[136] | 1 | /* 3dv-client/file.cc
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| 2 | *
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| 3 | * Copyright (C) 2013 VisLab
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| 4 | *
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| 5 | * This file is part of 3dv-client; you can redistribute it and/or modify
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| 6 | * it under the terms of the GNU Lesser General Public License as published by
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| 7 | * the Free Software Foundation; either version 3 of the License, or (at
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| 8 | * your option) any later version.
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| 9 | *
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| 10 | * This program is distributed in the hope that it will be useful, but
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| 11 | * WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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| 13 | * General Public License for more details.
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| 14 | *
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| 15 | * You should have received a copy of the GNU Lesser General Public License
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| 16 | * along with this program; if not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 |
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| 19 | #include "file.h"
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| 20 |
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| 21 | #include <iostream>
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| 22 |
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| 23 | #ifdef ARCHIVE
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| 24 |
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| 25 | #include <boost/date_time/posix_time/posix_time_io.hpp>
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| 26 | #include <boost/iostreams/stream_buffer.hpp>
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| 27 | #include <boost/iostreams/stream.hpp>
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| 28 | #include <boost/iostreams/device/back_inserter.hpp>
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| 29 |
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| 30 | #include <archive.h>
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| 31 | #include <archive_entry.h>
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| 32 |
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| 33 | archive* open_archive(const boost::filesystem::path& path, const std::string& archive_name, archive_file_format::types format, device_params params,uint8_t log_level)
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| 34 | {
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| 35 | if(!boost::filesystem::exists(path))
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| 36 | boost::filesystem::create_directories(path);
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| 37 |
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| 38 | archive* archive = archive_write_new();
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| 39 |
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| 40 | std::string filename = archive_name;
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| 41 |
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| 42 | if(format == archive_file_format::ZIP)
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| 43 | {
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| 44 | filename += ".zip";
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| 45 | archive_write_set_format_zip(archive);
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| 46 | archive_write_zip_set_compression_store(archive);
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| 47 | }
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| 48 | else if(format == archive_file_format::TAR)
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| 49 | {
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| 50 | filename += ".tar";
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| 51 | archive_write_set_format_pax_restricted(archive);
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| 52 | }
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| 53 |
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| 54 | boost::filesystem::path path_filename = path / filename;
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| 55 | path_filename.make_preferred();
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| 56 |
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| 57 | std::cout << "[II] 3dv-client: writing to archive " << path_filename << std::endl;
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| 58 |
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| 59 | archive_write_open_filename(archive, path_filename.string().c_str());
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| 60 |
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| 61 | std::string buffer;
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| 62 |
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| 63 | boost::iostreams::stream<boost::iostreams::back_insert_device<std::string> > file(boost::iostreams::back_inserter(buffer));
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| 64 |
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| 65 | file <<"calibration.u0="<<params.intrinsics.m_u0<<std::endl;
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| 66 | file <<"calibration.v0="<<params.intrinsics.m_v0<<std::endl;
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| 67 | file <<"calibration.ku="<<params.intrinsics.m_ku<<std::endl;
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| 68 | file <<"calibration.kv="<<params.intrinsics.m_kv<<std::endl;
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| 69 | file <<"calibration.x="<<params.position.m_x<<std::endl;
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| 70 | file <<"calibration.y="<<params.position.m_y<<std::endl;
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| 71 | file <<"calibration.z="<<params.position.m_z<<std::endl;
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| 72 | file <<"calibration.yaw="<<params.orientation.m_yaw<<std::endl;
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| 73 | file <<"calibration.pitch="<<params.orientation.m_pitch<<std::endl;
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| 74 | file <<"calibration.roll="<<params.orientation.m_roll<<std::endl;
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| 75 | file <<"calibration.baseline="<<params.baseline<<std::endl;
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| 76 | file <<"depth mapping.downsample ratio="<<params.downsample<<std::endl;
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| 77 | file <<"advanced.detection.area.step="<<params.area_step<<std::endl;
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| 78 |
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| 79 | std::stringstream filename_ini;
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| 80 |
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| 81 | filename_ini << "params.ini";
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| 82 |
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| 83 |
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| 84 | size_t file_size = buffer.size();
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| 85 |
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| 86 | struct archive_entry* entry;
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| 87 |
