QDomElement Ersky9xInterface::getGeneralDataXML(QDomDocument * qdoc, Ersky9xGeneral * tgen)
{
QDomElement gd = qdoc->createElement("GENERAL_DATA");
appendNumberElement(qdoc, &gd, "Version", tgen->myVers, true); // have to write value here
appendTextElement(qdoc, &gd, "Owner", QString::fromAscii(tgen->ownerName,sizeof(tgen->ownerName)).trimmed());
appendCDATAElement(qdoc, &gd, "Data", (const char *)tgen,sizeof(Ersky9xGeneral));
return gd;
}
QDomElement Ersky9xInterface::getModelDataXML(QDomDocument * qdoc, Ersky9xModelData_v11 * tmod, int modelNum, int mdver)
{
QDomElement md = qdoc->createElement("MODEL_DATA");
md.setAttribute("number", modelNum);
appendNumberElement(qdoc, &md, "Version", mdver, true); // have to write value here
appendTextElement(qdoc, &md, "Name", QString::fromAscii(tmod->name,sizeof(tmod->name)).trimmed());
appendCDATAElement(qdoc, &md, "Data", (const char *)tmod,sizeof(Ersky9xModelData_v11));
return md;
}
inline void CameraSet<T>::save( const std::string& filename, bool undistort )
{
// init stuff
tinyxml2::XMLDocument doc;
progress<size_t> pb( "CameraSet::save: saving poses ", poseCount() );
pb.update();
// add root
tinyxml2::XMLNode* root = doc.InsertEndChild( doc.NewElement( "CameraCalibration" ) );
// run over the camers
tinyxml2::XMLNode* cameras = root->InsertEndChild( doc.NewElement( "Cameras" ) );
for( auto camIt=m_cameras.begin(); camIt != m_cameras.end(); camIt++ )
{
// init camera
tinyxml2::XMLNode* camera = cameras->InsertEndChild( doc.NewElement( "Camera" ) );
// add camera properties
appendTextElement( doc, *camera, std::string("Id"), toString(camIt->second.id) );
appendTextElement( doc, *camera, std::string("ImageSize"), toString( camIt->second.imageSize ) );
appendTextElement( doc, *camera, std::string("Intrinsic"), toString( camIt->second.intrinsic ) );
appendTextElement( doc, *camera, std::string("Distortion"), toString( camIt->second.distortion ) );
appendTextElement( doc, *camera, std::string("Error"), toString( camIt->second.error ) );
// run over all its poses and add them
tinyxml2::XMLNode* poses = camera->InsertEndChild( doc.NewElement( "Poses" ) );
for( size_t p=0; p<camIt->second.poses.size(); p++ )
{
// add the pose
tinyxml2::XMLNode* pose = poses->InsertEndChild( doc.NewElement( "Pose" ) );
// pose identification
appendTextElement( doc, *pose, std::string("Id"), toString(camIt->second.poses[p].id) );
appendTextElement( doc, *pose, std::string("Name"), camIt->second.poses[p].name );
// if not rejected, also add the rest
if( !camIt->second.poses[p].rejected )
{
appendTextElement( doc, *pose, std::string("Points2D"), toString( camIt->second.poses[p].points2D ) );
appendTextElement( doc, *pose, std::string("Points3D"), toString( camIt->second.poses[p].points3D ) );
appendTextElement( doc, *pose, std::string("PointIndices"), toString( camIt->second.poses[p].pointIndices ) );
appendTextElement( doc, *pose, std::string("Transformation"), toString( camIt->second.poses[p].transformation ) );
appendTextElement( doc, *pose, std::string("ProjectedPoints"), toString( camIt->second.poses[p].projected2D ) );
// check if should undistort
if( undistort )
{
// get the pose
cimg_library::CImg<uint8_t> undistorted;
iris::undistort( camIt->second, camIt->second.poses[p], undistorted );
// assemble filename
std::string imageFileName = filename.substr( 0, filename.find_last_of('.') ) + "-";
imageFileName += camIt->second.poses[p].name.substr( 0, camIt->second.poses[p].name.find_last_of('.') ) + "-undistorted.png";
undistorted.save_png( imageFileName.c_str() );
}
}
// update progress bar
pb.next_step();
}
}
// wrap up
doc.SaveFile( filename.c_str() );
pb.finish();
}
