width, 0);
85 CHECK_GT(height, 0);
86 CHECK_GT(depth, 0);
87
88 std::fstream binary_file(path, std::ios::in | std::ios::binary);
89 CHECK(binary_file.is_open()) << path;
90
91 binary_file.seekg(0, std::ios::end);
92 const size_t num_bytes = binary_file.tellg() - pos;
93
94 data_.resize(num_bytes / sizeof(int));
95
96 binary_file.seekg(pos);
97 ReadBinaryLittleEndian<int>(&binary_file, &data_);
98 binary_file.close();
99
100 InitializeMap(width, height);
101 }
102
Write(const std::string & path) const103 void ConsistencyGraph::Write(const std::string& path) const {
104 std::fstream text_file(path, std::ios::out);
105 CHECK(text_file.is_open()) << path;
106 text_file << map_.cols() << "&" << map_.rows() << "&" << 1 << "&";
107 text_file.close();
108
109 std::fstream binary_file(path,
110 std::ios::out | std::ios::binary | std::ios::app);
111 CHECK(binary_file.is_open()) << path;
112 WriteBinaryLittleEndian<int>(&binary_file, data_);
113 binary_file.close();
114 }
115
InitializeMap(const size_t width,const size_t height)116 void ConsistencyGraph::InitializeMap(const size_t width, const size_t height) {
117 map_.resize(height, width);
118 map_.setConstant(kNoConsistentImageIds);
119 for (size_t i = 0; i < data_.size();) {
120 const int num_images = data_.at(i + 2);
121 if (num_images > 0) {
122 const int col = data_.at(i);
123 const int row = data_.at(i + 1);
124 map_(row, col) = i + 2;
125 }
126 i += 3 + num_images;
127 }
128 }
129
130 } // namespace mvs
131 } // namespace colmap
132