File size: 4,576 Bytes
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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
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//
// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#ifndef COLMAP_SRC_RETRIEVAL_INVERTED_FILE_ENTRY_H_
#define COLMAP_SRC_RETRIEVAL_INVERTED_FILE_ENTRY_H_
#include <bitset>
#include <fstream>
#include "retrieval/geometry.h"
namespace colmap {
namespace retrieval {
// An inverted file entry. The template defines the dimensionality of the binary
// string used to approximate the descriptor in the Hamming space.
// This class is based on an original implementation by Torsten Sattler.
template <int N>
struct InvertedFileEntry {
void Read(std::istream* ifs);
void Write(std::ostream* ofs) const;
// The identifier of the image this entry is associated with.
int image_id = -1;
// The index of the feature within the image's keypoints list.
int feature_idx = -1;
// The geometry of the feature, used for spatial verification.
FeatureGeometry geometry;
// The binary signature in the Hamming embedding.
std::bitset<N> descriptor;
};
////////////////////////////////////////////////////////////////////////////////
// Implementation
////////////////////////////////////////////////////////////////////////////////
template <int N>
void InvertedFileEntry<N>::Read(std::istream* ifs) {
static_assert(N <= 64, "Dimensionality too large");
static_assert(sizeof(unsigned long long) >= 8,
"Expected unsigned long to be at least 8 byte");
static_assert(sizeof(FeatureGeometry) == 16, "Geometry type size mismatch");
int32_t image_id_data = 0;
ifs->read(reinterpret_cast<char*>(&image_id_data), sizeof(int32_t));
image_id = static_cast<int>(image_id_data);
int32_t feature_idx_data = 0;
ifs->read(reinterpret_cast<char*>(&feature_idx_data), sizeof(int32_t));
feature_idx = static_cast<int>(feature_idx_data);
ifs->read(reinterpret_cast<char*>(&geometry), sizeof(FeatureGeometry));
uint64_t descriptor_data = 0;
ifs->read(reinterpret_cast<char*>(&descriptor_data), sizeof(uint64_t));
descriptor = std::bitset<N>(descriptor_data);
}
template <int N>
void InvertedFileEntry<N>::Write(std::ostream* ofs) const {
static_assert(N <= 64, "Dimensionality too large");
static_assert(sizeof(unsigned long long) >= 8,
"Expected unsigned long to be at least 8 byte");
static_assert(sizeof(FeatureGeometry) == 16, "Geometry type size mismatch");
const int32_t image_id_data = image_id;
ofs->write(reinterpret_cast<const char*>(&image_id_data), sizeof(int32_t));
const int32_t feature_idx_data = feature_idx;
ofs->write(reinterpret_cast<const char*>(&feature_idx_data), sizeof(int32_t));
ofs->write(reinterpret_cast<const char*>(&geometry), sizeof(FeatureGeometry));
const uint64_t descriptor_data =
static_cast<uint64_t>(descriptor.to_ullong());
ofs->write(reinterpret_cast<const char*>(&descriptor_data), sizeof(uint64_t));
}
} // namespace retrieval
} // namespace colmap
#endif // COLMAP_SRC_RETRIEVAL_INVERTED_FILE_ENTRY_H_
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