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| 88 | entry = archive_entry_new();
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| 89 | archive_entry_set_pathname(entry, filename_ini.str().c_str());
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| 90 | archive_entry_set_ctime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
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| 91 | archive_entry_set_atime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
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| 92 | archive_entry_set_mtime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
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| 93 | archive_entry_set_size(entry, file_size);
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| 94 | archive_entry_set_filetype(entry, AE_IFREG);
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| 95 | archive_entry_set_perm(entry, 0644);
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| 96 | archive_write_header(archive, entry);
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| 97 | archive_entry_free(entry);
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| 98 |
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| 99 | std::cout << "[II] 3dv-client: writing INI file " << filename_ini << std::endl;
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| 100 | archive_write_data(archive, buffer.data(), buffer.size());
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| 101 |
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| 102 |
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| 103 | return archive;
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| 104 | }
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| 105 |
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| 106 | bool close_archive(archive* archive, uint8_t log_level)
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| 107 | {
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| 108 | archive_write_close(archive);
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| 109 | archive_write_free(archive);
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| 110 |
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| 111 | return true;
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| 112 | }
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| 113 |
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| 114 | bool write_image_archive(boost::shared_ptr<const lib3dv::image> image, uint32_t guid, uint8_t guid_type, archive* archive, bool autonumber, uint8_t log_level)
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| 115 | {
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| 116 | if(log_level == 0)
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| 117 | {
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| 118 | std::cout << '*';
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| 119 | std::cout.flush();
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| 120 | }
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| 121 |
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| 122 | bool is_mono = image->m_format == lib3dv::image::format::MONO8 ||
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| 123 | image->m_format == lib3dv::image::format::MONO16;
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| 124 |
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| 125 | bool is_rgb = image->m_format == lib3dv::image::format::RGB24 ||
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| 126 | image->m_format == lib3dv::image::format::RGB48;
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| 127 |
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| 128 | bool is_bayer = image->m_format == lib3dv::image::format::BAYER8_BGGR ||
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| 129 | image->m_format == lib3dv::image::format::BAYER8_GBRG ||
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| 130 | image->m_format == lib3dv::image::format::BAYER8_GRBG ||
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| 131 | image->m_format == lib3dv::image::format::BAYER8_RGGB ||
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| 132 | image->m_format == lib3dv::image::format::BAYER16_BGGR ||
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| 133 | image->m_format == lib3dv::image::format::BAYER16_GBRG ||
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| 134 | image->m_format == lib3dv::image::format::BAYER16_GRBG ||
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| 135 | image->m_format == lib3dv::image::format::BAYER16_RGGB;
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| 136 |
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| 137 | bool is_16bpp = (image->m_bpp / image->m_channels) == 16;
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| 138 |
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| 139 | std::stringstream filename;
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| 140 |
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| 141 | switch(image->m_type)
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| 142 | {
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| 143 | case lib3dv::image::type::LEFT_RECTIFIED :
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| 144 | {
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| 145 | filename << "left_rectified";
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| 146 | break;
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| 147 | }
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| 148 |
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| 149 | case lib3dv::image::type::RIGHT_RECTIFIED :
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| 150 | {
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| 151 | filename << "right_rectified";
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| 152 | break;
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| 153 | }
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| 154 |
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| 155 | case lib3dv::image::type::LEFT_RAW :
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| 156 | {
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| 157 | filename << "left_raw";
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| 158 | break;
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| 159 | }
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| 160 |
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| 161 | case lib3dv::image::type::RIGHT_RAW:
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| 162 | {
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| 163 | filename << "right_raw";
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| 164 | break;
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| 165 | }
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| 166 |
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| 167 | case lib3dv::image::type::DSI :
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| 168 | {
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| 169 | filename << "dsi";
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| 170 | break;
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| 171 | }
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| 172 | }
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| 173 |
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| 174 | boost::posix_time::ptime timestamp = image->m_timestamp;
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| 175 |
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| 176 | if(autonumber)
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| 177 | filename << "-" << std::setfill('0') << std::setw(6) << guid / guid_type;
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| 178 |
