Method serializeVioOutput

cpp/common/visualization/serialization.cpp:126–155

}

void Serializer::serializeVioOutput(spectacularAI::VioOutputPtr vioOutput) {
    const spectacularAI::Camera &camera = *vioOutput->getCameraPose(0).camera;
    const Matrix4d &cameraToWorld = vioOutput->getCameraPose(0).getCameraToWorldMatrix();

    // Only properties used in current visualization are serialized, i.e. add more stuff if needed.
    nlohmann::json json;
    json["cameraPoses"] = {
        {
            {"camera", serializeCamera(camera)},
            {"cameraToWorld", cameraToWorld}
        }
    };
    json["trackingStatus"] = static_cast<int32_t>(vioOutput->status);

    std::string jsonStr = json.dump();
    uint32_t jsonLength = jsonStr.length();

    MessageHeader header = {
        .magicBytes = MAGIC_BYTES,
        .messageId = messageIdCounter,
        .jsonSize = jsonLength,
        .binarySize = 0
    };

    std::lock_guard<std::mutex> lock(outputMutex);
    outputStream.write(reinterpret_cast<char*>(&header), sizeof(MessageHeader));
    outputStream.write(jsonStr.c_str(), jsonStr.size());
    outputStream.flush();
    messageIdCounter++;
}

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