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// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// 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
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