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| 179 | size_t file_size;
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| 180 |
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| 181 | if(is_bayer)
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| 182 | {
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| 183 | filename << ".pgm";
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| 184 | file_size = is_16bpp ? pgm_file_size(image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint16_t>((1 << (image->m_bpp / image->m_channels)) - 1)) :
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| 185 | pgm_file_size(image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint8_t>((1 << (image->m_bpp / image->m_channels)) - 1));
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| 186 | }
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| 187 | else if(is_mono)
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| 188 | {
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| 189 | filename << ".pgm";
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| 190 | file_size = is_16bpp ? pgm_file_size(image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint16_t>((1 << image->m_bpp) - 1)) :
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| 191 | pgm_file_size(image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint8_t>((1 << image->m_bpp) - 1));
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| 192 | }
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| 193 | else if(is_rgb)
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| 194 | {
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| 195 | filename << ".ppm";
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| 196 | file_size = is_16bpp ? ppm_file_size(image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint16_t>((1 << image->m_bpp) - 1)) :
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| 197 | ppm_file_size(image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint8_t>((1 << image->m_bpp) - 1));
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| 198 | }
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| 199 |
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| 200 | if(log_level > 0) std::cout << std::endl << "[II] client::write_file(): saving " << filename.str() << " (" << image->m_buffer.size() / 1024 << " KB)" << std::endl;
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| 201 |
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| 202 | bool success = false;
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| 203 |
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| 204 | struct archive_entry* entry;
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| 205 |
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| 206 | entry = archive_entry_new();
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| 207 | archive_entry_set_pathname(entry, filename.str().c_str());
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| 208 | archive_entry_set_ctime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
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| 209 | archive_entry_set_atime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
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| 210 | archive_entry_set_mtime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
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| 211 | archive_entry_set_size(entry, file_size);
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| 212 | archive_entry_set_filetype(entry, AE_IFREG);
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| 213 | archive_entry_set_perm(entry, 0644);
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| 214 | archive_write_header(archive, entry);
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| 215 | archive_entry_free(entry);
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| 216 |
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| 217 | if(is_bayer){
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| 218 | success = is_16bpp ? write_pgm(archive, reinterpret_cast<const uint16_t*>(image->m_buffer.data()), image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint16_t>((1 << image->m_bpp/image->m_channels) - 1))
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| 219 | : write_pgm(archive, image->m_buffer.data(), image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint8_t>((1 << image->m_bpp/image->m_channels) - 1));
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| 220 | } else if(is_mono){
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| 221 | success = is_16bpp ? write_pgm(archive, reinterpret_cast<const uint16_t*>(image->m_buffer.data()), image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint16_t>((1 << image->m_bpp) - 1))
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| 222 | : write_pgm(archive, image->m_buffer.data(), image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint8_t>((1 << image->m_bpp) - 1));
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| 223 | }
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| 224 | else if(is_rgb){
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| 225 | success = is_16bpp ? write_ppm(archive, reinterpret_cast<const uint16_t*>(image->m_buffer.data()), image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint16_t>((1 << image->m_bpp) - 1))
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| 226 | : write_ppm(archive, image->m_buffer.data(), image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint8_t>((1 << image->m_bpp) - 1));
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| 227 | }
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| 228 |
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| 229 | if(!success)
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| 230 | std::cerr << "[EE] client::write_file(): unsupported image type" << std::endl;
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| 231 |
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| 232 | return success;
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| 233 | }
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| 234 |
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| 235 | bool write_terrain_archive(boost::shared_ptr<const lib3dv::terrain> terrain, uint32_t guid, uint8_t guid_type, archive* archive, bool autonumber, data_file_format::types format, uint8_t log_level)
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| 236 | {
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| 237 | if(log_level == 0)
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| 238 | {
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| 239 | std::cout << '.';
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| 240 | std::cout.flush();
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| 241 | }
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| 242 |
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| 243 | const std::vector<lib3dv::point3>& points = terrain->m_data;
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| 244 |
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| 245 | std::string buffer;
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| 246 |
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| 247 | boost::iostreams::stream<boost::iostreams::back_insert_device<std::string> > ostream(boost::iostreams::back_inserter(buffer));
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| 248 |
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| 249 | switch(format)
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| 250 | {
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| 251 | case data_file_format::BINARY :
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| 252 | {
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| 253 | boost::archive::binary_oarchive archive(ostream);
