BoostArchiver.h

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/*
 * map save/load extension for ORB_SLAM2
 * This header contains boost headers needed by serialization
 *
 * object to save:
 *   - KeyFrame
 *   - KeyFrameDatabase
 *   - Map
 *   - MapPoint
 */
#ifndef BOOST_ARCHIVER_H
#define BOOST_ARCHIVER_H
#include <boost/serialization/list.hpp>
#include <boost/serialization/vector.hpp>
#include <boost/serialization/set.hpp>
// set serialization needed by KeyFrame::mspChildrens ...
#include <boost/serialization/map.hpp>
// map serialization needed by KeyFrame::mConnectedKeyFrameWeights ...
#include <boost/archive/binary_oarchive.hpp>
#include <boost/archive/binary_iarchive.hpp>
#include <boost/serialization/split_free.hpp>
#include <boost/serialization/base_object.hpp>
// base object needed by DBoW2::BowVector and DBoW2::FeatureVector
#include <opencv2/core/core.hpp>

#include "Thirdparty/DBoW2/DBoW2/BowVector.h"
#include "Thirdparty/DBoW2/DBoW2/FeatureVector.h"

BOOST_SERIALIZATION_SPLIT_FREE(::cv::Mat)
namespace boost{
    namespace serialization {

    /* serialization for DBoW2 BowVector */
    template<class Archive>
    void serialize(Archive &ar, DBoW2::BowVector &BowVec, const unsigned int file_version)
    {
        ar & boost::serialization::base_object< std::map<DBoW2::WordId, DBoW2::WordValue> >(BowVec);
    }
    /* serialization for DBoW2 FeatureVector */
    template<class Archive>
    void serialize(Archive &ar, DBoW2::FeatureVector &FeatVec, const unsigned int file_version)
    {
        ar & boost::serialization::base_object<std::map<DBoW2::NodeId, std::vector<unsigned int> > >(FeatVec);
    }

    /* serialization for CV KeyPoint */
    template<class Archive>
    void serialize(Archive &ar, ::cv::KeyPoint &kf, const unsigned int file_version)
    {
        ar & kf.angle;
        ar & kf.class_id;
        ar & kf.octave;
        ar & kf.response;
        ar & kf.response;
        ar & kf.pt.x;
        ar & kf.pt.y;
    }
    /* serialization for CV Mat */
    template<class Archive>
    void save(Archive &ar, const ::cv::Mat &m, const unsigned int file_version)
    {
        cv::Mat m_ = m;
        if (!m.isContinuous())
            m_ = m.clone();
        size_t elem_size = m_.elemSize();
        size_t elem_type = m_.type();
        ar & m_.cols;
        ar & m_.rows;
        ar & elem_size;
        ar & elem_type;

        const size_t data_size = m_.cols * m_.rows * elem_size;

        ar & boost::serialization::make_array(m_.ptr(), data_size);
    }
    template<class Archive>
    void load(Archive & ar, ::cv::Mat& m, const unsigned int version)
    {
        int cols, rows;
        size_t elem_size, elem_type;

        ar & cols;
        ar & rows;
        ar & elem_size;
        ar & elem_type;

        m.create(rows, cols, elem_type);
        size_t data_size = m.cols * m.rows * elem_size;

        ar & boost::serialization::make_array(m.ptr(), data_size);
    }
    }
}
// TODO: boost::iostream zlib compressed binary format
#endif // BOOST_ARCHIVER_H