[136] | 1 | #ifndef FILE_H
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| 2 | #define FILE_H
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| 3 |
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| 4 | /* 3dv-client/file.h
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| 5 | *
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| 6 | * Copyright (C) 2013 VisLab
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| 7 | *
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| 8 | * This file is part of 3dv-client; you can redistribute it and/or modify
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| 9 | * it under the terms of the GNU Lesser General Public License as published by
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| 10 | * the Free Software Foundation; either version 3 of the License, or (at
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| 11 | * your option) any later version.
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| 12 | *
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| 13 | * This program is distributed in the hope that it will be useful, but
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| 14 | * WITHOUT ANY WARRANTY; without even the implied warranty of
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| 15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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| 16 | * General Public License for more details.
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| 17 | *
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| 18 | * You should have received a copy of the GNU Lesser General Public License
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| 19 | * along with this program; if not, see <http://www.gnu.org/licenses/>.
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| 20 | */
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| 21 |
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| 22 | #include <lib3dv/image.h>
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| 23 | #include <lib3dv/motion.h>
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| 24 | #include <lib3dv/classification.h>
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| 25 | #include <lib3dv/obstacle.h>
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| 26 | #include <lib3dv/point.h>
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| 27 | #include <lib3dv/terrain.h>
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| 28 | #include <lib3dv/calibration.h>
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| 29 |
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| 30 |
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| 31 | #include <boost/archive/binary_oarchive.hpp>
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| 32 | #include <boost/archive/text_oarchive.hpp>
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| 33 | #include <boost/date_time/posix_time/posix_time.hpp>
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| 34 | #include <boost/filesystem.hpp>
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| 35 | #include <boost/filesystem/path.hpp>
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| 36 | #include <boost/shared_ptr.hpp>
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| 37 | #include <boost/serialization/serialization.hpp>
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| 38 | #include <boost/serialization/vector.hpp>
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| 39 | #include <boost/date_time/posix_time/time_serialize.hpp>
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| 40 |
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| 41 | #include <stdint.h>
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| 42 | #include <vector>
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| 43 |
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| 44 | #include "pnm.h"
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| 45 |
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| 46 | struct device_params
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| 47 | {
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| 48 | lib3dv::calibration::camera_intrinsics intrinsics;
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| 49 | lib3dv::calibration::position position;
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| 50 | lib3dv::calibration::orientation orientation;
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| 51 | float baseline;
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| 52 | uint32_t downsample;
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| 53 | double area_step;
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| 54 | };
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| 55 |
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| 56 |
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| 57 | namespace boost
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| 58 | {
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| 59 | namespace serialization
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| 60 | {
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| 61 | template<class Archive>
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| 62 | void serialize(Archive& archive, lib3dv::point3& point, const unsigned int version)
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| 63 | {
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| 64 | archive & point.m_x;
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| 65 | archive & point.m_y;
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| 66 | archive & point.m_z;
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| 67 | }
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| 68 |
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| 69 | template<class Archive>
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| 70 | void serialize(Archive& archive, lib3dv::terrain& terrain, const unsigned int version)
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| 71 | {
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| 72 | archive & terrain.m_data;
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| 73 | }
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| 74 |
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| 75 | template<class Archive>
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| 76 | void serialize(Archive& archive, lib3dv::stixel& stixel, const unsigned int version)
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| 77 | {
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| 78 | archive & stixel.m_dx;
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| 79 | archive & stixel.m_dy;
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| 80 | archive & stixel.m_x;
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| 81 | archive & stixel.m_y;
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| 82 | archive & stixel.m_z;
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| 83 | archive & stixel.m_height;
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| 84 | }
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| 85 |
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| 86 | template<class Archive>
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| 87 | void serialize(Archive& archive, lib3dv::obstacle& obstacle, const unsigned int version)
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| 88 | {
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| 89 | archive & obstacle.m_guid;
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| 90 | archive & obstacle.m_data;
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| 91 | }
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| 92 |
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| 93 | template<class Archive>
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| 94 | void serialize(Archive& archive, lib3dv::pose& pose, const unsigned int version)
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| 95 | {
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| 96 | archive & pose.m_timestamp;
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| 97 | archive & pose.m_type;
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| 98 | archive & pose.m_data;
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| 99 | }
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| 100 |
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| 101 | template<class Archive>
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| 102 | void serialize(Archive& archive, lib3dv::motion& motion, const unsigned int version)
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| 103 | {
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| 104 | archive & motion.m_poses;
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| 105 | }
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| 106 |
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| 107 | template<class Archive>
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| 108 | void serialize(Archive& archive, lib3dv::candidate& candidate, const unsigned int version)
