void read3DConfiguration(const std::string &filename, bool omitOtherTags) {
mOmitOtherTags = omitOtherTags;
cv::FileStorage configuration(filename, cv::FileStorage::READ);
if (!configuration.isOpened()) {
std::cerr << "Could not open " << filename << std::endl;
return;
}
mId2Configuration.clear();
for(const auto &objectConfig : configuration.root()) {
for(const auto &tagConfig : objectConfig) {
int id;
tagConfig["tag"] >> id;
float size;
tagConfig["size"] >> size;
int keep;
tagConfig["keep"] >> keep;
cv::Vec3f translation;
cv::Vec3f rotation;
for (int i : {0,1,2}) {
tagConfig["translation"][i] >> translation[i];
tagConfig["rotation"] [i] >> rotation [i];
}
mId2Configuration[id] = std::make_pair(
objectConfig.name(),
TagConfig(id, size, keep, cv::Vec3f(translation), cv::Vec3f(rotation)));
}
}
}
bool read3DConfiguration(const std::string &filenameOrString, bool omitOtherTags, bool readFromString) {
mOmitOtherTags = omitOtherTags;
int mode;
if(readFromString)
mode = cv::FileStorage::READ + cv::FileStorage::MEMORY;
else
mode = cv::FileStorage::READ;
cv::FileStorage configuration(filenameOrString, mode);
if (!configuration.isOpened()) {
if(readFromString){
std::cerr << "Could not read tag configuration: " << std::endl;
std::cerr << filenameOrString << std::endl;
}
else
std::cerr << "Could not open file: " << filenameOrString << std::endl;
return false;
}
mId2Configuration.clear();
auto rootNode = configuration.root();
auto objectConfig = rootNode.begin();
for (; objectConfig != rootNode.end(); ++objectConfig)
{
// for(const auto &objectConfig : configuration.root()) {
auto tagConfig = (*objectConfig).begin();
for(; tagConfig != (*objectConfig).end(); ++tagConfig) {
// for(const auto &tagConfig : objectConfig) {
int id;
(*tagConfig)["tag"] >> id;
float size;
(*tagConfig)["size"] >> size;
int keep;
(*tagConfig)["keep"] >> keep;
cv::Vec3f translation;
cv::Vec3f rotation;
for (int i = 0; i < 3; i++) {
(*tagConfig)["translation"][i] >> translation[i];
(*tagConfig)["rotation"] [i] >> rotation [i];
}
mId2Configuration[id] = std::make_pair(
(*objectConfig).name(),
TagConfig(id, size, keep, cv::Vec3f(translation), cv::Vec3f(rotation)));
}
}
return true;
}