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| 254 | archive << *terrain;
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| 255 | break;
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| 256 | }
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| 257 |
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| 258 | case data_file_format::TEXT :
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| 259 | {
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| 260 | boost::archive::text_oarchive archive(ostream);
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| 261 | archive << *terrain;
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| 262 | break;
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| 263 | }
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| 264 |
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| 265 | case data_file_format::GNUPLOT :
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| 266 | {
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| 267 | for(unsigned int i = 0; i < points.size(); ++i)
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| 268 | ostream << points[i].m_x << ' ' << points[i].m_y << ' ' << points[i].m_z << std::endl;
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| 269 | break;
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| 270 | }
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| 271 |
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| 272 | case data_file_format::RAW :
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| 273 | default:
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| 274 | {
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| 275 | ostream.write(reinterpret_cast<const char*>(points.data()), points.size() * sizeof(float));
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| 276 | }
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| 277 | }
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| 278 |
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| 279 | std::stringstream filename;
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| 280 |
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| 281 | filename << "terrain";
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| 282 |
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| 283 | if(autonumber)
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| 284 | filename << '-' << std::setfill('0') << std::setw(6) << guid / guid_type;
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| 285 |
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| 286 | filename << ((format == data_file_format::TEXT || format == data_file_format::GNUPLOT) ? ".txt" : (format == data_file_format::RAW ? ".raw" : ".bin"));
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| 287 |
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| 288 | size_t file_size = buffer.size();
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| 289 |
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| 290 | struct archive_entry* entry;
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| 291 |
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| 292 | entry = archive_entry_new();
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| 293 | archive_entry_set_pathname(entry, filename.str().c_str());
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| 294 | archive_entry_set_ctime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
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| 295 | archive_entry_set_atime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
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| 296 | archive_entry_set_mtime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
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| 297 | archive_entry_set_size(entry, file_size);
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| 298 | archive_entry_set_filetype(entry, AE_IFREG);
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| 299 | archive_entry_set_perm(entry, 0644);
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| 300 | archive_write_header(archive, entry);
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| 301 | archive_entry_free(entry);
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| 302 |
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| 303 | archive_write_data(archive, buffer.data(), buffer.size());
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| 304 |
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| 305 | if(log_level > 0) std::cout << std::endl << "[II] client::write_file(): saving " << filename << " (" << file_size / 1024 << " KB)" << std::endl;
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| 306 |
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| 307 | return true;
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| 308 | }
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| 309 |
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| 310 | bool write_obstacles_archive(boost::shared_ptr<const std::vector<lib3dv::obstacle> > obstacles, uint32_t guid, uint8_t guid_type, archive* archive, bool autonumber, data_file_format::types format, uint8_t log_level)
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| 311 | {
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| 312 | if(log_level == 0)
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| 313 | {
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| 314 | std::cout << '.';
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| 315 | std::cout.flush();
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| 316 | }
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| 317 |
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| 318 | std::string buffer;
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| 319 |
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| 320 | boost::iostreams::stream<boost::iostreams::back_insert_device<std::string> > ostream(boost::iostreams::back_inserter(buffer));
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| 321 |
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| 322 | switch(format)
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| 323 | {
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| 324 | case data_file_format::BINARY :
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| 325 | {
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| 326 | boost::archive::binary_oarchive archive(ostream);
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| 327 | archive << *obstacles;
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| 328 | break;
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| 329 | }
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| 330 |
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| 331 | case data_file_format::TEXT :
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| 332 | {
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| 333 | boost::archive::text_oarchive archive(ostream);
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| 334 | archive << *obstacles;
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| 335 | break;
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| 336 | }
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| 337 |
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| 338 | case data_file_format::GNUPLOT :
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| 339 | {
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| 340 | for(unsigned int o = 0; o < obstacles->size(); ++o)
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| 341 | {
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| 342 | uint32_t guid = (*obstacles)[o].m_guid;
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| 343 | const std::vector<lib3dv::stixel>& stixels = (*obstacles)[o].m_data;