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| 109 | {
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| 110 | archive & candidate.m_guid;
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| 111 | archive & candidate.m_x0;
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| 112 | archive & candidate.m_y0;
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| 113 | archive & candidate.m_x1;
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| 114 | archive & candidate.m_y1;
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| 115 | archive & candidate.m_confidence;
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| 116 | archive & candidate.m_wp_lb;
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| 117 | archive & candidate.m_category;
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| 118 | }
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| 119 |
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| 120 | template<class Archive>
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| 121 | void serialize(Archive& archive, lib3dv::classification& classification, const unsigned int version)
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| 122 | {
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| 123 | archive & classification.m_timestamp;
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| 124 | archive & classification.m_candidates;
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| 125 | }
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| 126 |
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| 127 | }
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| 128 | }
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| 129 |
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| 130 |
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| 131 | namespace data_file_format
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| 132 | {
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| 133 | enum types {RAW, BINARY, TEXT, GNUPLOT};
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| 134 |
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| 135 | inline std::istream& operator>>(std::istream& in, types& format_type)
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| 136 | {
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| 137 | std::string token;
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| 138 |
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| 139 | in >> token;
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| 140 |
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| 141 | if(token == "text")
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| 142 | format_type = TEXT;
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| 143 | else if(token == "binary")
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| 144 | format_type = BINARY;
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| 145 | else if(token == "gnuplot")
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| 146 | format_type = GNUPLOT;
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| 147 | else
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| 148 | format_type = RAW;
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| 149 |
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| 150 | return in;
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| 151 | }
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| 152 |
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| 153 | inline std::ostream& operator<<(std::ostream& out, types& format_type)
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| 154 | {
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| 155 | out << (format_type == TEXT ? "text" : (format_type == BINARY ? "binary" : (format_type == GNUPLOT ? "gnuplot" : "raw")));
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| 156 |
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| 157 | return out;
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| 158 | }
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| 159 | }
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| 160 |
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| 161 | #ifdef ARCHIVE
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| 162 |
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| 163 | namespace archive_file_format
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| 164 | {
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| 165 | enum types { ZIP, TAR };
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| 166 |
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| 167 | inline std::istream& operator>>(std::istream& in, types& archive_type)
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| 168 | {
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| 169 | std::string token;
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| 170 |
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| 171 | in >> token;
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| 172 |
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| 173 | if(token == "zip")
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| 174 | archive_type = ZIP;
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| 175 | else if(token == "tar")
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| 176 | archive_type = TAR;
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| 177 |
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| 178 | return in;
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| 179 | }
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| 180 |
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| 181 | inline std::ostream& operator<<(std::ostream& out, types& archive_type)
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| 182 | {
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| 183 | out << (archive_type == ZIP ? "zip" : "tar");
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| 184 |
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| 185 | return out;
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| 186 | }
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| 187 | }
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| 188 |
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| 189 | struct archive;
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| 190 |
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| 191 | 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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| 192 |
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| 193 | bool close_archive(archive* archive, uint8_t log_level);
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| 194 |
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| 195 |
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| 196 | 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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| 197 |
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| 198 | 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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| 199 |
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| 200 | 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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| 201 |
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| 202 | 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);
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| 203 |
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| 204 | 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);
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| 205 |
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| 206 | bool write_classification_archive(boost::shared_ptr<const lib3dv::classification> classificat, uint32_t guid, archive* archive, bool autonumber, data_file_format::types format, uint8_t log_level);
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| 207 | #endif
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| 208 |
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| 209 | 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);
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| 210 |
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| 211 | 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);
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| 212 |
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| 213 | 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);
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| 214 |
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| 215 | 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);
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| 216 |
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| 217 | bool write_classification_file(boost::shared_ptr<const lib3dv::classification> motion, uint32_t guid, uint8_t guid_type, const boost::filesystem::path& path, bool autonumber, data_file_format::types format, uint8_t log_level);
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| 218 |
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| 219 | #endif
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