void RobotConfiguration::deserialize(ObjectData& data, IdContext& /*context*/) {
/*Serializable::deserialize(data,context);*/
_name = data.getString("name");
_baseReferenceFrameId = data.getString("baseReferenceFrameId");
ArrayData& frameArray=data.getField("frames")->getArray();
for (size_t i =0; i< frameArray.size(); i++){
ValueData& v = frameArray[i];
Identifiable* id = v.getPointer();
ReferenceFrame* f = dynamic_cast<ReferenceFrame*>(id);
if (f){
addReferenceFrame(f);
}
}
ArrayData& sensorArray=data.getField("sensors")->getArray();
for (size_t i =0; i< sensorArray.size(); i++){
ValueData& v = sensorArray[i];
Identifiable* id = v.getPointer();
BaseSensor* s = dynamic_cast<BaseSensor*>(id);
if (s){
cerr << "Adding Sensor: " << id->className() << endl;
addSensor(s);
}
}
isReadyUpdate();
}
void TwoDepthImageAlignerNode::Relation::deserialize(ObjectData& data, IdContext& context) {
MapNodeBinaryRelation::deserialize(data,context);
data.getReference("aligner").bind(_aligner);
data.getReference("converter").bind(_converter);
data.getReference("currentSensingFrame").bind(_currentSensingFrame);
data.getReference("referenceSensingFrame").bind(_referenceSensingFrame);
_topic = data.getString("topic");
_inliers = data.getInt("inliers");
_error = data.getFloat("error");
}
void PinholeImageSensor::deserialize(ObjectData& data, IdContext& context){
BaseSensor::deserialize(data, context);
_cameraMatrix.fromBOSS(data, "cameraMatrix");
_distortionModel=data.getString("distortionModel");
_distortionParameters.fromBOSS(data, "distortionParameters");
}
void BaseSensor::deserialize(ObjectData& data, IdContext& context){
Identifiable::deserialize(data,context);
_topic = data.getString("topic");
_frame = 0;
data.getReference("frame").bind(_frame);
}
void SensorDataNodeMaker::deserialize(ObjectData& data, IdContext& context) {
StreamProcessor::deserialize(data,context);
data.getReference("manager").bind(_mapManager);
_topic = data.getString("topic");
}