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| 344 |
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| 345 | for(unsigned int s = 0; s < stixels.size(); ++s)
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| 346 | {
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| 347 | ostream << stixels[s].m_x << ' ' << stixels[s].m_y << ' ' << stixels[s].m_z << ' ' << guid << std::endl;
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| 348 | ostream << stixels[s].m_x << ' ' << stixels[s].m_y << ' ' << stixels[s].m_z + stixels[s].m_height << ' ' << guid << std::endl;
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| 349 | ostream << std::endl << std::endl;
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| 350 | }
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| 351 | }
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| 352 |
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| 353 | break;
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| 354 | }
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| 355 |
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| 356 | case data_file_format::RAW :
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| 357 | default:
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| 358 | {
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| 359 | for(unsigned int o = 0; o < obstacles->size(); ++o)
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| 360 | {
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| 361 | uint32_t guid = (*obstacles)[o].m_guid;
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| 362 | uint16_t stixel_num = (*obstacles)[o].m_data.size();
|
---|
| 363 |
|
---|
| 364 | ostream.write(reinterpret_cast<const char*>(&guid), sizeof(guid));
|
---|
| 365 | ostream.write(reinterpret_cast<const char*>(&stixel_num), sizeof(stixel_num));
|
---|
| 366 | ostream.write(reinterpret_cast<const char*>((*obstacles)[o].m_data.data()), sizeof(lib3dv::stixel) * stixel_num);
|
---|
| 367 | }
|
---|
| 368 | }
|
---|
| 369 | }
|
---|
| 370 |
|
---|
| 371 | std::stringstream filename;
|
---|
| 372 |
|
---|
| 373 | filename << "obstacles";
|
---|
| 374 |
|
---|
| 375 | if(autonumber)
|
---|
| 376 | filename << '-' << std::setfill('0') << std::setw(6) << guid / guid_type;
|
---|
| 377 |
|
---|
| 378 | filename << ((format == data_file_format::TEXT || format == data_file_format::GNUPLOT) ? ".txt" : (format == data_file_format::RAW ? ".raw" : ".bin"));
|
---|
| 379 |
|
---|
| 380 | size_t file_size = buffer.size();
|
---|
| 381 |
|
---|
| 382 | struct archive_entry* entry;
|
---|
| 383 |
|
---|
| 384 | entry = archive_entry_new();
|
---|
| 385 | archive_entry_set_pathname(entry, filename.str().c_str());
|
---|
| 386 | archive_entry_set_ctime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
|
---|
| 387 | archive_entry_set_atime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
|
---|
| 388 | archive_entry_set_mtime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
|
---|
| 389 | archive_entry_set_size(entry, file_size);
|
---|
| 390 | archive_entry_set_filetype(entry, AE_IFREG);
|
---|
| 391 | archive_entry_set_perm(entry, 0644);
|
---|
| 392 | archive_write_header(archive, entry);
|
---|
| 393 | archive_entry_free(entry);
|
---|
| 394 |
|
---|
| 395 | archive_write_data(archive, buffer.data(), buffer.size());
|
---|
| 396 |
|
---|
| 397 | if(log_level > 0) std::cout << std::endl << "[II] client::write_file(): saving " << filename << " (" << file_size / 1024 << " KB)" << std::endl;
|
---|
| 398 |
|
---|
| 399 | return true;
|
---|
| 400 | }
|
---|
| 401 |
|
---|
| 402 | bool write_motion_archive(boost::shared_ptr<const lib3dv::motion> motion, uint32_t guid, uint8_t guid_type, archive* archive, bool autonumber, data_file_format::types format, uint8_t log_level)
|
---|
| 403 | {
|
---|
| 404 | if(log_level == 0)
|
---|
| 405 | {
|
---|
| 406 | std::cout << '.';
|
---|
| 407 | std::cout.flush();
|
---|
| 408 | }
|
---|
| 409 |
|
---|
| 410 | std::string buffer;
|
---|
| 411 |
|
---|
| 412 | boost::iostreams::stream<boost::iostreams::back_insert_device<std::string> > ostream(boost::iostreams::back_inserter(buffer));
|
---|
| 413 |
|
---|
| 414 | switch(format)
|
---|
| 415 | {
|
---|
| 416 | case data_file_format::BINARY :
|
---|
| 417 | {
|
---|
| 418 | boost::archive::binary_oarchive archive(ostream);
|
---|
| 419 | archive << *motion;
|
---|
| 420 | break;
|
---|
| 421 | }
|
---|
| 422 |
|
---|
| 423 | case data_file_format::TEXT :
|
---|
| 424 | {
|
---|
| 425 | boost::archive::text_oarchive archive(ostream);
|
---|
| 426 | archive << *motion;
|
---|
| 427 | break;
|
---|
| 428 | }
|
---|
| 429 |
|
---|
| 430 | case data_file_format::GNUPLOT :
|
---|
| 431 | {
|
---|
| 432 | for(unsigned int p = 0; p < motion->m_poses.size(); ++p)
|
---|
| 433 | {
|
---|
| 434 | const std::vector<lib3dv::pose>& poses = motion->m_poses;
|
---|
| 435 | std::string type;
|
---|
| 436 |
|
---|
| 437 | if (poses[p].m_type == lib3dv::pose::type::CURRENT_POSE)
|
---|
| 438 | type = "CURRENT";
|
---|
| 439 | else if (poses[p].m_type == lib3dv::pose::type::RELATIVE_POSE)
|
---|
| 440 | type = "RELATIVE";
|
---|
| 441 |
|
---|
| 442 | ostream << type << ' ' << poses[p].m_timestamp << std::endl;
|
---|
| 443 | for(unsigned int i = 0; i < poses[p].m_data.size(); ++i)
|
---|
| 444 | {
|
---|
| 445 | ostream << poses[p].m_data[i] << ' ';
|
---|
| 446 | if (i>0 && i%4==3) ostream << std::endl;
|
---|
| 447 | }
|
---|
| 448 | ostream << std::endl << std::endl;
|
---|
| 449 | }
|
---|
| 450 |
|
---|
| 451 | break;
|
---|
| 452 | }
|
---|
| 453 |
|
---|
| 454 | case data_file_format::RAW :
|
---|
| 455 | default:
|
---|
| 456 | {
|
---|
| 457 | for(unsigned int p = 0; p < motion->m_poses.size(); ++p)
|
---|
| 458 | {
|
---|
| 459 | boost::posix_time::time_duration td = (*motion).m_poses[p].m_timestamp - boost::posix_time::ptime(boost::gregorian::date(1970,1,1));
|
---|
| 460 | int64_t timestamp = td.total_microseconds();
|
---|
| 461 | uint8_t type = (*motion).m_poses[p].m_type;
|
---|
| 462 | uint16_t pose_num = (*motion).m_poses[p].m_data.size();
|
---|
| 463 |
|
---|
| 464 | ostream.write(reinterpret_cast<const char*>(×tamp), sizeof(timestamp));
|
---|
| 465 | ostream.write(reinterpret_cast<const char*>(&type), sizeof(type));
|
---|
| 466 | ostream.write(reinterpret_cast<const char*>(&pose_num), sizeof(pose_num));
|
---|
| 467 | ostream.write(reinterpret_cast<const char*>((*motion).m_poses[p].m_data.data()), sizeof(lib3dv::pose) * pose_num);
|
---|
| 468 | }
|
---|
| 469 | }
|
---|
| 470 | }
|
---|
| 471 |
|
---|
| 472 | std::stringstream filename;
|
---|
| 473 |
|
---|
| 474 | filename << "motion";
|
---|
| 475 |
|
---|
| 476 | if(autonumber)
|
---|
| 477 | filename << '-' << std::setfill('0') << std::setw(6) << guid / guid_type;
|
---|
| 478 |
|
---|
| 479 | filename << ((format == data_file_format::TEXT || format == data_file_format::GNUPLOT) ? ".txt" : (format == data_file_format::RAW ? ".raw" : ".bin"));
|
---|
| 480 |
|
---|
| 481 | size_t file_size = buffer.size();
|
---|
| 482 |
|
---|
| 483 | struct archive_entry* entry;
|
---|
| 484 |
|
---|
| 485 | entry = archive_entry_new();
|
---|
| 486 | archive_entry_set_pathname(entry, filename.str().c_str());
|
---|
| 487 | archive_entry_set_ctime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
|
---|
| 488 | archive_entry_set_atime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
|
---|
| 489 | archive_entry_set_mtime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
|
---|
| 490 | archive_entry_set_size(entry, file_size);
|
---|
| 491 | archive_entry_set_filetype(entry, AE_IFREG);
|
---|
| 492 | archive_entry_set_perm(entry, 0644);
|
---|
| 493 | archive_write_header(archive, entry);
|
---|
| 494 | archive_entry_free(entry);
|
---|
| 495 |
|
---|
