Make it possible to save/load binary vocabularies.

See: raulmur#21

Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h

@@ -244,7 +244,19 @@ class TemplatedVocabulary
    * Saves the vocabulary into a text file
    * @param filename
    */
-  void saveToTextFile(const std::string &filename) const;  
+  void saveToTextFile(const std::string &filename) const;
+
+  /**
+   * Loads the vocabulary from a binary file
+   * @param filename
+   */
+  bool loadFromBinaryFile(const std::string &filename);
+
+  /**
+   * Saves the vocabulary into a binary file
+   * @param filename
+   */
+  void saveToBinaryFile(const std::string &filename) const;
 
   /**
    * Saves the vocabulary into a file
@@ -1450,6 +1462,87 @@ void TemplatedVocabulary<TDescriptor,F>::saveToTextFile(const std::string &filen
 
 // --------------------------------------------------------------------------
 
+template<class TDescriptor, class F>
+bool TemplatedVocabulary<TDescriptor,F>::loadFromBinaryFile(const std::string &filename)
+{
+    fstream f;
+    f.open(filename.c_str(), ios_base::in|ios::binary);
+    unsigned int nb_nodes, size_node;
+    f.read((char*)&nb_nodes, sizeof(nb_nodes));
+    f.read((char*)&size_node, sizeof(size_node));
+    f.read((char*)&m_k, sizeof(m_k));
+    f.read((char*)&m_L, sizeof(m_L));
+    f.read((char*)&m_scoring, sizeof(m_scoring));
+    f.read((char*)&m_weighting, sizeof(m_weighting));
+    createScoringObject();
+
+    m_words.clear();
+    m_words.reserve(pow((double)m_k, (double)m_L + 1));
+    m_nodes.clear();
+    m_nodes.resize(nb_nodes+1);
+    m_nodes[0].id = 0;
+    char *buf = new char[size_node]; int nid = 1;
+    while (!f.eof())
+    {
+        f.read(buf, size_node);
+        m_nodes[nid].id = nid;
+        // FIXME
+        const int* ptr=(int*)buf;
+        m_nodes[nid].parent = *ptr;
+        //m_nodes[nid].parent = *(const int*)buf;
+        m_nodes[m_nodes[nid].parent].children.push_back(nid);
+        m_nodes[nid].descriptor = cv::Mat(1, F::L, CV_8U);
+        memcpy(m_nodes[nid].descriptor.data, buf+4, F::L);
+        m_nodes[nid].weight = *(float*)(buf+4+F::L);
+        if (buf[8+F::L])
+        {
+            // is leaf
+            int wid = m_words.size();
+            m_words.resize(wid+1);
+            m_nodes[nid].word_id = wid;
+            m_words[wid] = &m_nodes[nid];
+        }
+        else
+        {
+            m_nodes[nid].children.reserve(m_k);
+        }
+
+        nid+=1;
+    }
+    delete[] buf;
+    f.close();
+    return true;
+}
+
+// --------------------------------------------------------------------------
+
+template<class TDescriptor, class F>
+void TemplatedVocabulary<TDescriptor,F>::saveToBinaryFile(const std::string &filename) const
+{
+    fstream f;
+    f.open(filename.c_str(), ios_base::out|ios::binary);
+    unsigned int nb_nodes = m_nodes.size();
+    float _weight;
+    unsigned int size_node = sizeof(m_nodes[0].parent) + F::L*sizeof(char) + sizeof(_weight) + sizeof(bool);
+    f.write((char*)&nb_nodes, sizeof(nb_nodes));
+    f.write((char*)&size_node, sizeof(size_node));
+    f.write((char*)&m_k, sizeof(m_k));
+    f.write((char*)&m_L, sizeof(m_L));
+    f.write((char*)&m_scoring, sizeof(m_scoring));
+    f.write((char*)&m_weighting, sizeof(m_weighting));
+    for(size_t i=1; i<nb_nodes; i++)
+    {
+        const Node& node = m_nodes[i];
+        f.write((char*)&node.parent, sizeof(node.parent));
+        f.write((char*)node.descriptor.data, F::L);
+        _weight = node.weight; f.write((char*)&_weight, sizeof(_weight));
+        bool is_leaf = node.isLeaf(); f.write((char*)&is_leaf, sizeof(is_leaf)); // I put this one at the end for alignment....
+    }
+    f.close();
+}
+
+// --------------------------------------------------------------------------
+
 template<class TDescriptor, class F>
 void TemplatedVocabulary<TDescriptor,F>::save(const std::string &filename) const
 {

src/System.cc

@@ -26,6 +26,12 @@
 #include <pangolin/pangolin.h>
 #include <iomanip>
 
+bool has_suffix(const string &str, const string &suffix)
+{
+    std::size_t index = str.find(suffix, str.size() - suffix.size());
+    return (index != string::npos);
+}
+
 namespace ORB_SLAM2
 {
 
@@ -60,16 +66,20 @@ System::System(const string &strVocFile, const string &strSettingsFile, const eS
 
     //Load ORB Vocabulary
     cout << endl << "Loading ORB Vocabulary. This could take a while..." << endl;
-
+    clock_t tStart = clock();
     mpVocabulary = new ORBVocabulary();
-    bool bVocLoad = mpVocabulary->loadFromTextFile(strVocFile);
+    bool bVocLoad = false; // choose loading method based on file extension
+    if (has_suffix(strVocFile, ".txt"))
+        bVocLoad = mpVocabulary->loadFromTextFile(strVocFile);
+    else
+        bVocLoad = mpVocabulary->loadFromBinaryFile(strVocFile);
     if(!bVocLoad)
     {
         cerr << "Wrong path to vocabulary. " << endl;
-        cerr << "Falied to open at: " << strVocFile << endl;
+        cerr << "Failed to open at: " << strVocFile << endl;
         exit(-1);
     }
-    cout << "Vocabulary loaded!" << endl << endl;
+    printf("Vocabulary loaded in %.2fs\n", (double)(clock() - tStart)/CLOCKS_PER_SEC);
 
     //Create KeyFrame Database
     mpKeyFrameDatabase = new KeyFrameDatabase(*mpVocabulary);