Method serializeMappingOutput

cpp/common/visualization/serialization.cpp:157–218

}

void Serializer::serializeMappingOutput(spectacularAI::mapping::MapperOutputPtr mapperOutput) {
    std::map<std::string, nlohmann::json> jsonKeyFrames;
    std::size_t binaryLength = 0;

    for (auto keyFrameId : mapperOutput->updatedKeyFrames) {
        auto search = mapperOutput->map->keyFrames.find(keyFrameId);
        if (search == mapperOutput->map->keyFrames.end()) continue; // deleted frame, skip
        auto& frameSet = search->second->frameSet;
        auto& pointCloud = search->second->pointCloud;
        const spectacularAI::Camera &camera = *frameSet->primaryFrame->cameraPose.camera;
        const Matrix4d &cameraToWorld = frameSet->primaryFrame->cameraPose.getCameraToWorldMatrix();
        nlohmann::json keyFrameJson;
        keyFrameJson["id"] = std::to_string(keyFrameId);
        keyFrameJson["frameSet"] = {
            {"primaryFrame", {
                {"cameraPose", {
                    {"camera", serializeCamera(camera)},
                    {"cameraToWorld", cameraToWorld}
                }}
            }}
        };
        std::size_t points = pointCloud->size();
        if (points > 0) {
            keyFrameJson["pointCloud"] = {
                {"size", points },
                {"hasNormals", pointCloud->hasNormals() },
                {"hasColors", pointCloud->hasColors() }
            };
            binaryLength += points * sizeof(spectacularAI::Vector3f);
            if (pointCloud->hasNormals()) binaryLength += points * sizeof(spectacularAI::Vector3f);
            if (pointCloud->hasColors()) binaryLength += points * sizeof(std::uint8_t) * 3;

            if (serializedKeyFrameIds.find(keyFrameId) == serializedKeyFrameIds.end()) {
                std::stringstream filename;
                filename << folder << "/pointCloud" << keyFrameId;
                serializedKeyFrameIds.insert(keyFrameId);
                serializePointCloud(filename.str(), pointCloud);
            }
        }
        jsonKeyFrames[keyFrameJson["id"]] = keyFrameJson;
    }

    nlohmann::json json;
    json["updatedKeyFrames"] = mapperOutput->updatedKeyFrames;
    json["map"] = {{"keyFrames", jsonKeyFrames}};
    json["finalMap"] = mapperOutput->finalMap;

    std::string jsonStr = json.dump();
    uint32_t jsonLength = jsonStr.length();
    MessageHeader header = {
        .magicBytes = MAGIC_BYTES,
        .messageId = messageIdCounter,
        .jsonSize = jsonLength,
        .binarySize = (uint32_t)binaryLength
    };

    std::lock_guard<std::mutex> lock(outputMutex);
    outputStream.write(reinterpret_cast<char*>(&header), sizeof(MessageHeader));