| 496 | archive_write_data(archive, buffer.data(), buffer.size());
|
---|
| 497 |
|
---|
| 498 | if(log_level > 0) std::cout << std::endl << "[II] client::write_file(): saving " << filename << " (" << file_size / 1024 << " KB)" << std::endl;
|
---|
| 499 |
|
---|
| 500 | return true;
|
---|
| 501 | }
|
---|
| 502 |
|
---|
| 503 | bool write_classification_archive(boost::shared_ptr<const lib3dv::classification> classificat, uint32_t guid, uint8_t guid_type, archive* archive, bool autonumber, data_file_format::types format, uint8_t log_level)
|
---|
| 504 | {
|
---|
| 505 | if(log_level == 0)
|
---|
| 506 | {
|
---|
| 507 | std::cout << '.';
|
---|
| 508 | std::cout.flush();
|
---|
| 509 | }
|
---|
| 510 |
|
---|
| 511 | std::string buffer;
|
---|
| 512 |
|
---|
| 513 | boost::iostreams::stream<boost::iostreams::back_insert_device<std::string> > ostream(boost::iostreams::back_inserter(buffer));
|
---|
| 514 |
|
---|
| 515 | switch(format)
|
---|
| 516 | {
|
---|
| 517 | case data_file_format::BINARY :
|
---|
| 518 | {
|
---|
| 519 | boost::archive::binary_oarchive archive(ostream);
|
---|
| 520 | archive << *classificat;
|
---|
| 521 | break;
|
---|
| 522 | }
|
---|
| 523 |
|
---|
| 524 | case data_file_format::TEXT :
|
---|
| 525 | {
|
---|
| 526 | boost::archive::text_oarchive archive(ostream);
|
---|
| 527 | archive << *classificat;
|
---|
| 528 | break;
|
---|
| 529 | }
|
---|
| 530 |
|
---|
| 531 | case data_file_format::GNUPLOT :
|
---|
| 532 | {
|
---|
| 533 | break;
|
---|
| 534 | }
|
---|
| 535 |
|
---|
| 536 | case data_file_format::RAW :
|
---|
| 537 | default:
|
---|
| 538 | {
|
---|
| 539 | ostream.write(reinterpret_cast<const char*>(&classificat->m_candidates), sizeof(classificat->m_candidates));
|
---|
| 540 | for(unsigned int p = 0; p < classificat->m_candidates.size(); ++p)
|
---|
| 541 | {
|
---|
| 542 |
|
---|
| 543 | uint32_t guid = classificat->m_candidates[p].m_guid;
|
---|
| 544 |
|
---|
| 545 | ostream.write(reinterpret_cast<const char*>(&guid), sizeof(guid));
|
---|
| 546 | ostream.write(reinterpret_cast<const char*>(&classificat->m_candidates[p].m_category), sizeof(classificat->m_candidates[p].m_category));
|
---|
| 547 | ostream.write(reinterpret_cast<const char*>(&classificat->m_candidates[p].m_confidence), sizeof(classificat->m_candidates[p].m_confidence));
|
---|
| 548 | ostream.write(reinterpret_cast<const char*>(&classificat->m_candidates[p].m_x0), sizeof(classificat->m_candidates[p].m_x0));
|
---|
| 549 | ostream.write(reinterpret_cast<const char*>(&classificat->m_candidates[p].m_y0), sizeof(classificat->m_candidates[p].m_y0));
|
---|
| 550 | ostream.write(reinterpret_cast<const char*>(&classificat->m_candidates[p].m_x1), sizeof(classificat->m_candidates[p].m_x1));
|
---|
| 551 | ostream.write(reinterpret_cast<const char*>(&classificat->m_candidates[p].m_y1), sizeof(classificat->m_candidates[p].m_y1));
|
---|
| 552 | }
|
---|
| 553 |
|
---|
| 554 | }
|
---|
| 555 | }
|
---|
| 556 |
|
---|
| 557 | std::stringstream filename;
|
---|
| 558 |
|
---|
| 559 | filename << "motion";
|
---|
| 560 |
|
---|
| 561 | if(autonumber)
|
---|
| 562 | filename << '-' << std::setfill('0') << std::setw(6) << guid / guid_type;
|
---|
| 563 |
|
---|
| 564 | filename << ((format == data_file_format::TEXT || format == data_file_format::GNUPLOT) ? ".txt" : (format == data_file_format::RAW ? ".raw" : ".bin"));
|
---|
| 565 |
|
---|
| 566 | size_t file_size = buffer.size();
|
---|
| 567 |
|
---|
| 568 | struct archive_entry* entry;
|
---|
| 569 |
|
---|
| 570 | entry = archive_entry_new();
|
---|
| 571 | archive_entry_set_pathname(entry, filename.str().c_str());
|
---|
| 572 | archive_entry_set_ctime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
|
---|
| 573 | archive_entry_set_atime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
|
---|
| 574 | archive_entry_set_mtime(entry , (boost::posix_time::second_clock::universal_time() - boost::posix_time::ptime(boost::gregorian::date(1970,1,1))).total_seconds(), 0);
|
---|
| 575 | archive_entry_set_size(entry, file_size);
|
---|
| 576 | archive_entry_set_filetype(entry, AE_IFREG);
|
---|
| 577 | archive_entry_set_perm(entry, 0644);
|
---|
| 578 | archive_write_header(archive, entry);
|
---|
| 579 | archive_entry_free(entry);
|
---|
| 580 |
|
---|
| 581 | archive_write_data(archive, buffer.data(), buffer.size());
|
---|
| 582 |
|
---|
| 583 | if(log_level > 0) std::cout << std::endl << "[II] client::write_file(): saving " << filename << " (" << file_size / 1024 << " KB)" << std::endl;
|
---|
| 584 |
|
---|
| 585 | return true;
|
---|
| 586 | }
|
---|
| 587 | #endif
|
---|
| 588 |
|
---|
| 589 | bool write_image_file(boost::shared_ptr<const lib3dv::image> image, uint32_t guid, uint8_t guid_type ,const boost::filesystem::path& path, bool autonumber, uint8_t log_level)
|
---|
| 590 | {
|
---|
| 591 | if(log_level == 0)
|
---|
| 592 | {
|
---|
| 593 | std::cout << '*';
|
---|
| 594 | std::cout.flush();
|
---|
| 595 | }
|
---|
| 596 |
|
---|
| 597 | bool is_mono = image->m_format == lib3dv::image::format::MONO8 ||
|
---|
| 598 | image->m_format == lib3dv::image::format::MONO16;
|
---|
| 599 |
|
---|
| 600 | bool is_rgb = image->m_format == lib3dv::image::format::RGB24 ||
|
---|
| 601 | image->m_format == lib3dv::image::format::RGB48;
|
---|
| 602 |
|
---|
| 603 | bool is_bayer = image->m_format == lib3dv::image::format::BAYER8_BGGR ||
|
---|
| 604 | image->m_format == lib3dv::image::format::BAYER8_GBRG ||
|
---|
| 605 | image->m_format == lib3dv::image::format::BAYER8_GRBG ||
|
---|
| 606 | image->m_format == lib3dv::image::format::BAYER8_RGGB ||
|
---|
| 607 | image->m_format == lib3dv::image::format::BAYER16_BGGR ||
|
---|
| 608 | image->m_format == lib3dv::image::format::BAYER16_GBRG ||
|
---|
| 609 | image->m_format == lib3dv::image::format::BAYER16_GRBG ||
|
---|
| 610 | image->m_format == lib3dv::image::format::BAYER16_RGGB;
|
---|
| 611 |
|
---|
| 612 | bool is_16bpp = (image->m_bpp / image->m_channels) == 16;
|
---|
| 613 |
|
---|
| 614 | std::stringstream filename;
|
---|
| 615 |
|
---|
| 616 | if(!boost::filesystem::exists(path))
|
---|
| 617 | {
|
---|
| 618 | std::cout << "[II] 3dv-client: writing to " << path << std::endl;
|
---|
| 619 | boost::filesystem::create_directories(path);
|
---|
| 620 | }
|
---|
| 621 |
|
---|
| 622 | switch(image->m_type)
|
---|
| 623 | {
|
---|
| 624 | case lib3dv::image::type::LEFT_RECTIFIED :
|
---|
| 625 | {
|
---|
| 626 | filename << "left_rectified";
|
---|
| 627 | break;
|
---|
| 628 | }
|
---|
| 629 |
|
---|
| 630 | case lib3dv::image::type::RIGHT_RECTIFIED :
|
---|
| 631 | {
|
---|
| 632 | filename << "right_rectified";
|
---|
| 633 | break;
|
---|
| 634 | }
|
---|
| 635 |
|
---|
| 636 | case lib3dv::image::type::LEFT_RAW :
|
---|
| 637 | {
|
---|
| 638 | filename << "left_raw";
|
---|
| 639 | break;
|
---|
| 640 | }
|
---|
| 641 |
|
---|
| 642 | case lib3dv::image::type::RIGHT_RAW:
|
---|
| 643 | {
|
---|
| 644 | filename << "right_raw";
|
---|
| 645 | break;
|
---|
| 646 | }
|
---|
| 647 |
|
---|
| 648 | case lib3dv::image::type::DSI :
|
---|
| 649 | {
|
---|
| 650 | filename << "dsi";
|
---|
| 651 | break;
|
---|
| 652 | }
|
---|
| 653 | }
|
---|
| 654 |
|
---|
| 655 | boost::posix_time::ptime timestamp = image->m_timestamp;
|
---|
| 656 |
|
---|
| 657 | if(autonumber)
|
---|
| 658 | filename << "-" << std::setfill('0') << std::setw(6) << guid / guid_type;
|
---|
| 659 |
|
---|
| 660 | boost::filesystem::path path_filename = path / filename.str();
|
---|
| 661 | path_filename.make_preferred();
|
---|
| 662 |
|
---|
| 663 | if(log_level > 0) std::cout << std::endl << "[II] client::write_file(): saving " << path_filename.string() << ((is_mono || is_bayer) ? ".pgm" : ".ppm") << " (" << image->m_buffer.size() / 1024 << " KB)" << std::endl;
|
---|
| 664 |
|
---|
| 665 | bool success = false;
|
---|
| 666 |
|
---|
| 667 | if(is_bayer){
|
---|
