Function ReadGravity

deps/glomap/glomap/io/gravity_io.cc:6–43

namespace glomap {
void ReadGravity(const std::string& gravity_path,
                 std::unordered_map<image_t, Image>& images) {
  std::unordered_map<std::string, image_t> name_idx;
  for (const auto& [image_id, image] : images) {
    name_idx[image.file_name] = image_id;
  }

  std::ifstream file(gravity_path);

  // Read in the file list
  std::string line, item;
  Eigen::Vector3d gravity;
  int counter = 0;
  while (std::getline(file, line)) {
    std::stringstream line_stream(line);

    // file_name
    std::string name;
    std::getline(line_stream, name, ' ');

    // Gravity
    for (double i = 0; i < 3; i++) {
      std::getline(line_stream, item, ' ');
      gravity[i] = std::stod(item);
    }

    // Check whether the image present
    auto ite = name_idx.find(name);
    if (ite != name_idx.end()) {
      counter++;
      images[ite->second].gravity_info.SetGravity(gravity);
      // Make sure the initialization is aligned with the gravity
      images[ite->second].cam_from_world.rotation =
          images[ite->second].gravity_info.GetRAlign().transpose();
    }
  }
  LOG(INFO) << counter << " images are loaded with gravity" << std::endl;
}

}  // namespace glomap