typedef struct Frame_Data{ std::vector<cv::KeyPoint> vkeypoints; cv::Mat vdescriptors; std::vector<cv::Point3d> vkpts_3d; cv::Point3d gps; }Frame_Data;

void SaveBin(std::vector<Frame_Data> &vframe_data, std::string &save_path){

    ofstream outfile(save_path, ios::out|ios::binary);
    int num = vframe_data.size();
    outfile.write((char*)& num,sizeof(int));

    for(int i = 0; i < vframe_data.size();++i){
        outfile.write((char*) &vframe_data[i],sizeof(vframe_data[i]));
    }
    outfile.close();
}

/// 加载bin文件
void LoadBin(const std::string &bin_path, std::vector<Frame_Data> &vframe_data)
{

    int num;
    ifstream inFile(bin_path ,ios::in|ios::binary); //二进制读方式打开
    if(!inFile){
        std::cout << "Open file error!" << std::endl;
        exit(-1);
    }
    inFile.read((char *)&num,sizeof (int));
    vframe_data.reserve(num);
    int i=0;
    while(inFile.read((char *)&vframe_data[i], sizeof(vframe_data[i]))){
        std::cout << vframe_data[i].vdescriptors <<" "<< vframe_data[i].vdescriptors.type() <<std::endl;
        std::cout << vframe_data[i].gps <<std::endl;
        std::cout << vframe_data[i].vkeypoints[0].pt <<std::endl;
        std::cout << vframe_data[i].vkpts_3d << std::endl;
        std::cout<<i<<std::endl;
        i++;
    }
    inFile.close();
}

int  main(){
　　

std::cout << "1---------------------------------------"<<std::endl; std::string save_path = "1.bin"; std::cout << "2---------------------------------------"<<std::endl; vector< Frame_Data> s; vector< Frame_Data> s3; Frame_Data s1; Frame_Data s2; cv::Mat vdescriptors; cv::Point3d vkpts_3d; cv::Point3d gps; cv::KeyPoint vkeypoints;   vkeypoints.pt.x = 178; vkeypoints.pt.y = 234; std::cout << "3---------------------------------------"<<std::endl; vkpts_3d.x = 122; vkpts_3d.y = 34; vkpts_3d.z = 100; std::cout << "4---------------------------------------"<<std::endl; gps.x = 122; gps.y = 12; gps.z = 100; std::cout << "5---------------------------------------"<<std::endl; vdescriptors = (cv::Mat_<double>(3,3) << 1,0,0,0,1,0,0,0,1); std::cout << "5---------------------------------------"<<std::endl; // vdescriptors = 0; s1.vkpts_3d.push_back(vkpts_3d); s1.vkpts_3d.push_back(vkpts_3d); s1.vkpts_3d.push_back(vkpts_3d); // s[0].vkpts_3d.push_back(vkpts_3d); std::cout << "6---------------------------------------"<<std::endl; s1.gps = gps;   s1.vdescriptors = vdescriptors; std::cout << "7---------------------------------------"<<std::endl; s1.vkeypoints.push_back(vkeypoints); s1.vkeypoints.push_back(vkeypoints); s.push_back(s1);     s2.vkpts_3d.push_back(vkpts_3d); s2.vkpts_3d.push_back(vkpts_3d); s2.vkeypoints.push_back(vkeypoints); s2.vdescriptors = vdescriptors; s2.gps = gps;   s.push_back(s2); // s[0].vkeypoints.push_back(vkeypoints); std::cout << "---------------------------------------"<<std::endl; SaveBin(s,save_path); std::cout << "---------------------------------------"<<std::endl; LoadBin(save_path,s3); std::cout << "s3:" <<s3.size() <<std::endl; std::cout << "---------------------------------------"<<std::endl; std::cout << s3[1].gps << std::endl; std::cout << "---------------------------------------"<<std::endl; std::cout << s3[1].vkpts_3d[0] << std::endl; std::cout << s3[1].vkpts_3d[1] << std::endl;   return 0;

}