| 668 | success = is_16bpp ? write_pgm(path_filename.string()+".pgm", reinterpret_cast<const uint16_t*>(image->m_buffer.data()), image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint16_t>((1 << (image->m_bpp/image->m_channels)) - 1))
|
---|
| 669 | : write_pgm(path_filename.string()+".pgm", image->m_buffer.data(), image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint8_t>((1 << (image->m_bpp/image->m_channels)) - 1));
|
---|
| 670 | }
|
---|
| 671 | else if(is_mono){
|
---|
| 672 | success = is_16bpp ? write_pgm(path_filename.string()+".pgm", reinterpret_cast<const uint16_t*>(image->m_buffer.data()), image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint16_t>((1 << image->m_bpp) - 1))
|
---|
| 673 | : write_pgm(path_filename.string()+".pgm", image->m_buffer.data(), image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint8_t>((1 << image->m_bpp) - 1));
|
---|
| 674 | }
|
---|
| 675 | else if(is_rgb){
|
---|
| 676 | success = is_16bpp ? write_ppm(path_filename.string()+".ppm", reinterpret_cast<const uint16_t*>(image->m_buffer.data()), image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint16_t>((1 << image->m_bpp) - 1))
|
---|
| 677 | : write_ppm(path_filename.string()+".ppm", image->m_buffer.data(), image->m_width, image->m_height, to_simple_string(timestamp), static_cast<uint8_t>((1 << image->m_bpp) - 1));
|
---|
| 678 | }
|
---|
| 679 |
|
---|
| 680 | if(!success)
|
---|
| 681 | std::cerr << "[EE] client::write_file(): unsupported image type" << std::endl;
|
---|
| 682 |
|
---|
| 683 | return success;
|
---|
| 684 | }
|
---|
| 685 |
|
---|
| 686 | bool write_terrain_file(boost::shared_ptr<const lib3dv::terrain> terrain, uint32_t guid, uint8_t guid_type, const boost::filesystem::path& path, bool autonumber, data_file_format::types format, uint8_t log_level)
|
---|
| 687 | {
|
---|
| 688 | if(log_level == 0)
|
---|
| 689 | {
|
---|
| 690 | std::cout << '.';
|
---|
| 691 | std::cout.flush();
|
---|
| 692 | }
|
---|
| 693 |
|
---|
| 694 | const std::vector<lib3dv::point3>& points = terrain->m_data;
|
---|
| 695 |
|
---|
| 696 | if(!boost::filesystem::exists(path))
|
---|
| 697 | {
|
---|
| 698 | std::cout << "[II] 3dv-client: writing to " << path << std::endl;
|
---|
| 699 | boost::filesystem::create_directories(path);
|
---|
| 700 | }
|
---|
| 701 |
|
---|
| 702 | std::stringstream filename;
|
---|
| 703 |
|
---|
| 704 | filename << "terrain";
|
---|
| 705 |
|
---|
| 706 | if(autonumber)
|
---|
| 707 | filename << '-' << std::setfill('0') << std::setw(6) << guid / guid_type;
|
---|
| 708 |
|
---|
| 709 | filename << ((format == data_file_format::TEXT || format == data_file_format::GNUPLOT) ? ".txt" : (format == data_file_format::RAW ? ".raw" : ".bin"));
|
---|
| 710 |
|
---|
| 711 | boost::filesystem::path path_filename = path / filename.str();
|
---|
| 712 | path_filename.make_preferred();
|
---|
| 713 |
|
---|
| 714 | std::ofstream file(path_filename.string().c_str(), std::ios::out);
|
---|
| 715 |
|
---|
| 716 | if(file)
|
---|
| 717 | {
|
---|
| 718 | switch(format)
|
---|
| 719 | {
|
---|
| 720 | case data_file_format::BINARY :
|
---|
| 721 | {
|
---|
| 722 | boost::archive::binary_oarchive archive(file);
|
---|
| 723 | archive << *terrain;
|
---|
| 724 | break;
|
---|
| 725 | }
|
---|
| 726 |
|
---|
| 727 | case data_file_format::TEXT :
|
---|
| 728 | {
|
---|
| 729 | boost::archive::text_oarchive archive(file);
|
---|
| 730 | archive << *terrain;
|
---|
| 731 | break;
|
---|
| 732 | }
|
---|
| 733 |
|
---|
| 734 | case data_file_format::GNUPLOT :
|
---|
| 735 | {
|
---|
| 736 | for(unsigned int i = 0; i < points.size(); ++i)
|
---|
| 737 | file << points[i].m_x << ' ' << points[i].m_y << ' ' << points[i].m_z << std::endl;
|
---|
| 738 | break;
|
---|
| 739 | }
|
---|
| 740 |
|
---|
| 741 | case data_file_format::RAW :
|
---|
| 742 | default:
|
---|
| 743 | {
|
---|
| 744 | file.write(reinterpret_cast<const char*>(points.data()), points.size() * sizeof(float));
|
---|
| 745 | }
|
---|
| 746 | }
|
---|
| 747 |
|
---|
| 748 | if(log_level > 0) std::cout << std::endl << "[II] client::write_file(): saving " << path_filename.string() << " (" << file.tellp() / 1024 << " KB)" << std::endl;
|
---|
| 749 |
|
---|
| 750 | return true;
|
---|
| 751 | }
|
---|
| 752 |
|
---|
| 753 | return false;
|
---|
| 754 | }
|
---|
| 755 |
|
---|
| 756 | bool write_obstacles_file(boost::shared_ptr<const std::vector<lib3dv::obstacle> > obstacles, uint32_t guid, uint8_t guid_type, const boost::filesystem::path& path, bool autonumber, data_file_format::types format, uint8_t log_level)
|
---|
| 757 | {
|
---|
| 758 | if(log_level == 0)
|
---|
| 759 | {
|
---|
| 760 | std::cout << '.';
|
---|
| 761 | std::cout.flush();
|
---|
| 762 | }
|
---|
| 763 |
|
---|
| 764 | if(!boost::filesystem::exists(path))
|
---|
| 765 | {
|
---|
| 766 | std::cout << "[II] 3dv-client: writing to " << path << std::endl;
|
---|
| 767 | boost::filesystem::create_directories(path);
|
---|
| 768 | }
|
---|
| 769 |
|
---|
| 770 | std::stringstream filename;
|
---|
| 771 |
|
---|
| 772 | filename << "obstacles";
|
---|
| 773 |
|
---|
| 774 | if(autonumber)
|
---|
| 775 | filename << '-' << std::setfill('0') << std::setw(6) << guid / guid_type;
|
---|
| 776 |
|
---|
| 777 | filename << ((format == data_file_format::TEXT || format == data_file_format::GNUPLOT) ? ".txt" : (format == data_file_format::RAW ? ".raw" : ".bin"));
|
---|
| 778 |
|
---|
| 779 | boost::filesystem::path path_filename = path / filename.str();
|
---|
| 780 | path_filename.make_preferred();
|
---|
| 781 |
|
---|
| 782 | std::ofstream file(path_filename.string().c_str(), std::ios::out);
|
---|
| 783 |
|
---|
| 784 | if(file)
|
---|
| 785 | {
|
---|
| 786 | switch(format)
|
---|
| 787 | {
|
---|
| 788 | case data_file_format::BINARY :
|
---|
| 789 | {
|
---|
| 790 | boost::archive::binary_oarchive archive(file);
|
---|
| 791 | archive << *obstacles;
|
---|
| 792 | break;
|
---|
| 793 | }
|
---|
| 794 |
|
---|
| 795 | case data_file_format::TEXT :
|
---|
| 796 | {
|
---|
| 797 | boost::archive::text_oarchive archive(file);
|
---|
| 798 | archive << *obstacles;
|
---|
| 799 | break;
|
---|
| 800 | }
|
---|
| 801 |
|
---|
| 802 | case data_file_format::GNUPLOT :
|
---|
| 803 | {
|
---|
| 804 | for(unsigned int o = 0; o < obstacles->size(); ++o)
|
---|
| 805 | {
|
---|
| 806 | uint32_t guid = (*obstacles)[o].m_guid;
|
---|
| 807 | const std::vector<lib3dv::stixel>& stixels = (*obstacles)[o].m_data;
|
---|
| 808 |
|
---|
| 809 | for(unsigned int s = 0; s < stixels.size(); ++s)
|
---|
| 810 | {
|
---|
| 811 | file << stixels[s].m_x << ' ' << stixels[s].m_y << ' ' << stixels[s].m_z << ' ' << guid << std::endl;
|
---|
| 812 | file << stixels[s].m_x << ' ' << stixels[s].m_y << ' ' << stixels[s].m_z + stixels[s].m_height << ' ' << guid << std::endl;
|
---|
| 813 | file << std::endl << std::endl;
|
---|
| 814 | }
|
---|
| 815 | }
|
---|
| 816 |
|
---|
| 817 | break;
|
---|
| 818 | }
|
---|
| 819 |
|
---|
| 820 | case data_file_format::RAW :
|
---|
| 821 | default:
|
---|
| 822 | {
|
---|
| 823 | for(unsigned int o = 0; o < obstacles->size(); ++o)
|
---|
| 824 | {
|
---|
| 825 | uint32_t guid = (*obstacles)[o].m_guid;
|
---|
| 826 | uint16_t stixel_num = (*obstacles)[o].m_data.size();
|
---|
| 827 |
|
---|
| 828 | file.write(reinterpret_cast<const char*>(&guid), sizeof(guid));
|
---|
| 829 | file.write(reinterpret_cast<const char*>(&stixel_num), sizeof(stixel_num));
|
---|
| 830 | file.write(reinterpret_cast<const char*>((*obstacles)[o].m_data.data()), sizeof(lib3dv::stixel) * stixel_num);
|
---|
| 831 | }
|
---|
| 832 | }
|
---|
| 833 | }
|
---|
| 834 |
|
---|
| 835 | if(log_level > 0) std::cout << std::endl << "[II] client::write_file(): saving " << path_filename.string() << " (" << file.tellp() / 1024 << " KB)" << std::endl;
|
---|
| 836 |
|
---|
| 837 | return true;
|
---|
| 838 | }
|
---|
| 839 |
|
---|
| 840 | return false;
|
---|
| 841 | }
|
---|
| 842 |
|
---|
| 843 | bool write_motion_file(boost::shared_ptr<const lib3dv::motion> motion, uint32_t guid, uint8_t guid_type, const boost::filesystem::path& path, bool autonumber, data_file_format::types format, uint8_t log_level)
|
---|
| 844 | {
|
---|
| 845 | if(log_level == 0)
|
---|
| 846 | {
|
---|
| 847 | std::cout << '.';
|
---|
| 848 | std::cout.flush();
|
---|
| 849 | }
|
---|
| 850 |
|
---|
| 851 | if(!boost::filesystem::exists(path))
|
---|
| 852 | {
|
---|
| 853 | std::cout << "[II] 3dv-client: writing to " << path << std::endl;
|
---|
| 854 | boost::filesystem::create_directories(path);
|
---|
| 855 | }
|
---|
| 856 |
|
---|
| 857 | std::stringstream filename;
|
---|
| 858 |
|
---|
| 859 | filename << "motion";
|
---|
| 860 |
|
---|
| 861 | if(autonumber)
|
---|
| 862 | filename << '-' << std::setfill('0') << std::setw(6) << guid / guid_type;
|
---|
| 863 |
|
---|
| 864 | filename << ((format == data_file_format::TEXT || format == data_file_format::GNUPLOT) ? ".txt" : (format == data_file_format::RAW ? ".raw" : ".bin"));
|
---|
| 865 |
|
---|
| 866 | boost::filesystem::path path_filename = path / filename.str();
|
---|
| 867 | path_filename.make_preferred();
|
---|
| 868 |
|
---|
| 869 | std::ofstream file(path_filename.string().c_str(), std::ios::out);
|
---|
| 870 |
|
---|
| 871 | if(file)
|
---|
| 872 | {
|
---|
| 873 | switch(format)
|
---|
| 874 | {
|
---|
| 875 | case data_file_format::BINARY :
|
---|
| 876 | {
|
---|
| 877 | boost::archive::binary_oarchive archive(file);
|
---|
| 878 | archive << *motion;
|
---|
| 879 | break;
|
---|
| 880 | }
|
---|
| 881 |
|
---|
| 882 | case data_file_format::TEXT :
|
---|
| 883 | {
|
---|
| 884 | boost::archive::text_oarchive archive(file);
|
---|
| 885 | archive << *motion;
|
---|
| 886 | break;
|
---|
| 887 | }
|
---|
| 888 |
|
---|
| 889 | case data_file_format::GNUPLOT :
|
---|
| 890 | {
|
---|
| 891 | for(unsigned int p = 0; p < motion->m_poses.size(); ++p)
|
---|
| 892 | {
|
---|
| 893 | const std::vector<lib3dv::pose>& poses = motion->m_poses;
|
---|
| 894 | std::string type;
|
---|
| 895 |
|
---|
| 896 | if (poses[p].m_type == lib3dv::pose::type::CURRENT_POSE)
|
---|
| 897 | type = "CURRENT";
|
---|
| 898 | else if (poses[p].m_type == lib3dv::pose::type::RELATIVE_POSE)
|
---|
| 899 | type = "RELATIVE";
|
---|
| 900 |
|
---|
| 901 | file << type << ' ' << poses[p].m_timestamp << std::endl;
|
---|
| 902 | for(unsigned int i = 0; i < poses[p].m_data.size(); ++i)
|
---|
| 903 | {
|
---|
| 904 | file << poses[p].m_data[i] << ' ';
|
---|
| 905 | if (i>0 && i%4==3) file << std::endl;
|
---|
| 906 | }
|
---|
| 907 | file << std::endl << std::endl;
|
---|
| 908 | }
|
---|
| 909 |
|
---|
| 910 | break;
|
---|
| 911 | }
|
---|
| 912 |
|
---|
| 913 | case data_file_format::RAW :
|
---|
| 914 | default:
|
---|
| 915 | {
|
---|
| 916 | for(unsigned int p = 0; p < motion->m_poses.size(); ++p)
|
---|
| 917 | {
|
---|
| 918 |
|
---|
| 919 | boost::posix_time::time_duration td = (*motion).m_poses[p].m_timestamp - boost::posix_time::ptime(boost::gregorian::date(1970,1,1));
|
---|
| 920 | int64_t timestamp = td.total_microseconds();
|
---|
| 921 | uint8_t type = motion->m_poses[p].m_type;
|
---|
| 922 | uint16_t pose_num = motion->m_poses[p].m_data.size();
|
---|
| 923 |
|
---|
| 924 | file.write(reinterpret_cast<const char*>(×tamp), sizeof(timestamp));
|
---|
| 925 | file.write(reinterpret_cast<const char*>(&type), sizeof(type));
|
---|
| 926 | file.write(reinterpret_cast<const char*>(&pose_num), sizeof(pose_num));
|
---|
| 927 | file.write(reinterpret_cast<const char*>((*motion).m_poses[p].m_data.data()), sizeof(lib3dv::pose) * pose_num);
|
---|
| 928 | }
|
---|
| 929 | }
|
---|
| 930 | }
|
---|
| 931 |
|
---|
| 932 | if(log_level > 0) std::cout << std::endl << "[II] client::write_file(): saving " << path_filename.string() << " (" << file.tellp() / 1024 << " KB)" << std::endl;
|
---|
| 933 |
|
---|
| 934 | return true;
|
---|
| 935 | }
|
---|
| 936 |
|
---|
| 937 | return false;
|
---|
| 938 | }
|
---|
| 939 |
|
---|
| 940 | bool write_classification_file(boost::shared_ptr<const lib3dv::classification> classificat, uint32_t guid, uint8_t guid_type, const boost::filesystem::path& path, bool autonumber, data_file_format::types format, uint8_t log_level)
|
---|
| 941 | {
|
---|
| 942 |
|
---|
| 943 | //std::cout << "classification size" <<classificat->m_candidates.size()<<std::endl;
|
---|
| 944 | if(log_level == 0)
|
---|
| 945 | {
|
---|
| 946 | std::cout << '.';
|
---|
| 947 | std::cout.flush();
|
---|
| 948 | }
|
---|
| 949 |
|
---|
| 950 | if(!boost::filesystem::exists(path))
|
---|
| 951 | {
|
---|
| 952 | std::cout << "[II] 3dv-client: writing to " << path << std::endl;
|
---|
| 953 | boost::filesystem::create_directories(path);
|
---|
| 954 | }
|
---|
| 955 |
|
---|
| 956 | std::stringstream filename;
|
---|
| 957 |
|
---|
| 958 | filename << "classification";
|
---|
| 959 |
|
---|
| 960 | if(autonumber)
|
---|
| 961 | filename << '-' << std::setfill('0') << std::setw(6) << guid / guid_type;
|
---|
| 962 |
|
---|
| 963 | filename << ((format == data_file_format::TEXT || format == data_file_format::GNUPLOT) ? ".txt" : (format == data_file_format::RAW ? ".raw" : ".bin"));
|
---|
| 964 |
|
---|
| 965 | boost::filesystem::path path_filename = path / filename.str();
|
---|
| 966 | path_filename.make_preferred();
|
---|
| 967 |
|
---|
| 968 | std::ofstream file(path_filename.string().c_str(), std::ios::out);
|
---|
| 969 |
|
---|
| 970 | if(file)
|
---|
| 971 | {
|
---|
| 972 | switch(format)
|
---|
| 973 | {
|
---|
| 974 | case data_file_format::BINARY :
|
---|
| 975 | {
|
---|
| 976 | boost::archive::binary_oarchive archive(file);
|
---|
| 977 | archive << *classificat;
|
---|
| 978 | break;
|
---|
| 979 | }
|
---|
| 980 |
|
---|
| 981 | case data_file_format::TEXT :
|
---|
| 982 | {
|
---|
| 983 | boost::archive::text_oarchive archive(file);
|
---|
| 984 | archive << *classificat;
|
---|
| 985 | break;
|
---|
| 986 | }
|
---|
| 987 |
|
---|
| 988 | case data_file_format::GNUPLOT :
|
---|
| 989 | {
|
---|
| 990 | break;
|
---|
| 991 | }
|
---|
| 992 |
|
---|
| 993 | case data_file_format::RAW :
|
---|
| 994 | default:
|
---|
| 995 | {
|
---|
| 996 | file.write(reinterpret_cast<const char*>(&classificat->m_candidates), sizeof(classificat->m_candidates));
|
---|
| 997 | for(unsigned int p = 0; p < classificat->m_candidates.size(); ++p)
|
---|
| 998 | {
|
---|
| 999 |
|
---|
| 1000 | uint32_t guid = classificat->m_candidates[p].m_guid;
|
---|
| 1001 |
|
---|
| 1002 | file.write(reinterpret_cast<const char*>(&guid), sizeof(guid));
|
---|
| 1003 | file.write(reinterpret_cast<const char*>(&classificat->m_candidates[p].m_category), sizeof(classificat->m_candidates[p].m_category));
|
---|
| 1004 | file.write(reinterpret_cast<const char*>(&classificat->m_candidates[p].m_confidence), sizeof(classificat->m_candidates[p].m_confidence));
|
---|
| 1005 | file.write(reinterpret_cast<const char*>(&classificat->m_candidates[p].m_x0), sizeof(classificat->m_candidates[p].m_x0));
|
---|
| 1006 | file.write(reinterpret_cast<const char*>(&classificat->m_candidates[p].m_y0), sizeof(classificat->m_candidates[p].m_y0));
|
---|
| 1007 | file.write(reinterpret_cast<const char*>(&classificat->m_candidates[p].m_x1), sizeof(classificat->m_candidates[p].m_x1));
|
---|
| 1008 | file.write(reinterpret_cast<const char*>(&classificat->m_candidates[p].m_y1), sizeof(classificat->m_candidates[p].m_y1));
|
---|
| 1009 | }
|
---|
| 1010 | }
|
---|
| 1011 | }
|
---|
| 1012 |
|
---|
| 1013 | if(log_level > 0) std::cout << std::endl << "[II] client::write_file(): saving " << path_filename.string() << " (" << file.tellp() / 1024 << " KB)" << std::endl;
|
---|
| 1014 |
|
---|
| 1015 | return true;
|
---|
| 1016 | }
|
---|
| 1017 |
|
---|
| 1018 | return false;
|
---|
| 1019 | }
|
---|
| 1020 |
|
---|